diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/hrtim.h b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/hrtim.h
index 2414342d352dd6637cb9cda485b5c85b865886b3..c459aa8b11070cfc938a0d4ee744244ed6fe9190 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/hrtim.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/hrtim.h
@@ -69,6 +69,8 @@ typedef enum {
MSTR = LL_HRTIM_TIMER_MASTER
} hrtim_tu_t;
+typedef void(*hrtim_callback_t)();
+
/**
* @brief Set the duty-cycle, dead-time and phase shift for a given
@@ -97,7 +99,7 @@ void hrtim_update_adc_trig_interleaved(uint16_t new_trig, hrtim_tu_t leg1_tu, hr
/**
* @brief Enable interrupt on repetition counter for the chosen timing unit
* @param tu_src timing unit which will be the source for the ISR:
- * @arg @ref MSTR
+ * @arg @ref MSTR
* @arg @ref TIMA
* @arg @ref TIMB
* @arg @ref TIMC
@@ -107,13 +109,15 @@ void hrtim_update_adc_trig_interleaved(uint16_t new_trig, hrtim_tu_t leg1_tu, hr
* @param repetition value between 1 and 256 for the repetition counter:
* period of the event wrt. periods of the HRTIM.
* E.g. when set to 10, one event will be triggered every 10 HRTIM period.
+ * @param callback Pointer to a void(void) function that will be called
+ * when the event is triggerred.
*/
-void hrtim_PeriodicEvent_en(hrtim_tu_t tu_src, uint32_t repetition);
+void hrtim_PeriodicEvent_en(hrtim_tu_t tu_src, uint32_t repetition, hrtim_callback_t callback);
/**
* @brief Disable interrupt on repetition counter for the chosen timing unit
* @param tu_src timing unit which will be the source for the ISR:
- * @arg @ref MSTR
+ * @arg @ref MSTR
* @arg @ref TIMA
* @arg @ref TIMB
* @arg @ref TIMC
@@ -126,7 +130,7 @@ void hrtim_PeriodicEvent_dis(hrtim_tu_t tu_src);
/**
* @brief Change the repetition counter value to control the ISR interrupt
* @param tu_src timing unit which will be the source for the ISR:
- * @arg @ref MSTR
+ * @arg @ref MSTR
* @arg @ref TIMA
* @arg @ref TIMB
* @arg @ref TIMC
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
index f99a5e8cdde6597d78408a7ca89b9f993ec286d4..60608468566a0b6b5b793318f9f16da084bf5b35 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/public_api/leg.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020-2022 LAAS-CNRS
+ * Copyright (c) 2020-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -25,11 +25,12 @@
*
* @file
* @brief PWM management layer by inverter leg interface definitions
- * @date 2022
+ * @date 2023
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
* @author Luiz Villa <luiz.villa@laas.fr>
* @author Ayoub Farah Hassan <ayoub.farah-hassan@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
*/
#ifndef LEG_H_
@@ -65,7 +66,7 @@ typedef struct {
* @brief Initializes all the configured devices with the chosen switch convention
*
* @param[in] leg1_upper_switch_convention Choice of the switch convention for leg 1
- * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
+ * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
*
* @return HRTIM period
*/
@@ -75,7 +76,7 @@ uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_conv
* @brief Initializes all the configured devices with up-down mode and the chosen switch convention
*
* @param[in] leg1_upper_switch_convention Choice of the switch convention for leg 1
- * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
+ * @param[in] leg2_upper_switch_convention Choice of the switch convention for leg 2
*
* @return HRTIM period
*/
@@ -111,15 +112,22 @@ void leg_stop(hrtim_tu_t timing_unit);
