From 7f59c32bb94b6d3859fae9821139a3c640e5b014 Mon Sep 17 00:00:00 2001
From: selinahsu <selinaraindrop@gmail.com>
Date: Wed, 5 May 2021 18:21:29 +0000
Subject: [PATCH 1/8] delay_us implemented without soft timer
---
libraries/ms-common/src/delay.c | 14 +++++---------
libraries/ms-common/test/test_delay.c | 19 +++++++++++++++++++
2 files changed, 24 insertions(+), 9 deletions(-)
diff --git a/libraries/ms-common/src/delay.c b/libraries/ms-common/src/delay.c
index 47412bbb2..b3c41c68e 100644
--- a/libraries/ms-common/src/delay.c
+++ b/libraries/ms-common/src/delay.c
@@ -2,19 +2,15 @@
#include <stdbool.h>
#include <stddef.h>
+#include <time.h>
#include "soft_timer.h"
#include "wait.h"
-static void prv_delay_it(SoftTimerId timer_id, void *context) {
- volatile bool *block = context;
- *block = false;
-}
-
void delay_us(uint32_t t) {
- volatile bool block = true;
- soft_timer_start(t, prv_delay_it, (void *)&block, NULL);
- while (block) {
- wait();
+ clock_t end = t * (CLOCKS_PER_SEC / 1000000);
+ clock_t start = clock();
+
+ while ((clock() - start) < end) {
}
}
diff --git a/libraries/ms-common/test/test_delay.c b/libraries/ms-common/test/test_delay.c
index 457a891fc..855b0ad79 100644
--- a/libraries/ms-common/test/test_delay.c
+++ b/libraries/ms-common/test/test_delay.c
@@ -4,6 +4,8 @@
#include "soft_timer.h"
#include "unity.h"
+bool soft_timer_done;
+
// These tests serve a dual purpose as they also implicitly test the wait
// module.
@@ -17,3 +19,20 @@ void teardown_test(void) {}
void test_delay_us(void) {
delay_us(10000);
}
+
+// The following 2 functions test that delay_us can be used
+// inside a soft timer callback without deadlock (issue SOFT-298)
+static void callback(SoftTimerId timer, void *context) {
+ LOG_DEBUG("Callback started\n");
+ delay_us(10000);
+ soft_timer_done = true;
+ LOG_DEBUG("Callback ended\n");
+}
+void test_delay_in_soft_timer(void) {
+ soft_timer_done = false;
+ soft_timer_start(10000, callback, NULL, NULL);
+
+ // Soft timer should be done within 1 second
+ delay_us(1000000);
+ TEST_ASSERT_TRUE(soft_timer_done);
+}
From 0e88d5af66efcb2e552305b11d2fee188b8207db Mon Sep 17 00:00:00 2001
From: selinahsu <selinaraindrop@gmail.com>
Date: Wed, 5 May 2021 18:40:54 +0000
Subject: [PATCH 2/8] rmed print statements
---
libraries/ms-common/test/test_delay.c | 2 --
1 file changed, 2 deletions(-)
diff --git a/libraries/ms-common/test/test_delay.c b/libraries/ms-common/test/test_delay.c
index 855b0ad79..b44956ce1 100644
--- a/libraries/ms-common/test/test_delay.c
+++ b/libraries/ms-common/test/test_delay.c
@@ -23,10 +23,8 @@ void test_delay_us(void) {
// The following 2 functions test that delay_us can be used
// inside a soft timer callback without deadlock (issue SOFT-298)
static void callback(SoftTimerId timer, void *context) {
- LOG_DEBUG("Callback started\n");
delay_us(10000);
soft_timer_done = true;
- LOG_DEBUG("Callback ended\n");
}
void test_delay_in_soft_timer(void) {
soft_timer_done = false;
From df292ba911ec3e50c2abf5227c5e1cc1fe51ce69 Mon Sep 17 00:00:00 2001
From: selinahsu <selinaraindrop@gmail.com>
Date: Thu, 6 May 2021 16:39:56 +0000
Subject: [PATCH 3/8] occasionally failing tests
---
libraries/ms-common/src/delay.c | 16 +++++++++++++---
libraries/ms-common/test/test_delay.c | 4 ++--
