use callout instead of scheduler

diff --git a/beep.c b/beep.c
index f34219c020527015b87307c7ab29cf6687b67059..fadd16d805101a9cbea1b1cbc5b4877c39d7f50e 100644 (file)
--- a/beep.c
+++ b/beep.c
@@ -31,13 +31,12 @@
 #include <aversive.h>
 #include <aversive/wait.h>
 
-#include <scheduler.h>
 #include <cirbuf.h>
 
 #include "main.h"
 
 /* 100 ms */
-#define BEEP_PERIOD (100000UL/SCHEDULER_UNIT)
+#define BEEP_PERIOD_MS 100
 
 static struct cirbuf beep_fifo;
 static char beep_fifo_buf[16];
@@ -54,14 +53,15 @@ union beep_t {
 static volatile union beep_t current_beep;
 
 /* called by the scheduler */
-static void beep_cb(void *arg)
+static void beep_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 {
        (void)arg;
 
        beep_mask = 0;
        if (current_beep.len == 0 && current_beep.pause == 0) {
                if (CIRBUF_GET_LEN(&beep_fifo) == 0)
-                       return;
+                       goto reschedule;
+
                current_beep.u08 = cirbuf_get_head(&beep_fifo);
                cirbuf_del_head(&beep_fifo);
        }
@@ -75,12 +75,15 @@ static void beep_cb(void *arg)
                        case 3: beep_mask = 8; break;
                        default: break;
                }
-               return;
+               goto reschedule;
        }
 
        if (current_beep.pause > 0) {
                current_beep.pause --;
        }
+
+ reschedule:
+       callout_reschedule(cm, tim, BEEP_PERIOD_MS);
 }
 
 void beep(uint8_t tone, uint8_t len, uint8_t pause)
@@ -99,6 +102,7 @@ void beep(uint8_t tone, uint8_t len, uint8_t pause)
 void beep_init(void)
 {
        cirbuf_init(&beep_fifo, beep_fifo_buf, 0, sizeof(beep_fifo_buf));
-       scheduler_add_periodical_event_priority(&beep_cb, NULL,
-                                           BEEP_PERIOD, BEEP_PRIO);
+       callout_init(&xbeeboard.beep_timer, beep_cb, NULL, BEEP_PRIO);
+       callout_schedule(&xbeeboard.intr_cm, &xbeeboard.beep_timer,
+               BEEP_PERIOD_MS);
 }

diff --git a/cmdline.c b/cmdline.c
index 0b0c6068d7e734e6b387b1df9d5b56673051ee3e..736fa52d6d3ce0963f257ab941b7ee95abfae030 100644 (file)
--- a/cmdline.c
+++ b/cmdline.c
@@ -30,7 +30,6 @@
 #include <parse.h>
 #include <rdline.h>
 #include <uart.h>
-#include <clock_time.h>
 
 #include "callout.h"
 #include "main.h"
@@ -137,12 +136,12 @@ void emergency(char c)
  * it dynamically */
 void mylog(struct error * e, ...)
 {
-       va_list ap;
 #ifndef HOST_VERSION
        u16 stream_flags = stdout->flags;
 #endif
-       uint8_t i;
-       time_h tv;
+       va_list ap;
+       uint8_t i, flags;
+       uint32_t ms;
 
        if (e->severity > ERROR_SEVERITY_ERROR) {
                if (xbeeboard.log_level < e->severity)
@@ -156,8 +155,11 @@ void mylog(struct error * e, ...)
        }
 
        va_start(ap, e);
-       tv = time_get_time();
-       printf_P(PSTR("%d.%.3d: "), (int)tv.s, (int)(tv.us/1000UL));
+       IRQ_LOCK(flags);
+       ms = global_ms;
+       IRQ_UNLOCK(flags);
+
+       printf_P(PSTR("%d.%.3d: "), (int)(ms/1000UL), (int)(ms%1000UL));
 
        vfprintf_P(stdout, e->text, ap);
        printf_P(PSTR("\r\n"));

diff --git a/commands.c b/commands.c
index df76f478b3807ff4dc8c55c87616cc54175c76e9..54e56d70fc88a04ebac813d34ec9b1822dea9b97 100644 (file)
--- a/commands.c
+++ b/commands.c
@@ -56,7 +56,7 @@ extern const parse_inst_t PROGMEM cmd_log;
 extern const parse_inst_t PROGMEM cmd_log_show;
 extern const parse_inst_t PROGMEM cmd_log_type;
 extern const parse_inst_t PROGMEM cmd_stack_space;
-extern const parse_inst_t PROGMEM cmd_scheduler;
+extern const parse_inst_t PROGMEM cmd_callout;
 