*
* @param[in] timing_unit timing_unit from TIMA to TIMF
*/
-void leg_start(hrtim_tu_t timing_unit);
+void leg_start(hrtim_tu_t timing_unit);
/**
* @brief period getter
*
- * @return period in micro-seconds value returned by leg_init()
+ * @return period counter within the register
*/
uint16_t leg_period(void);
+/**
+ * @brief period getter
+ *
+ * @return period in micro-seconds
+ */
+uint32_t leg_get_period_us();
+
/**
* @brief LEG_NUMOF getter
*
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c b/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
index b4762e88c94c4cf01665ecbb574db740099529f8..40d30a96037208246a751842f196acad27178b1c 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/hrtim_common.c
@@ -32,14 +32,21 @@
#include "leg.h"
+// HRTIM interrupts
+static const uint8_t HRTIM_IRQ_NUMBER = 67;
+static const uint8_t HRTIM_IRQ_PRIO = 0;
+static const uint8_t HRTIM_IRQ_FLAGS = 0;
+static hrtim_callback_t user_callback = NULL;
+
+
void _hrtim_init_events(hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
-{
+{
if(leg1_tu == TIMA && leg2_tu == TIMB){
- hrtim_adc_trigger_en(1, 1, LL_HRTIM_ADCTRIG_SRC13_TIMACMP3);
- hrtim_adc_trigger_en(3, 2, LL_HRTIM_ADCTRIG_SRC13_TIMBCMP4);
+ hrtim_adc_trigger_en(1, 1, LL_HRTIM_ADCTRIG_SRC13_TIMACMP3);
+ hrtim_adc_trigger_en(3, 2, LL_HRTIM_ADCTRIG_SRC13_TIMBCMP4);
}else if(leg1_tu == TIMA && leg2_tu == TIMC){
- hrtim_adc_trigger_en(3, 1, LL_HRTIM_ADCTRIG_SRC13_TIMACMP3);
- hrtim_adc_trigger_en(1, 3, LL_HRTIM_ADCTRIG_SRC13_TIMCCMP4);
+ hrtim_adc_trigger_en(3, 1, LL_HRTIM_ADCTRIG_SRC13_TIMACMP3);
+ hrtim_adc_trigger_en(1, 3, LL_HRTIM_ADCTRIG_SRC13_TIMCCMP4);
}
hrtim_update_adc_trig_interleaved(1, leg1_tu, leg2_tu);
@@ -48,47 +55,63 @@ void _hrtim_init_events(hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
void _hrtim_init_events_center_aligned(hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
{
if(leg1_tu == TIMA && leg2_tu == TIMB){
- // setting the adc roll-over mode on period event
- LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_ROLLOVER_MODE_PER);
- LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_ROLLOVER_MODE_PER);
-
- // setting adc trigger
- hrtim_adc_trigger_en(1, 1, LL_HRTIM_ADCTRIG_SRC13_TIMAPER);
- hrtim_adc_trigger_en(3, 2, LL_HRTIM_ADCTRIG_SRC13_TIMBPER);
+ // setting the adc roll-over mode on period event
+ LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_ROLLOVER_MODE_PER);
+ LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_B, LL_HRTIM_ROLLOVER_MODE_PER);
+
+ // setting adc trigger
+ hrtim_adc_trigger_en(1, 1, LL_HRTIM_ADCTRIG_SRC13_TIMAPER);
+ hrtim_adc_trigger_en(3, 2, LL_HRTIM_ADCTRIG_SRC13_TIMBPER);
}else if(leg1_tu == TIMA && leg2_tu == TIMC){
- // setting the adc roll-over mode on period event
- LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_ROLLOVER_MODE_PER);
- LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_C, LL_HRTIM_ROLLOVER_MODE_PER);
-
- // setting adc trigger
- hrtim_adc_trigger_en(3, 1, LL_HRTIM_ADCTRIG_SRC13_TIMAPER);
- hrtim_adc_trigger_en(1, 3, LL_HRTIM_ADCTRIG_SRC13_TIMCPER);
+ // setting the adc roll-over mode on period event
+ LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_A, LL_HRTIM_ROLLOVER_MODE_PER);
+ LL_HRTIM_TIM_SetADCRollOverMode(HRTIM1, LL_HRTIM_TIMER_C, LL_HRTIM_ROLLOVER_MODE_PER);
+
+ // setting adc trigger
+ hrtim_adc_trigger_en(3, 1, LL_HRTIM_ADCTRIG_SRC13_TIMAPER);
+ hrtim_adc_trigger_en(1, 3, LL_HRTIM_ADCTRIG_SRC13_TIMCPER);
+ }
+}
+