2 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/libraries/ms-common/src/delay.c b/libraries/ms-common/src/delay.c
index b3c41c68e..342cb6b15 100644
--- a/libraries/ms-common/src/delay.c
+++ b/libraries/ms-common/src/delay.c
@@ -2,15 +2,25 @@
#include <stdbool.h>
#include <stddef.h>
+#include <stdio.h>
+#include <sys/time.h>
#include <time.h>
#include "soft_timer.h"
#include "wait.h"
void delay_us(uint32_t t) {
- clock_t end = t * (CLOCKS_PER_SEC / 1000000);
- clock_t start = clock();
+ volatile struct timespec start, timer;
- while ((clock() - start) < end) {
+ // Start clocks
+ clock_gettime(CLOCK_MONOTONIC_RAW, &start);
+ clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+
+ // Convert t to nanoseconds
+ uint32_t end = t * 1000;
+
+ while ((((timer.tv_sec - start.tv_sec) * 1000000000) + (double)(timer.tv_nsec - start.tv_nsec)) <
+ end) {
+ clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
}
}
diff --git a/libraries/ms-common/test/test_delay.c b/libraries/ms-common/test/test_delay.c
index b44956ce1..65346c015 100644
--- a/libraries/ms-common/test/test_delay.c
+++ b/libraries/ms-common/test/test_delay.c
@@ -30,7 +30,7 @@ void test_delay_in_soft_timer(void) {
soft_timer_done = false;
soft_timer_start(10000, callback, NULL, NULL);
- // Soft timer should be done within 1 second
- delay_us(1000000);
+ // Soft timer should be done after 20000 us
+ delay_us(20000);
TEST_ASSERT_TRUE(soft_timer_done);
}
From ec0479549975242d4782390c6b75767c248fb98d Mon Sep 17 00:00:00 2001
From: selinahsu <selinaraindrop@gmail.com>
Date: Fri, 7 May 2021 15:58:45 +0000
Subject: [PATCH 4/8] ok then we using nanoseconds
---
libraries/ms-common/src/delay.c | 16 ++++++++--------
libraries/ms-common/test/test_watchdog.c | 8 ++++----
2 files changed, 12 insertions(+), 12 deletions(-)
diff --git a/libraries/ms-common/src/delay.c b/libraries/ms-common/src/delay.c
index 342cb6b15..fb7bf0ab8 100644
--- a/libraries/ms-common/src/delay.c
+++ b/libraries/ms-common/src/delay.c
@@ -10,17 +10,17 @@
#include "wait.h"
void delay_us(uint32_t t) {
- volatile struct timespec start, timer;
-
- // Start clocks
- clock_gettime(CLOCK_MONOTONIC_RAW, &start);
- clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+ volatile struct timespec timer;
// Convert t to nanoseconds
- uint32_t end = t * 1000;
+ time_t end = t * 1000;
+
+ // Start clock
+ clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+ time_t start_sec = timer.tv_sec;
+ time_t start_nano = timer.tv_nsec;
- while ((((timer.tv_sec - start.tv_sec) * 1000000000) + (double)(timer.tv_nsec - start.tv_nsec)) <
- end) {
+ while ((((timer.tv_sec - start_sec) * 1000000000) + (double)(timer.tv_nsec - start_nano)) < end) {
clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
}
}
diff --git a/libraries/ms-common/test/test_watchdog.c b/libraries/ms-common/test/test_watchdog.c
index 436d54390..849cdd66f 100644
--- a/libraries/ms-common/test/test_watchdog.c
+++ b/libraries/ms-common/test/test_watchdog.c
@@ -41,7 +41,7 @@ void test_watchdog_expiry(void) {
watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
TEST_ASSERT_FALSE(s_expiry_called);
- delay_ms(TIMEOUT_MS + 5);
+ delay_ms(TIMEOUT_MS + 50);
TEST_ASSERT_TRUE(s_expiry_called);
TEST_ASSERT_EQUAL(&context_data, s_passed_context);
@@ -55,7 +55,7 @@ void test_watchdog_kick(void) {
