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Run Loop Embedded

The document describes an embedded run loop implementation that polls each data source individually without a global wait function. It includes functions to add and remove data sources and timers from linked lists, execute the run loop continuously, and trigger an iteration. On each pass it processes data sources, timers, and allows sleeping if nothing is pending.

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poojabadiger
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63 views

Run Loop Embedded

The document describes an embedded run loop implementation that polls each data source individually without a global wait function. It includes functions to add and remove data sources and timers from linked lists, execute the run loop continuously, and trigger an iteration. On each pass it processes data sources, timers, and allows sleeping if nothing is pending.

Uploaded by

poojabadiger
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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/*

* Copyright (C) 2014 BlueKitchen GmbH


*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holders nor the names of
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
* 4. Any redistribution, use, or modification is done solely for
* personal benefit and not for any commercial purpose or for
* monetary gain.
*
* THIS SOFTWARE IS PROVIDED BY BLUEKITCHEN GMBH AND CONTRIBUTORS
* ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL MATTHIAS
* RINGWALD OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
* THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* Please inquire about commercial licensing options at
* [email protected]
*
*/

/*
* run_loop_embedded.c
*
* For this run loop, we assume that there's no global way to wait for a list
* of data sources to get ready. Instead, each data source has to queried
* individually. Calling ds->isReady() before calling ds->process() doesn't
* make sense, so we just poll each data source round robin.
*
* To support an idle state, where an MCU could go to sleep, the process function
* has to return if it has to called again as soon as possible
*
* After calling process() on every data source and evaluating the pending timers,
* the idle hook gets called if no data source did indicate that it needs to be
* called right away.
*
*/

#include <btstack/run_loop.h>
#include <btstack/linked_list.h>
#include <btstack/hal_tick.h>
#include <btstack/hal_cpu.h>
#include "run_loop_private.h"
#include "debug.h"

#include <stddef.h> // NULL

#ifdef HAVE_TIME_MS
#include <btstack/hal_time_ms.h>
#endif

#if defined(HAVE_TICK) && defined(HAVE_TIME_MS)


#error "Please specify either HAVE_TICK or HAVE_TIME_MS"
#endif

#if defined(HAVE_TICK) || defined(HAVE_TIME_MS)


#define TIMER_SUPPORT
#endif

// the run loop


static linked_list_t data_sources;

#ifdef TIMER_SUPPORT
static linked_list_t timers;
#endif

#ifdef HAVE_TICK
static volatile uint32_t system_ticks;
#endif

static int trigger_event_received = 0;

/**
* Add data_source to run_loop
*/
static void embedded_add_data_source(data_source_t *ds){
linked_list_add(&data_sources, (linked_item_t *) ds);
}

/**
* Remove data_source from run loop
*/
static int embedded_remove_data_source(data_source_t *ds){
return linked_list_remove(&data_sources, (linked_item_t *) ds);
}

// set timer
static void embedded_set_timer(timer_source_t *ts, uint32_t timeout_in_ms){
#ifdef HAVE_TICK
uint32_t ticks = embedded_ticks_for_ms(timeout_in_ms);
if (ticks == 0) ticks++;
// time until next tick is < hal_tick_get_tick_period_in_ms() and we don't
know, so we add one
ts->timeout = system_ticks + 1 + ticks;
#endif
#ifdef HAVE_TIME_MS
ts->timeout = hal_time_ms() + timeout_in_ms + 1;
#endif
}
/**
* Add timer to run_loop (keep list sorted)
*/
static void embedded_add_timer(timer_source_t *ts){
#ifdef TIMER_SUPPORT
linked_item_t *it;
for (it = (linked_item_t *) &timers; it->next ; it = it->next){
// don't add timer that's already in there
if ((timer_source_t *) it->next == ts){
log_error( "run_loop_timer_add error: timer to add already in list!");
return;
}
if (ts->timeout < ((timer_source_t *) it->next)->timeout) {
break;
}
}
ts->item.next = it->next;
it->next = (linked_item_t *) ts;
#endif
}

/**
* Remove timer from run loop
*/
static int embedded_remove_timer(timer_source_t *ts){
#ifdef TIMER_SUPPORT
return linked_list_remove(&timers, (linked_item_t *) ts);
#else
return 0;
#endif
}

static void embedded_dump_timer(void){


#ifdef TIMER_SUPPORT
#ifdef ENABLE_LOG_INFO
linked_item_t *it;
int i = 0;
for (it = (linked_item_t *) timers; it ; it = it->next){
timer_source_t *ts = (timer_source_t*) it;
log_info("timer %u, timeout %u\n", i, (unsigned int) ts->timeout);
}
#endif
#endif
}

/**
* Execute run_loop once
*/
void embedded_execute_once(void) {
data_source_t *ds;

// process data sources


data_source_t *next;
for (ds = (data_source_t *) data_sources; ds != NULL ; ds = next){
next = (data_source_t *) ds->item.next; // cache pointer to next
data_source to allow data source to remove itself
ds->process(ds);
}
#ifdef HAVE_TICK
uint32_t now = system_ticks;
#endif
#ifdef HAVE_TIME_MS
uint32_t now = hal_time_ms();
#endif
#ifdef TIMER_SUPPORT
// process timers
while (timers) {
timer_source_t *ts = (timer_source_t *) timers;
if (ts->timeout > now) break;
run_loop_remove_timer(ts);
ts->process(ts);
}
#endif

// disable IRQs and check if run loop iteration has been requested. if not, go
to sleep
hal_cpu_disable_irqs();
if (trigger_event_received){
trigger_event_received = 0;
hal_cpu_enable_irqs();
} else {
hal_cpu_enable_irqs_and_sleep();
}
}

/**
* Execute run_loop
*/
static void embedded_execute(void) {
while (1) {
embedded_execute_once();
}
}

#ifdef HAVE_TICK
static void embedded_tick_handler(void){
system_ticks++;
trigger_event_received = 1;
}

uint32_t embedded_get_ticks(void){
return system_ticks;
}

void embedded_set_ticks(uint32_t ticks){


system_ticks = ticks;
}

uint32_t embedded_ticks_for_ms(uint32_t time_in_ms){


return time_in_ms / hal_tick_get_tick_period_in_ms();
}
#endif

static uint32_t embedded_get_time_ms(void){


#ifdef HAVE_TIME_MS
return hal_time_ms();
#endif
#ifdef HAVE_TICK
return system_ticks * hal_tick_get_tick_period_in_ms();
#endif
return 0;
}

/**
* trigger run loop iteration
*/
void embedded_trigger(void){
trigger_event_received = 1;
}

static void embedded_init(void){

data_sources = NULL;

#ifdef TIMER_SUPPORT
timers = NULL;
#endif

#ifdef HAVE_TICK
system_ticks = 0;
hal_tick_init();
hal_tick_set_handler(&embedded_tick_handler);
#endif
}

const run_loop_t run_loop_embedded = {


&embedded_init,
&embedded_add_data_source,
&embedded_remove_data_source,
&embedded_set_timer,
&embedded_add_timer,
&embedded_remove_timer,
&embedded_execute,
&embedded_dump_timer,
&embedded_get_time_ms,
};

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