esp-idf/components/esp32/esp_timer_esp32.c

// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "esp_err.h"
#include "esp_timer.h"
#include "esp_system.h"
#include "esp_task.h"
#include "esp_attr.h"
#include "esp_intr_alloc.h"
#include "esp_log.h"
#include "esp_timer_impl.h"
#include "soc/frc_timer_reg.h"
#include "soc/rtc.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"

/**
 * @file esp_timer_esp32.c
 * @brief Implementation of chip-specific part of esp_timer
 *
 * This implementation uses FRC2 (legacy) timer of the ESP32. This timer is
 * a 32-bit up-counting timer, with a programmable compare value (called 'alarm'
 * hereafter). When the timer reaches compare value, interrupt is raised.
 * The timer can be configured to produce an edge or a level interrupt.
 *
 * In this implementation the timer is used for two purposes:
 * 1. To generate interrupts at certain moments — the upper layer of esp_timer
 *    uses this to trigger callbacks of esp_timer objects.
 *
 * 2. To keep track of time relative to application start. This facility is
 *    used both by the upper layer of esp_timer and by time functions, such as
 *    gettimeofday.
 *
 * Whenever an esp_timer timer is armed (configured to fire once or
 * periodically), timer_insert function of the upper layer calls
 * esp_timer_impl_set_alarm to enable the interrupt at the required moment.
 * This implementation sets up the timer interrupt to fire at the earliest of
 * two moments:
 * a) the time requested by upper layer
 * b) the time when the timer count reaches 0xffffffff (i.e. is about to overflow)
 *
 * Whenever the interrupt fires and timer overflow is detected, interrupt hander
 * increments s_time_base_us variable, which is used for timekeeping.
 *
 * When the interrupt fires, the upper layer is notified, and it dispatches
 * the callbacks (if any timers have expired) and sets new alarm value (if any
 * timers are still active).
 *
 * At any point in time, esp_timer_impl_get_time will return the current timer
 * value (expressed in microseconds) plus s_time_base_us. To account for the
 * case when the timer counter has overflown, but the interrupt has not fired
 * yet (for example, because interupts are temporarily disabled),
 * esp_timer_impl_get_time will also check timer overflow flag, and will add
 * s_timer_us_per_overflow to the returned value.
 *
 */

/* Timer is clocked from APB. To allow for integer scaling factor between ticks
 * and microseconds, divider 1 is used. 16 or 256 would not work for APB
 * frequencies such as 40 or 26 or 2 MHz.
 */
#define TIMER_DIV           1
#define TIMER_DIV_CFG       FRC_TIMER_PRESCALER_1

/* ALARM_OVERFLOW_VAL is used as timer alarm value when there are not timers
 * enabled which need to fire within the next timer overflow period. This alarm
 * is used to perform timekeeping (i.e. to track timer overflows).
 */
#define ALARM_OVERFLOW_VAL  UINT32_MAX

static const char* TAG = "esp_timer_impl";

// Interrupt handle retuned by the interrupt allocator
static intr_handle_t s_timer_interrupt_handle;

// Function from the upper layer to be called when the interrupt happens.
// Registered in esp_timer_impl_init.
static intr_handler_t s_alarm_handler;

// Time in microseconds from startup to the moment
// when timer counter was last equal to 0. This variable is updated each time
// when timer overflows, and when APB frequency switch is performed.
static uint64_t s_time_base_us;

// Number of timer ticks per microsecond. Calculated from APB frequency.
static uint32_t s_timer_ticks_per_us;

// Period between timer overflows, in microseconds.
// Equal to 2^32 / s_timer_ticks_per_us.
static uint32_t s_timer_us_per_overflow;

// When frequency switch happens, timer counter is reset to 0, s_time_base_us
// is updated, and alarm value is re-calculated based on the new APB frequency.
// However because the frequency switch can happen before the final
// interrupt handler is invoked, interrupt handler may see a different alarm
// value than the one which caused an interrupt. This can cause interrupt handler
// to consider that the interrupt has happened due to timer overflow, incrementing
// s_time_base_us. To avoid this, frequency switch hook sets this flag if
// it needs to set timer alarm value to ALARM_OVERFLOW_VAL. Interrupt hanler
// will not increment s_time_base_us if this flag is set.
static bool s_mask_overflow;

// Spinlock used to protect access to static variables above and to the hardware
// registers.
portMUX_TYPE s_time_update_lock = portMUX_INITIALIZER_UNLOCKED;

// Check if timer overflow has happened (but was not handled by ISR yet)
static inline bool IRAM_ATTR timer_overflow_happened()
{
    return (REG_READ(FRC_TIMER_CTRL_REG(1)) & FRC_TIMER_INT_STATUS) != 0 &&
            REG_READ(FRC_TIMER_ALARM_REG(1)) == ALARM_OVERFLOW_VAL &&
            !s_mask_overflow;
}

uint64_t IRAM_ATTR esp_timer_impl_get_time()
{
    uint32_t timer_val;
    uint64_t time_base;
    uint32_t ticks_per_us;
    bool overflow;
    uint64_t us_per_overflow;

    do {
        /* Read all values needed to calculate current time */
        timer_val = REG_READ(FRC_TIMER_COUNT_REG(1));
        time_base = s_time_base_us;
        overflow = timer_overflow_happened();
        ticks_per_us = s_timer_ticks_per_us;
        us_per_overflow = s_timer_us_per_overflow;