TEST_ASSERT_FALSE(s_expiry_called);
watchdog_kick(&s_watchdog);
- delay_ms(10);
+ delay_ms(50);
TEST_ASSERT_FALSE(s_expiry_called);
delay_ms(TIMEOUT_MS);
@@ -67,7 +67,7 @@ void test_watchdog_expired_does_not_call_callback_multiple_times(void) {
uint32_t context_data = 0xdeadbeef;
watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
- delay_ms(TIMEOUT_MS + 5);
+ delay_ms(TIMEOUT_MS + 20);
TEST_ASSERT_TRUE(s_expiry_called);
TEST_ASSERT_EQUAL(&context_data, s_passed_context);
@@ -82,7 +82,7 @@ void test_watchdog_expired_can_start_again(void) {
watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
// its expired
- delay_ms(TIMEOUT_MS + 5);
+ delay_ms(TIMEOUT_MS + 20);
TEST_ASSERT_TRUE(s_expiry_called);
prv_reset_callback();
From 52bb540e5a832d3938f213b88f2002b7fa1fb118 Mon Sep 17 00:00:00 2001
From: Ryan Dancy <ryan@keal.ca>
Date: Fri, 7 May 2021 19:30:32 -0400
Subject: [PATCH 5/8] Switch to a non-floating point comparison
---
libraries/ms-common/src/delay.c | 8 ++++----
libraries/ms-common/test/test_watchdog.c | 2 +-
libraries/ms-drivers/test/test_ads1259_adc.c | 17 +++++++++--------
3 files changed, 14 insertions(+), 13 deletions(-)
diff --git a/libraries/ms-common/src/delay.c b/libraries/ms-common/src/delay.c
index fb7bf0ab8..fb393c47a 100644
--- a/libraries/ms-common/src/delay.c
+++ b/libraries/ms-common/src/delay.c
@@ -12,15 +12,15 @@
void delay_us(uint32_t t) {
volatile struct timespec timer;
- // Convert t to nanoseconds
- time_t end = t * 1000;
-
// Start clock
clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
time_t start_sec = timer.tv_sec;
time_t start_nano = timer.tv_nsec;
- while ((((timer.tv_sec - start_sec) * 1000000000) + (double)(timer.tv_nsec - start_nano)) < end) {
+ time_t end_sec = start_sec + t / 1000000;
+ time_t end_nano = start_nano + (t % 1000000) * 1000;
+
+ while (timer.tv_sec < end_sec || (timer.tv_sec == end_sec && timer.tv_nsec < end_nano)) {
clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
}
}
diff --git a/libraries/ms-common/test/test_watchdog.c b/libraries/ms-common/test/test_watchdog.c
index 849cdd66f..7870d31dd 100644
--- a/libraries/ms-common/test/test_watchdog.c
+++ b/libraries/ms-common/test/test_watchdog.c
@@ -55,7 +55,7 @@ void test_watchdog_kick(void) {
TEST_ASSERT_FALSE(s_expiry_called);
watchdog_kick(&s_watchdog);
- delay_ms(50);
+ delay_ms(10);
TEST_ASSERT_FALSE(s_expiry_called);
delay_ms(TIMEOUT_MS);
diff --git a/libraries/ms-drivers/test/test_ads1259_adc.c b/libraries/ms-drivers/test/test_ads1259_adc.c
index 7678af0ec..0ecaeeda4 100644
--- a/libraries/ms-drivers/test/test_ads1259_adc.c
+++ b/libraries/ms-drivers/test/test_ads1259_adc.c
@@ -12,6 +12,7 @@
#define NUM_CONFIG_REGISTERS 3
#define TEST_CHK_SUM_FLAG_BIT 0x80
#define TEST_DATA_SETTLING_TIME_MS 17
+#define DATA_SETTLING_BUFFER_MS 3
#define TEST_BAUDRATE 60000
#define TEST_MOSI_PIN \
@@ -210,7 +211,7 @@ void test_ads1259_get_conversion_data() {
s_test_mode = ADS1259_MODE_MAX_POS_DATA;
uint32_t test_raw = 0x7FFFFF;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
TEST_ASSERT_EQUAL(0xFF, s_storage.conv_data.LSB | s_storage.conv_data.MID);
TEST_ASSERT_EQUAL(0x7F, s_storage.conv_data.MSB);
// Math changed as a result of hardware testing, so assertions on s_storage.reading are wrong.