+void _hrtim_callback()
+{
+ LL_HRTIM_ClearFlag_REP(HRTIM1,LL_HRTIM_TIMER_MASTER);
+ if (user_callback != NULL)
+ {
+ user_callback();
}
}
void hrtim_update_adc_trig_interleaved(uint16_t new_trig, hrtim_tu_t leg1_tu, hrtim_tu_t leg2_tu)
{
if(leg1_tu == TIMA && leg2_tu == TIMB){
- hrtim_cmp_set(0, TIMA, CMP3xR, new_trig);
- hrtim_cmp_set(0, TIMB, CMP4xR, new_trig);
+ hrtim_cmp_set(0, TIMA, CMP3xR, new_trig);
+ hrtim_cmp_set(0, TIMB, CMP4xR, new_trig);
}else if(leg1_tu == TIMA && leg2_tu == TIMC){
- hrtim_cmp_set(0, TIMA, CMP3xR, new_trig);
- hrtim_cmp_set(0, TIMC, CMP4xR, new_trig);
+ hrtim_cmp_set(0, TIMA, CMP3xR, new_trig);
+ hrtim_cmp_set(0, TIMC, CMP4xR, new_trig);
}
}
-void hrtim_PeriodicEvent_en(hrtim_tu_t tu_src, uint32_t repetition)
+void hrtim_PeriodicEvent_en(hrtim_tu_t tu_src, uint32_t repetition, hrtim_callback_t callback)
{
+ /* Memorize user callback */
+ user_callback = callback;
+
/* Set repetition counter to repetition-1 so that an event
* is triggered every "repetition" number of periods.
*/
LL_HRTIM_TIM_SetRepetition(HRTIM1, tu_src, repetition-1);
LL_HRTIM_EnableIT_REP(HRTIM1, tu_src); /* Enabling the interrupt on repetition counter event*/
+
+ IRQ_CONNECT(HRTIM_IRQ_NUMBER, HRTIM_IRQ_PRIO, _hrtim_callback, NULL, HRTIM_IRQ_FLAGS);
+ irq_enable(HRTIM_IRQ_NUMBER);
}
void hrtim_PeriodicEvent_dis(hrtim_tu_t tu_src)
{
+ irq_disable(HRTIM_IRQ_NUMBER);
LL_HRTIM_DisableIT_REP(HRTIM1, tu_src); /* Disabling the interrupt on repetition counter event*/
}
diff --git a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
index c61575aa78bb4053fab4c9c626e55e95fb156071..0874fe2745110a4e4ede580cd25c82ce3c93f4de 100644
--- a/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
+++ b/zephyr/modules/owntech_hrtim_driver/zephyr/src/voltage_mode/owntech_leg_driver.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2020-2022 LAAS-CNRS
+ * Copyright (c) 2020-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -21,11 +21,12 @@
/**
* @file
* @brief PWM management layer by inverter leg
- * @date 2022
+ * @date 2023
* @author Hugues Larrive <hugues.larrive@laas.fr>
* @author Antoine Boche <antoine.boche@laas.fr>
* @author Luiz Villa <luiz.villa@laas.fr>
* @author Ayoub Farah Hassan <ayoub.farah-hassan@laas.fr>
+ * @author Clément Foucher <clement.foucher@laas.fr>
*/
#include "leg.h"
@@ -53,23 +54,23 @@ static uint8_t _TU_num(hrtim_tu_t tu){
switch(tu){
case TIMA:
return 0;
-
+
case TIMB:
return 1;
-
- case TIMC:
+
+ case TIMC:
return 2;
-
+
case TIMD:
return 3;
break;
-
+
case TIME:
- return 4;
-
- case TIMF:
+ return 4;
+
+ case TIMF:
return 5;
-
+
default:
return 100;
@@ -100,7 +101,7 @@ uint16_t leg_init(bool leg1_upper_switch_convention, bool leg2_upper_switch_conv
/**
* This function Initialize the hrtim and all the legs
* with the chosen convention for the switch controlled
- * on the power converter to a frequency of 200kHz
+ * on the power converter to a frequency of 200kHz
* with the counter on up-down mode (center-alligned)
* Must be initialized in first position
*/
@@ -155,7 +156,7 @@ void leg_set_dt(hrtim_tu_t timing_unit, uint16_t rise_ns, uint16_t fall_ns)
void leg_stop(hrtim_tu_t timing_unit)
{
hrtim_out_dis(leg_conf[_TU_num(timing_unit)].hrtim, leg_conf[_TU_num(timing_unit)].timing_unit, OUT1);
- hrtim_out_dis(leg_conf[_TU_num(timing_unit)].hrtim, leg_conf[_TU_num(timing_unit)].timing_unit, OUT2);
+ hrtim_out_dis(leg_conf[_TU_num(timing_unit)].hrtim, leg_conf[_TU_num(timing_unit)].timing_unit, OUT2);
}
