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timer: Rework AVR timer priority code to use time instead of event count 

Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt.  This makes the code slightly faster and it should provide
better protection against task starvation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2016-10-14 00:39:46 -04:00
parent 8be8cb7a91
commit 0f87493487
1 changed files with 23 additions and 11 deletions
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34
src/avr/timer.c
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@ -42,6 +42,14 @@ timer_set_clear(uint16_t next)
TIFR1 = 1<<OCF1A; TIFR1 = 1<<OCF1A;
} }
static inline void
timer_repeat_set(uint16_t next)
{
// Timer1B is used to limit the number of timers run from a timer1A irq
OCR1B = next;
TIFR1 = 1<<OCF1B;
}
ISR(TIMER1_COMPA_vect) ISR(TIMER1_COMPA_vect)
{ {
sched_timer_kick(); sched_timer_kick();
@ -128,9 +136,8 @@ timer_set_next(uint32_t next)
return 1; return 1;
} }
static uint8_t timer_repeat; #define TIMER_IDLE_REPEAT_TICKS 8000
#define TIMER_MAX_REPEAT 40 #define TIMER_REPEAT_TICKS 3000
#define TIMER_MAX_NEXT_REPEAT 15
#define TIMER_MIN_TRY_TICKS 60 // 40 ticks to exit irq; 20 ticks of progress #define TIMER_MIN_TRY_TICKS 60 // 40 ticks to exit irq; 20 ticks of progress
#define TIMER_DEFER_REPEAT_TICKS 200 #define TIMER_DEFER_REPEAT_TICKS 200
@ -147,11 +154,12 @@ timer_try_set_next(uint32_t target)
goto done; goto done;
// Next timer is in the past or near future - can't reschedule to it // Next timer is in the past or near future - can't reschedule to it
uint8_t tr = timer_repeat-1; if (!(TIFR1 & (1<<OCF1B))) {
if (likely(tr)) { // Can run more timers from this irq; briefly allow irqs
irq_enable(); irq_enable();
timer_repeat = tr; asm("nop");
irq_disable(); irq_disable();
while (diff >= 0) { while (diff >= 0) {
// Next timer is in the near future - wait for time to occur // Next timer is in the near future - wait for time to occur
now = timer_get(); now = timer_get();
@ -161,13 +169,13 @@ timer_try_set_next(uint32_t target)
} }
return 0; return 0;
} }
// Too many repeat timers from a single interrupt - force a pause
timer_repeat = TIMER_MAX_NEXT_REPEAT;
next = now + TIMER_DEFER_REPEAT_TICKS;
if (diff < (int16_t)(-timer_from_us(1000))) if (diff < (int16_t)(-timer_from_us(1000)))
goto fail; goto fail;
// Too many repeat timers - force a pause so tasks aren't starved
timer_repeat_set(now + TIMER_REPEAT_TICKS);
next = now + TIMER_DEFER_REPEAT_TICKS;
done: done:
timer_set(next); timer_set(next);
return 1; return 1;
@ -175,9 +183,13 @@ fail:
shutdown("Rescheduled timer in the past"); shutdown("Rescheduled timer in the past");
} }
// Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling.
static void static void
timer_task(void) timer_task(void)
{ {
timer_repeat = TIMER_MAX_REPEAT; irq_disable();
timer_repeat_set(timer_get() + TIMER_IDLE_REPEAT_TICKS);
irq_enable();
} }
DECL_TASK(timer_task); DECL_TASK(timer_task);