@@ -222,32 +223,32 @@ void test_ads1259_get_conversion_data() {
s_test_mode = ADS1259_MODE_MAX_NEG_DATA;
test_raw = 0x800000;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
// TEST_ASSERT_EQUAL(-50, s_storage.reading);
// test with min readable pos data
s_test_mode = ADS1259_MODE_MIN_POS_DATA;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
// TEST_ASSERT_EQUAL(0.000095, s_storage.reading);
// test with min readable neg data
s_test_mode = ADS1259_MODE_MIN_NEG_DATA;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
// TEST_ASSERT_EQUAL(-0.000095, s_storage.reading);
// test with zero data
s_test_mode = ADS1259_MODE_ZERO_DATA;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
// TEST_ASSERT_EQUAL(0, s_storage.reading);
// test with a random data set
s_test_mode = ADS1259_MODE_MIXED_DATA;
test_raw = 0x102030;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
TEST_ASSERT_EQUAL(0x10, s_storage.conv_data.MSB);
TEST_ASSERT_EQUAL(0x20, s_storage.conv_data.MID);
TEST_ASSERT_EQUAL(0x30, s_storage.conv_data.LSB);
@@ -258,13 +259,13 @@ void test_ads1259_get_conversion_data() {
s_test_mode = ADS1259_MODE_CHECKSUM_FAULT;
s_checksum = false;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
TEST_ASSERT_TRUE(s_checksum);
// test out of range flag triggered
s_test_mode = ADS1259_MODE_OUT_RANGE_FLAG_TRIGGERED;
s_out_of_range = false;
ads1259_get_conversion_data(&s_storage);
- delay_ms(TEST_DATA_SETTLING_TIME_MS);
+ delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
TEST_ASSERT_TRUE(s_out_of_range);
}
From 14edc613b94ca9586c504a4626920047479e1f34 Mon Sep 17 00:00:00 2001
From: ShiCheng Lu <shichenglu0708@gmail.com>
Date: Thu, 17 Jun 2021 02:46:58 +0000
Subject: [PATCH 6/8] moved delay.c for x86 into src/x86/, added implementation
for STM32
---
libraries/ms-common/src/stm32f0xx/delay.c | 21 +++++++++++++++++++++
libraries/ms-common/src/{ => x86}/delay.c | 1 -
mu/ctl/args.py | 1 +
mu/ctl/req.py | 1 +
mu/ctl/sims.py | 9 +++++++--
mu/harness/pm.py | 2 +-
mu/srv/handler.py | 2 ++
mu/srv/server.py | 1 +
8 files changed, 34 insertions(+), 4 deletions(-)
create mode 100644 libraries/ms-common/src/stm32f0xx/delay.c
rename libraries/ms-common/src/{ => x86}/delay.c (96%)
diff --git a/libraries/ms-common/src/stm32f0xx/delay.c b/libraries/ms-common/src/stm32f0xx/delay.c
new file mode 100644
index 000000000..e67593a1d
--- /dev/null
+++ b/libraries/ms-common/src/stm32f0xx/delay.c
@@ -0,0 +1,21 @@
+#include "delay.h"
+#include <stdbool.h>
+#include "stm32f0xx.h"
+
+// needs soft_timer to be initalized
+
+void delay_us(uint32_t t) {
+ uint32_t current_time = TIM_GetCounter(TIM2); // use TIM2
+ uint32_t end_time = current_time + t;
+ // since t is uint32, there is a max of 1 rollover
+ bool rollover = (end_time < current_time);
+
+ while (rollover || current_time < end_time) {
+ // update time
+ uint32_t time = TIM_GetCounter(TIM2);
+ if (time < current_time) { // rollover detection
+ rollover = false;
+ }
+ current_time = time;
+ }
+}
diff --git a/libraries/ms-common/src/delay.c b/libraries/ms-common/src/x86/delay.c