void leg_start(hrtim_tu_t timing_unit)
@@ -169,6 +170,11 @@ uint16_t leg_period(void)
return period;
}
+uint32_t leg_get_period_us()
+{
+ return period*184e-6;
+}
+
uint8_t leg_numof(void)
{
return LEG_NUMOF;
diff --git a/zephyr/modules/owntech_scheduling/zephyr/Kconfig b/zephyr/modules/owntech_scheduling/zephyr/Kconfig
index de1af3274c87c31149885b9fd0375af6c72e739a..2ee522e6e1761411ffcfbadddd8bdd2ae47be177 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/Kconfig
+++ b/zephyr/modules/owntech_scheduling/zephyr/Kconfig
@@ -2,6 +2,7 @@ config OWNTECH_SCHEDULING
bool "Enable OwnTech scheduling"
default y
depends on OWNTECH_TIMER_DRIVER
+ depends on OWNTECH_HRTIM_DRIVER
if OWNTECH_SCHEDULING
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
index 5189e667c728126281ede7c9e0bb90d6a3c52478..4ade5ce20c9995b3388e565f7a38422eb1c5718e 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2022-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -18,7 +18,7 @@
*/
/**
- * @date 2022
+ * @date 2023
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -49,8 +49,9 @@ Scheduling scheduling;
// Non-interruptible control task
-int8_t Scheduling::defineUninterruptibleSynchronousTask(void (*periodic_task)(), uint32_t task_period_us)
+int8_t Scheduling::defineUninterruptibleSynchronousTask(task_function_t periodic_task, uint32_t task_period_us, scheduling_interrupt_source_t int_source)
{
+ scheduling_set_uninterruptible_synchronous_task_interrupt_source(int_source);
return scheduling_define_uninterruptible_synchronous_task(periodic_task, task_period_us);
}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
index 1ebff44b450f85f67a912e4731f8977940789abf..ad10b66803f5f9beddd735e4ddb2da1d4a785ac9 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
+++ b/zephyr/modules/owntech_scheduling/zephyr/public_api/Scheduling.h
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2022-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -18,7 +18,7 @@
*/
/**
- * @date 2022
+ * @date 2023
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -35,6 +35,9 @@
typedef void (*task_function_t)();
+enum class scheduling_interrupt_source_t { source_hrtim, source_tim6 };
+
+
/////
// Static class definition
@@ -56,18 +59,24 @@ public:
* to be executed periodically.
* @param task_period_us Period of the function in µs.
* Allowed range: 1 to 6553 µs.
- * Value is ignored if first parameter is NULL.
+ * If interrupt source is HRTIM, this value MUST be an
+ * integer multiple of the HRTIM period.
+ * @param int_source Interrupt source that triggers the task.
+ * By default, the HRTIM is the source, but this optional
+ * parameter can be provided to set TIM6 as the source in
+ * case the HRTIM is not used or if the task can't be
+ * correlated to an HRTIM event.
* @return 0 if everything went well,
- * -1 if there was an error defining the task.
- * An error can occur notably when an uninterruptible
- * task has already been defined previously.
+ * -1 if there was an error defining the task.
+ * An error can occur notably when an uninterruptible
+ * task has already been defined previously.
*/
- int8_t defineUninterruptibleSynchronousTask(void (*periodic_task)(), uint32_t task_period_us);
+ int8_t defineUninterruptibleSynchronousTask(task_function_t periodic_task, uint32_t task_period_us, scheduling_interrupt_source_t int_source = scheduling_interrupt_source_t::source_hrtim);
/**
* @brief Use this function to start the previously defined
* uninterruptible synchronous task.