 static int monitor_period_ms = 1000;
 static int monitor_running = 0;
@@ -119,7 +119,7 @@ static void range_cb(struct callout_mgr *cm,
 
        if (range_cur_count == 0) {
                range_running = 0;
-               return;
+               callout_stop(cm, clt);
        }
 
        callout_reschedule(cm, clt, range_period_ms);
@@ -741,7 +741,8 @@ static void cmd_range_parsed(void *parsed_result, void *data)
                }
                range_cur_count = range_count;
                callout_init(&range_event, range_cb, NULL, 0);
-               callout_schedule(&cm, &range_event, 0); /* immediate */
+               callout_schedule(&xbeeboard.mainloop_cm,
+                       &range_event, 0); /* immediate */
                range_running = 1;
        }
        else if (!strcmp(res->action, "end")) {
@@ -750,7 +751,7 @@ static void cmd_range_parsed(void *parsed_result, void *data)
                        return;
                }
                range_running = 0;
-               callout_stop(&cm, &range_event);
+               callout_stop(&xbeeboard.mainloop_cm, &range_event);
        }
 }
 
@@ -990,7 +991,8 @@ static void cmd_monitor_parsed(void *parsed_result, void *data)
                        return;
                }
                callout_init(&monitor_event, monitor_cb, NULL, 0);
-               callout_schedule(&cm, &monitor_event, 0); /* immediate */
+               callout_schedule(&xbeeboard.mainloop_cm,
+                       &monitor_event, 0); /* immediate */
                monitor_running = 1;
                monitor_current = LIST_FIRST(&xbee_monitor_list);
                printf_P(PSTR("monitor cb: %S %s\r\n"),
@@ -1004,7 +1006,7 @@ static void cmd_monitor_parsed(void *parsed_result, void *data)
                        return;
                }
                monitor_running = 0;
-               callout_stop(&cm, &monitor_event);
+               callout_stop(&xbeeboard.mainloop_cm, &monitor_event);
        }
 }
 
@@ -1167,7 +1169,7 @@ static void cmd_monitor_del_parsed(void *parsed_result, void *data)
        monitor_count --;
        if (monitor_count == 0) {
                printf_P(PSTR("Disable monitoring, no more event\r\n"));
-               callout_stop(&cm, &monitor_event);
+               callout_stop(&xbeeboard.mainloop_cm, &monitor_event);
                monitor_running = 0;
                return;
        }
@@ -1892,7 +1894,7 @@ const parse_ctx_t PROGMEM main_ctx[] = {
        &cmd_log_show,
        &cmd_log_type,
        &cmd_stack_space,
-       &cmd_scheduler,
+       &cmd_callout,
        &cmd_help,
        &cmd_neigh_del,
        &cmd_neigh_add,

diff --git a/commands_gen.c b/commands_gen.c
index 2c1a11d33260fe4a8945d90ba9cab66d4c023240..d09d69ef933673f047eac7df217458ba705a600d 100644 (file)
--- a/commands_gen.c
+++ b/commands_gen.c
@@ -29,10 +29,6 @@
 #include <aversive/queue.h>
 
 #include <uart.h>
-#include <clock_time.h>
-
-#include <scheduler.h>
-#include <scheduler_stats.h>
 
 #include <rdline.h>
 #include <parse.h>
@@ -113,36 +109,38 @@ const parse_inst_t PROGMEM cmd_bootloader = {
 };
 
 /**********************************************************/
-/* Scheduler show */
+/* Callout show */
 
-/* this structure is filled when cmd_scheduler is parsed successfully */
-struct cmd_scheduler_result {
+/* this structure is filled when cmd_callout is parsed successfully */
+struct cmd_callout_result {
        fixed_string_t arg0;
        fixed_string_t arg1;
 };
 
-/* function called when cmd_scheduler is parsed successfully */
-static void cmd_scheduler_parsed(void *parsed_result, void *data)
+/* function called when cmd_callout is parsed successfully */
+static void cmd_callout_parsed(void *parsed_result, void *data)
 {
        (void)parsed_result;
        (void)data;
-       scheduler_dump_events();
-       scheduler_stats_dump();
+       printf_P(PSTR("intr_cm:\n"));
+       callout_dump_stats(&xbeeboard.intr_cm);
+       printf_P(PSTR("mainloop_cm:\n"));
+       callout_dump_stats(&xbeeboard.mainloop_cm);
 }
 
-const char PROGMEM str_scheduler_arg0[] = "scheduler";
-const parse_token_string_t PROGMEM cmd_scheduler_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg0, str_scheduler_arg0);
-const char PROGMEM str_scheduler_arg1[] = "show";
-const parse_token_string_t PROGMEM cmd_scheduler_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_scheduler_result, arg1, str_scheduler_arg1);
+const char PROGMEM str_callout_arg0[] = "callout";
+const parse_token_string_t PROGMEM cmd_callout_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg0, str_callout_arg0);
+const char PROGMEM str_callout_arg1[] = "show";
+const parse_token_string_t PROGMEM cmd_callout_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_callout_result, arg1, str_callout_arg1);
 