similarity index 96%
rename from libraries/ms-common/src/delay.c
rename to libraries/ms-common/src/x86/delay.c
index fb393c47a..8e91a3ebc 100644
--- a/libraries/ms-common/src/delay.c
+++ b/libraries/ms-common/src/x86/delay.c
@@ -6,7 +6,6 @@
#include <sys/time.h>
#include <time.h>
-#include "soft_timer.h"
#include "wait.h"
void delay_us(uint32_t t) {
diff --git a/mu/ctl/args.py b/mu/ctl/args.py
index 4a676d2ee..6924658c7 100644
--- a/mu/ctl/args.py
+++ b/mu/ctl/args.py
@@ -2,6 +2,7 @@
from mu.ctl.log import logs
from mu.ctl import sims
+
def get_args():
parser = argparse.ArgumentParser(prog='muctl', description='interact with musrv')
parser.set_defaults(func=lambda _: parser.print_usage())
diff --git a/mu/ctl/req.py b/mu/ctl/req.py
index d7d596a8b..0fc2a3581 100644
--- a/mu/ctl/req.py
+++ b/mu/ctl/req.py
@@ -1,6 +1,7 @@
import requests
from mu.srv.server import TCP_PORT
+
def send(route, body=None):
url = 'http://localhost:{}/{}'.format(TCP_PORT, route)
r = requests.get(url, params=body)
diff --git a/mu/ctl/sims.py b/mu/ctl/sims.py
index fe6f4534e..affa43f59 100644
--- a/mu/ctl/sims.py
+++ b/mu/ctl/sims.py
@@ -2,20 +2,24 @@
import mu.ctl.req as req
+
def reset(args):
r = req.send('reset')
print(r)
+
def start(args):
- body = { 'sim': args.sim, 'proj': args.proj }
+ body = {'sim': args.sim, 'proj': args.proj}
r = req.send('start', body)
print(r)
+
def stop(args):
- body = { 'sim': args.sim }
+ body = {'sim': args.sim}
r = req.send('stop', body)
print(r)
+
def sims(args):
r = req.send('sims')
sims = json.loads(r)
@@ -23,6 +27,7 @@ def sims(args):
for sim in sims:
print(sim)
+
def sim_list(args):
r = req.send('list')
sims = json.loads(r)
diff --git a/mu/harness/pm.py b/mu/harness/pm.py
index a9000d799..1a397d486 100644
--- a/mu/harness/pm.py
+++ b/mu/harness/pm.py
@@ -162,7 +162,7 @@ def sim_cat(self):
for sim_file in sim_files:
if not sim_file.endswith('.py'):
continue
- sim_name = sim_file[:len(sim_file)-3]
+ sim_name = sim_file[:len(sim_file) - 3]
mod_name = 'mu.sims.{}'.format(sim_name)
mod = importlib.import_module(mod_name)
sim_classes = inspect.getmembers(mod, inspect.isclass)
diff --git a/mu/srv/handler.py b/mu/srv/handler.py
index 0382202af..65b3c4806 100644
--- a/mu/srv/handler.py
+++ b/mu/srv/handler.py
@@ -4,9 +4,11 @@
from mu.harness import logger
+
class InternalError(Exception):
pass
+
class ReqHandler(http.server.BaseHTTPRequestHandler):
def __init__(self, pm, *args, **kwargs):
self.pm = pm
diff --git a/mu/srv/server.py b/mu/srv/server.py
index 2a1e7881e..1665a2b2c 100644
--- a/mu/srv/server.py
+++ b/mu/srv/server.py
@@ -8,6 +8,7 @@
TCP_PORT = 8989
+
class ThreadedServer(socketserver.ThreadingMixIn, http.server.HTTPServer):
def __init__(self, pm, address, handler_class):
super().__init__(address, handler_class)
From 4587930453e3bcede38faf03053431301f21004e Mon Sep 17 00:00:00 2001
From: ShiCheng Lu <shichenglu0708@gmail.com>
Date: Mon, 21 Jun 2021 19:52:06 +0000
Subject: [PATCH 7/8] use soft_timer when not in critical section, use clock
timer when in critical section (interrupts disabled), jank fix, but delay