- */
+ */
void startUninterruptibleSynchronousTask();
/**
@@ -88,11 +97,11 @@ public:
*
* @param routine Pointer to the void(void) function
* that will act as the task main function.
- * @return Number assigned to the task. Will be -1
- * if max number of asynchronous task has been reached.
- * In such a case, the task definition is cancelled.
- * Increase maximum number of asynchronous tasks in
- * prj.conf if required.
+ * @return Number assigned to the task. Will be -1 if max
+ * number of asynchronous task has been reached.
+ * In such a case, the task definition is ignored.
+ * Increase maximum number of asynchronous tasks
+ * in prj.conf if required.
*/
int8_t defineAsynchronousTask(task_function_t routine);
@@ -100,9 +109,8 @@ public:
* @brief Use this function to start a previously defined
* asynchronous task using its task number.
*
- * @param task_number
- * Number of the task to start, obtained using the
- * defineAsynchronousTask() function.
+ * @param task_number Number of the task to start, obtained
+ * using the defineAsynchronousTask() function.
*/
void startAsynchronousTask(uint8_t task_number);
@@ -112,9 +120,8 @@ public:
* The task can be then resumed by calling
* startAsynchronousTask() again.
*
- * @param task_number
- * Number of the task to stop, obtained using the
- * defineAsynchronousTask() function.
+ * @param task_number Number of the task to start, obtained
+ * using the defineAsynchronousTask() function.
*/
void stopAsynchronousTask(uint8_t task_number);
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
index 8e6da288696759463af795b5708ce3b3c9d43596..2eb0b4098e73231aaba7c4164606cc87cebbd1f2 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2022-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -18,18 +18,22 @@
*/
/**
- * @date 2022
+ * @date 2023
* @author Clément Foucher <clement.foucher@laas.fr>
*/
+// Current module
+#include "scheduling_common.hpp"
+
// OwnTech Power API
#include "timer.h"
-#include "scheduling_common.hpp"
+#include "leg.h"
+#include "hrtim.h"
/////
-// Local variables
+// Local variables and constants
// Timer device
static const struct device* timer6 = DEVICE_DT_GET(TIMER6_DEVICE);
@@ -37,60 +41,113 @@ static const struct device* timer6 = DEVICE_DT_GET(TIMER6_DEVICE);
// Task status
static task_status_t uninterruptibleTaskStatus = task_status_t::inexistent;
+// Interrupt source
+static scheduling_interrupt_source_t interrupt_source = scheduling_interrupt_source_t::source_hrtim;
+
+// For HRTIM interrupts
+static uint32_t repetition = 0;
+static task_function_t user_periodic_task = NULL;
+
/////
-// API
+// Public API
-int8_t scheduling_define_uninterruptible_synchronous_task(void (*periodic_task)(), uint32_t task_period_us)
+
+void scheduling_set_uninterruptible_synchronous_task_interrupt_source(scheduling_interrupt_source_t int_source)
{
- if (device_is_ready(timer6) == true)
+ interrupt_source = int_source;
+}
+
+int8_t scheduling_define_uninterruptible_synchronous_task(task_function_t periodic_task, uint32_t task_period_us)
+{
+ if ( (uninterruptibleTaskStatus != task_status_t::inexistent) && (uninterruptibleTaskStatus != task_status_t::suspended))
+ return -1;
+
+ if (periodic_task == NULL)
+ return -1;
+
+ if (interrupt_source == scheduling_interrupt_source_t::source_tim6)
{
- if ( (uninterruptibleTaskStatus == task_status_t::inexistent) || (uninterruptibleTaskStatus == task_status_t::suspended))
- {
- // Configure and start timer
+ if (device_is_ready(timer6) == false)
+ return -1;
- struct timer_config_t timer_cfg = {0};
- timer_cfg.timer_enable_irq = 1;
- timer_cfg.timer_irq_callback = periodic_task;