-const char PROGMEM help_scheduler[] = "Show scheduler events";
-const parse_inst_t PROGMEM cmd_scheduler = {
-       .f = cmd_scheduler_parsed,  /* function to call */
+const char PROGMEM help_callout[] = "Show callout events";
+const parse_inst_t PROGMEM cmd_callout = {
+       .f = cmd_callout_parsed,  /* function to call */
        .data = NULL,      /* 2nd arg of func */
-       .help_str = help_scheduler,
+       .help_str = help_callout,
        .tokens = {        /* token list, NULL terminated */
-               (PGM_P)&cmd_scheduler_arg0,
-               (PGM_P)&cmd_scheduler_arg1,
+               (PGM_P)&cmd_callout_arg0,
+               (PGM_P)&cmd_callout_arg1,
                NULL,
        },
 };

diff --git a/main.c b/main.c
index 3959ee4ffa53699c40127dfed3b2b122feb0f05d..b81e0a8c82fcb45b16fa42e2ae17d0515430027c 100644 (file)
--- a/main.c
+++ b/main.c
@@ -46,8 +46,6 @@
 #include <errno.h>
 #include <ctype.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
@@ -57,8 +55,7 @@
 #include "main.h"
 
 struct xbeeboard xbeeboard;
-volatile uint16_t global_ms;
-struct callout_mgr cm;
+volatile uint32_t global_ms;
 
 #define TIMEOUT_MS 1000
 
@@ -517,17 +514,19 @@ static void evt_timeout(struct callout_mgr *cm, struct callout *clt,
 
        /* free event */
        xbee_unregister_channel(xbee_dev, ctx->channel);
+
+       callout_stop(cm, clt);
 }
 
 void xbee_load_timeout(struct xbee_ctx *ctx)
 {
        callout_init(&ctx->timeout, evt_timeout, ctx, 0);
-       callout_schedule(&cm, &ctx->timeout, TIMEOUT_MS);
+       callout_schedule(&xbeeboard.mainloop_cm, &ctx->timeout, TIMEOUT_MS);
 }
 
 void xbee_unload_timeout(struct xbee_ctx *ctx)
 {
-       callout_stop(&cm, &ctx->timeout);
+       callout_stop(&xbeeboard.mainloop_cm, &ctx->timeout);
 }
 
 void bootloader(void)
@@ -560,7 +559,7 @@ void bootloader(void)
 void xbee_mainloop(void)
 {
        while (1) {
-               callout_manage(&cm);
+               callout_manage(&xbeeboard.mainloop_cm);
 
                if (xbee_raw) {
                        int16_t c;
@@ -601,7 +600,7 @@ void xbee_mainloop(void)
 /* return time in milliseconds on unsigned 16 bits */
 static uint16_t get_time_ms(void)
 {
-       return global_ms;
+       return (uint16_t)global_ms;
 }
 
 static void main_timer_interrupt(void)
@@ -611,13 +610,6 @@ static void main_timer_interrupt(void)
 
        cpt++;
 
-       /* interrupt every 2048 cycles */
-       cycles += 2048;
-       if (cycles >= 12000) {
-               cycles -= 12000;
-               global_ms ++;
-       }
-
        /* LED blink */
        if (global_ms & 0x80)
                LED1_ON();
@@ -629,10 +621,17 @@ static void main_timer_interrupt(void)
        else
                BUZZER_OFF();
 
-       /* call scheduler every 682us with interrupt unlocked */
+       /* interrupt every 2048 cycles */
+       cycles += 2048;
+       if (cycles >= 12000) {
+               cycles -= 12000;
+               global_ms ++;
+       }
+
+       /* called every 682us (at 12 Mhz), but global_ms is not incremented at
+        * each call */
        sei();
-       if ((cpt & 0x3) == 0)
-               scheduler_interrupt();
+       callout_manage(&xbeeboard.intr_cm);
 }
 
 int main(void)
@@ -649,17 +648,16 @@ int main(void)
 
        fdevopen(cmdline_dev_send, cmdline_dev_recv);
        xbee_file = fdevopen(xbee_dev_send, xbee_dev_recv);
-       scheduler_init();
        timer_init();
        timer0_register_OV_intr(main_timer_interrupt);
 
+       callout_mgr_init(&xbeeboard.intr_cm, get_time_ms);
+       callout_mgr_init(&xbeeboard.mainloop_cm, get_time_ms);
+
        cmdline_init();
        spi_servo_init();
        beep_init();
 