really shouldn't be used in critical section anyway
---
libraries/ms-common/src/stm32f0xx/delay.c | 31 +++++++++++++-
libraries/ms-common/src/x86/delay.c | 49 ++++++++++++++++++++++-
2 files changed, 78 insertions(+), 2 deletions(-)
diff --git a/libraries/ms-common/src/stm32f0xx/delay.c b/libraries/ms-common/src/stm32f0xx/delay.c
index e67593a1d..cabdcfcb3 100644
--- a/libraries/ms-common/src/stm32f0xx/delay.c
+++ b/libraries/ms-common/src/stm32f0xx/delay.c
@@ -1,10 +1,16 @@
#include "delay.h"
+
#include <stdbool.h>
+#include <stddef.h>
+
+#include "soft_timer.h"
#include "stm32f0xx.h"
+#include "stm32f0xx_misc.h"
+#include "wait.h"
// needs soft_timer to be initalized
-void delay_us(uint32_t t) {
+static void prv_delay_us_sys_clock(uint32_t t) {
uint32_t current_time = TIM_GetCounter(TIM2); // use TIM2
uint32_t end_time = current_time + t;
// since t is uint32, there is a max of 1 rollover
@@ -19,3 +25,26 @@ void delay_us(uint32_t t) {
current_time = time;
}
}
+
+static void prv_delay_it(SoftTimerId timer_id, void *context) {
+ volatile bool *block = context;
+ *block = false;
+}
+
+static void prv_delay_us_soft_timer(uint32_t t) {
+ volatile bool block = true;
+ soft_timer_start(t, prv_delay_it, (void *)&block, NULL);
+ while (block) {
+ wait();
+ }
+}
+
+void delay_us(uint32_t t) {
+ // use softtimer if interrupts are not disabled
+ // use clock delay if iterrupts are disabled
+ if (__get_PRIMASK()) { // interrupts disabled
+ prv_delay_us_sys_clock(t);
+ } else {
+ prv_delay_us_soft_timer(t);
+ }
+}
diff --git a/libraries/ms-common/src/x86/delay.c b/libraries/ms-common/src/x86/delay.c
index 8e91a3ebc..53b34046a 100644
--- a/libraries/ms-common/src/x86/delay.c
+++ b/libraries/ms-common/src/x86/delay.c
@@ -6,9 +6,11 @@
#include <sys/time.h>
#include <time.h>
+#include "soft_timer.h"
#include "wait.h"
+#include "x86_interrupt.h"
-void delay_us(uint32_t t) {
+static void prv_delay_us_sys_clock(uint32_t t) {
volatile struct timespec timer;
// Start clock
@@ -23,3 +25,48 @@ void delay_us(uint32_t t) {
clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
}
}
+
+// static uint32_t prv_get_time_us() {
+// struct timespec timer;
+// clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+// return (timer.tv_sec * 1000000 + timer.tv_nsec / 1000);
+// }
+
+// void delay_us(uint32_t t) {
+// uint32_t current_time = prv_get_time_us();
+// uint32_t end_time = current_time + t;
+// // since t is uint32, there is a max of 1 rollover
+// bool rollover = (end_time < current_time);
+
+// while (rollover || current_time < end_time) {
+// // update time
+// uint32_t time = prv_get_time_us();
+// if (time < current_time) { // rollover detection
+// rollover = false;
+// }
+// current_time = time;
+// }
+// }
+
+static void prv_delay_it(SoftTimerId timer_id, void *context) {
+ volatile bool *block = context;
+ *block = false;
+}
+
+static void prv_delay_us_soft_timer(uint32_t t) {
+ volatile bool block = true;
+ soft_timer_start(t, prv_delay_it, (void *)&block, NULL);
+ while (block) {
+ wait();
+ }
+}
+
+void delay_us(uint32_t t) {