- timer_cfg.timer_irq_t_usec = task_period_us;
+ // Everything OK, go on with timer configuration
+ struct timer_config_t timer_cfg = {0};
+ timer_cfg.timer_enable_irq = 1;
+ timer_cfg.timer_irq_callback = periodic_task;
+ timer_cfg.timer_irq_t_usec = task_period_us;
- timer_config(timer6, &timer_cfg);
+ timer_config(timer6, &timer_cfg);
- uninterruptibleTaskStatus = task_status_t::defined;
+ uninterruptibleTaskStatus = task_status_t::defined;
- return 0;
- }
- else
- {
- return -1;
- }
+ return 0;
}
- else
+ else if (interrupt_source == scheduling_interrupt_source_t::source_hrtim)
{
- return -1;
+ uint32_t hrtim_period_us = leg_get_period_us();
+
+ if (task_period_us % hrtim_period_us != 0)
+ return -1;
+
+ repetition = task_period_us / hrtim_period_us;
+
+ if (repetition == 0)
+ return -1;
+
+ user_periodic_task = periodic_task;
+
+ uninterruptibleTaskStatus = task_status_t::defined;
+
+ return 0;
}
+
+ return -1;
}
void scheduling_start_uninterruptible_synchronous_task()
{
- if (device_is_ready(timer6) == true)
+ if ( (uninterruptibleTaskStatus != task_status_t::defined) && (uninterruptibleTaskStatus != task_status_t::suspended) )
+ return;
+
+ if (interrupt_source == scheduling_interrupt_source_t::source_tim6)
{
- if ( (uninterruptibleTaskStatus == task_status_t::defined) || (uninterruptibleTaskStatus == task_status_t::suspended) )
- {
- timer_start(timer6);
- uninterruptibleTaskStatus = task_status_t::running;
- }
+ if (device_is_ready(timer6) == false)
+ return;
+
+ timer_start(timer6);
+
+ uninterruptibleTaskStatus = task_status_t::running;
+ }
+ else if (interrupt_source == scheduling_interrupt_source_t::source_hrtim)
+ {
+ if ( (repetition == 0) || (user_periodic_task == NULL) )
+ return;
+
+ hrtim_PeriodicEvent_en(MSTR, repetition, user_periodic_task);
+
+ uninterruptibleTaskStatus = task_status_t::running;
}
}
void scheduling_stop_uninterruptible_synchronous_task()
{
- if (device_is_ready(timer6) == true)
+ if (uninterruptibleTaskStatus != task_status_t::running)
+ return;
+
+ if (interrupt_source == scheduling_interrupt_source_t::source_tim6)
{
- if (uninterruptibleTaskStatus == task_status_t::running)
- {
- timer_stop(timer6);
- uninterruptibleTaskStatus = task_status_t::suspended;
- }
+ if (device_is_ready(timer6) == false)
+ return;
+
+ timer_stop(timer6);
+
+ uninterruptibleTaskStatus = task_status_t::suspended;
+ }
+ else if (interrupt_source == scheduling_interrupt_source_t::source_hrtim)
+ {
+ hrtim_PeriodicEvent_dis(MSTR);
+
+ uninterruptibleTaskStatus = task_status_t::suspended;
}
}
diff --git a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
index 6134011207770134ead65996add603960aee6bb2..e64ac15d00aeba242d3d9f750ab19475f8613ae8 100644
--- a/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
+++ b/zephyr/modules/owntech_scheduling/zephyr/src/uninterruptible_synchronous_task.hpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2022 LAAS-CNRS
+ * Copyright (c) 2022-2023 LAAS-CNRS
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
@@ -18,7 +18,7 @@
*/
/**
- * @date 2022
+ * @date 2023
* @author Clément Foucher <clement.foucher@laas.fr>
*/
@@ -30,7 +30,8 @@
#include "Scheduling.h"
-int8_t scheduling_define_uninterruptible_synchronous_task(void (*periodic_task)(), uint32_t task_period_us);
+void scheduling_set_uninterruptible_synchronous_task_interrupt_source(scheduling_interrupt_source_t int_source);
+int8_t scheduling_define_uninterruptible_synchronous_task(task_function_t periodic_task, uint32_t task_period_us);
void scheduling_start_uninterruptible_synchronous_task();
void scheduling_stop_uninterruptible_synchronous_task();