        /* Read them again and compare */
        if (REG_READ(FRC_TIMER_COUNT_REG(1)) > timer_val &&
                time_base == *((volatile uint64_t*) &s_time_base_us) &&
                ticks_per_us == *((volatile uint32_t*) &s_timer_ticks_per_us) &&
                overflow == timer_overflow_happened()) {
            break;
        }

        /* If any value has changed (other than the counter increasing), read again */
    } while(true);

    uint64_t result = time_base
                        + (overflow ? us_per_overflow : 0)
                        + timer_val / ticks_per_us;
    return result;
}

void IRAM_ATTR esp_timer_impl_set_alarm(uint64_t timestamp)
{
    portENTER_CRITICAL(&s_time_update_lock);
    // Alarm time relative to the moment when counter was 0
    uint64_t time_after_timebase_us = timestamp - s_time_base_us;
    // Adjust current time if overflow has happened
    bool overflow = timer_overflow_happened();
    if (overflow) {
        assert(time_after_timebase_us > s_timer_us_per_overflow);
        time_after_timebase_us -= s_timer_us_per_overflow;
    }
    // Calculate desired timer compare value (may exceed 2^32-1)
    uint64_t compare_val = time_after_timebase_us * s_timer_ticks_per_us;
    uint32_t alarm_reg_val = ALARM_OVERFLOW_VAL;
    // Use calculated alarm value if it is less than 2^32-1
    if (compare_val < ALARM_OVERFLOW_VAL) {
        uint64_t cur_count = REG_READ(FRC_TIMER_COUNT_REG(1));
        // If we by the time we update ALARM_REG, COUNT_REG value is higher,
        // interrupt will not happen for another 2^32 timer ticks, so need to
        // check if alarm value is too close in the future (e.g. <1 us away).
        uint32_t offset = s_timer_ticks_per_us;
        if (compare_val < cur_count + offset) {
            compare_val = cur_count + offset;
            if (compare_val > UINT32_MAX) {
                compare_val = ALARM_OVERFLOW_VAL;
            }
        }
        alarm_reg_val = (uint32_t) compare_val;
    }
    REG_WRITE(FRC_TIMER_ALARM_REG(1), alarm_reg_val);
    portEXIT_CRITICAL(&s_time_update_lock);
}

static void IRAM_ATTR timer_alarm_isr(void *arg)
{
    portENTER_CRITICAL(&s_time_update_lock);
    // Timekeeping: adjust s_time_base_us if counter has passed ALARM_OVERFLOW_VAL
    if (timer_overflow_happened()) {
        s_time_base_us += s_timer_us_per_overflow;
    }
    s_mask_overflow = false;
    // Clear interrupt status
    REG_WRITE(FRC_TIMER_INT_REG(1), FRC_TIMER_INT_CLR);
    // Set alarm to the next overflow moment. Later, upper layer function may
    // call esp_timer_impl_set_alarm to change this to an earlier value.
    REG_WRITE(FRC_TIMER_ALARM_REG(1), ALARM_OVERFLOW_VAL);
    portEXIT_CRITICAL(&s_time_update_lock);
    // Call the upper layer handler
    (*s_alarm_handler)(arg);
}


esp_err_t esp_timer_impl_init(intr_handler_t alarm_handler)
{
    s_alarm_handler = alarm_handler;

    esp_err_t err = esp_intr_alloc(ETS_TIMER2_INTR_SOURCE,
            ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM,
            &timer_alarm_isr, NULL, &s_timer_interrupt_handle);

    if (err != ESP_OK) {
        ESP_EARLY_LOGE(TAG, "esp_intr_alloc failed (0x%0x)", err);
        return err;
    }

    uint32_t apb_freq = rtc_clk_apb_freq_get();
    s_timer_ticks_per_us = apb_freq / 1000000 / TIMER_DIV;
    assert(s_timer_ticks_per_us > 0
            && apb_freq % TIMER_DIV == 0
            && "APB frequency does not result in a valid ticks_per_us value");
    s_timer_us_per_overflow = FRC_TIMER_LOAD_VALUE(1) / s_timer_ticks_per_us;
    s_time_base_us = 0;

    REG_WRITE(FRC_TIMER_ALARM_REG(1), ALARM_OVERFLOW_VAL);
    REG_WRITE(FRC_TIMER_LOAD_REG(1), 0);
    REG_WRITE(FRC_TIMER_CTRL_REG(1),
            TIMER_DIV_CFG | FRC_TIMER_ENABLE | FRC_TIMER_LEVEL_INT);
    REG_WRITE(FRC_TIMER_INT_REG(1), FRC_TIMER_INT_CLR);
    ESP_ERROR_CHECK( esp_intr_enable(s_timer_interrupt_handle) );

    return ESP_OK;
}

void esp_timer_impl_deinit()
{
    esp_intr_disable(s_timer_interrupt_handle);

    REG_WRITE(FRC_TIMER_CTRL_REG(1), 0);
    REG_WRITE(FRC_TIMER_ALARM_REG(1), 0);
    REG_WRITE(FRC_TIMER_LOAD_REG(1), 0);

    esp_intr_free(s_timer_interrupt_handle);
    s_timer_interrupt_handle = NULL;
}

// FIXME: This value is safe for 80MHz APB frequency.
// Should be modified to depend on clock frequency.

uint64_t IRAM_ATTR esp_timer_impl_get_min_period_us()
{
    return 50;
}