+ // use softtimer if interrupts are not disabled
+ // use clock delay if iterrupts are disabled
+ if (x86_interrupt_in_handler()) { // interrupts disabled
+ prv_delay_us_sys_clock(t);
+ } else {
+ prv_delay_us_soft_timer(t);
+ }
+}
From 8254f1757dd7b12a06de8d95c3d002beec49e183 Mon Sep 17 00:00:00 2001
From: ShiCheng Lu <shichenglu0708@gmail.com>
Date: Mon, 21 Jun 2021 20:04:25 +0000
Subject: [PATCH 8/8] format
---
libraries/ms-common/src/x86/delay.c | 22 ----------------------
mu/ctl/args.py | 1 -
mu/ctl/req.py | 1 +
mu/ctl/sims.py | 6 ++----
mu/srv/handler.py | 1 -
5 files changed, 3 insertions(+), 28 deletions(-)
diff --git a/libraries/ms-common/src/x86/delay.c b/libraries/ms-common/src/x86/delay.c
index 53b34046a..b011d27a8 100644
--- a/libraries/ms-common/src/x86/delay.c
+++ b/libraries/ms-common/src/x86/delay.c
@@ -26,28 +26,6 @@ static void prv_delay_us_sys_clock(uint32_t t) {
}
}
-// static uint32_t prv_get_time_us() {
-// struct timespec timer;
-// clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
-// return (timer.tv_sec * 1000000 + timer.tv_nsec / 1000);
-// }
-
-// void delay_us(uint32_t t) {
-// uint32_t current_time = prv_get_time_us();
-// uint32_t end_time = current_time + t;
-// // since t is uint32, there is a max of 1 rollover
-// bool rollover = (end_time < current_time);
-
-// while (rollover || current_time < end_time) {
-// // update time
-// uint32_t time = prv_get_time_us();
-// if (time < current_time) { // rollover detection
-// rollover = false;
-// }
-// current_time = time;
-// }
-// }
-
static void prv_delay_it(SoftTimerId timer_id, void *context) {
volatile bool *block = context;
*block = false;
diff --git a/mu/ctl/args.py b/mu/ctl/args.py
index 59a5ef9ed..0b2dd2fda 100644
--- a/mu/ctl/args.py
+++ b/mu/ctl/args.py
@@ -4,7 +4,6 @@
from mu.ctl import stores
-
def get_args():
parser = argparse.ArgumentParser(prog='muctl', description='interact with musrv')
parser.set_defaults(func=lambda _: parser.print_usage())
diff --git a/mu/ctl/req.py b/mu/ctl/req.py
index fbbaa1acd..83937f8a2 100644
--- a/mu/ctl/req.py
+++ b/mu/ctl/req.py
@@ -1,6 +1,7 @@
import requests
from mu.srv.server import TCP_PORT
+
def send(route, params=None, body=None):
url = 'http://localhost:{}/{}'.format(TCP_PORT, route)
return requests.get(url, params=params, json=body)
diff --git a/mu/ctl/sims.py b/mu/ctl/sims.py
index 72a0ddd7a..f32cd5f83 100644
--- a/mu/ctl/sims.py
+++ b/mu/ctl/sims.py
@@ -8,20 +8,18 @@ def reset(args):
print(r.text)
-
def start(args):
- params = { 'sim': args.sim, 'proj': args.proj }
+ params = {'sim': args.sim, 'proj': args.proj}
r = req.send('start', params)
print(r.text)
def stop(args):
- params = { 'sim': args.sim }
+ params = {'sim': args.sim}
r = req.send('stop', params)
print(r.text)
-
def sims(args):
r = req.send('sims')
sims = json.loads(r.text)
diff --git a/mu/srv/handler.py b/mu/srv/handler.py
index b78d086ea..81491cf9f 100644
--- a/mu/srv/handler.py
+++ b/mu/srv/handler.py
@@ -9,7 +9,6 @@
from mu.protogen.stores_pb2 import MuStoreType
-
class InternalError(Exception):
pass