-       callout_mgr_init(&cm, get_time_ms);
-       //callout_reset(&cm, &t1, 500, PERIODICAL, do_led_blink, NULL);
-
        /* initialize libxbee */
        err = xbee_init();
        if (err < 0)

diff --git a/main.h b/main.h
index f77a5359528c3f2845a64b4b9978e27c4c99d338..30a92625037217d99d831535318d612279a1e196 100644 (file)
--- a/main.h
+++ b/main.h
@@ -31,8 +31,6 @@
 #include <aversive/error.h>
 
 #include <uart.h>
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>
@@ -43,8 +41,6 @@
 #include "rc_proto.h"
 #include "spi_servo.h"
 
-extern volatile uint16_t global_ms;
-
 #define NB_LOGS 4
 
 /** ERROR NUMS */
@@ -76,6 +72,11 @@ struct xbeeboard {
        struct rdline rdl;
        char prompt[RDLINE_PROMPT_SIZE];
 
+       struct callout_mgr mainloop_cm;
+       struct callout_mgr intr_cm;
+       struct callout spi_timer;
+       struct callout beep_timer;
+
        /* log */
        uint8_t logs[NB_LOGS+1];
        uint8_t log_level;
@@ -99,9 +100,7 @@ extern struct xbee_dev *xbee_dev;
 extern int xbee_raw;
 extern int xbee_hexdump;
 extern int xbee_debug;
-
-extern struct callout_mgr cm;
-
+extern volatile uint32_t global_ms;
 
 void bootloader(void);
 

diff --git a/rc_proto.c b/rc_proto.c
index b04e18cc1e63814119c19c19b888472d7f69e1d8..be30c39b231dc207296086342de08276cca2a11f 100644 (file)
--- a/rc_proto.c
+++ b/rc_proto.c
@@ -34,8 +34,6 @@
 
 #include <uart.h>
 
-#include <scheduler.h>
-#include <clock_time.h>
 #include <parse.h>
 #include <rdline.h>
 #include <timer.h>

diff --git a/spi_servo.c b/spi_servo.c
index c180bc907c9933e954df5bcbb0b136c2d6398b12..917769c6250260ab57091fb7464ec3aa53931a7a 100644 (file)
--- a/spi_servo.c
+++ b/spi_servo.c
@@ -4,7 +4,7 @@
 #include <aversive.h>
 #include <aversive/wait.h>
 
-#include <scheduler.h>
+#include <callout.h>
 
 #include "spi_servo.h"
 #include "main.h"
@@ -24,9 +24,6 @@
  * callback is unloaded.
  */
 
-/* 1 scheduler unit (682us at 12Mhz) */
-#define SPI_EVT_PERIOD (1)
-
 #define PPM_BIT    0x01
 #define BYPASS_BIT 0x02
 
@@ -124,7 +121,7 @@ static void decode_rx_servo(union spi_byte0 byte0, union spi_byte1 byte1)
 }
 
 /* called by the scheduler */
-static void spi_servo_cb(void *arg)
+static void spi_servo_cb(struct callout_mgr *cm, struct callout *tim, void *arg)
 {
        uint8_t idx;
        union spi_byte0 byte0;
@@ -147,13 +144,13 @@ static void spi_servo_cb(void *arg)
        if (spi_servo_tx.next_byte != 0) {
                spi_send_byte(spi_servo_tx.next_byte);
                spi_servo_tx.next_byte = 0;
-               return;
+               goto reschedule;
        }
 
        /* if there is no updated servo, send 0 and return. */
        if (spi_servo_tx.cmd_mask == 0) {
                spi_send_byte(0);
-               return;
+               goto reschedule;
        }
 
        /* else find it and send it */
@@ -170,6 +167,11 @@ static void spi_servo_cb(void *arg)
        spi_send_one_servo(idx, spi_servo_tx.servo[idx]);
        spi_servo_tx.cmd_mask &= (~(1 << idx));
        spi_servo_tx.cur_idx = idx;
+
+ reschedule:
+       /* don't use callout_reschedule() here, we want to schedule in one tick
+        * relative to current time: 1 tick is 682us at 12Mhz */
+       callout_schedule(cm, tim, 0);
 }
 
 void spi_servo_init(void)
@@ -185,8 +187,9 @@ void spi_servo_init(void)
 
        SS_HIGH();
 
-       scheduler_add_periodical_event_priority(&spi_servo_cb, NULL,
-                                           SPI_EVT_PERIOD, SPI_PRIO);
+       callout_init(&xbeeboard.spi_timer, spi_servo_cb, NULL, SPI_PRIO);
+       callout_schedule(&xbeeboard.intr_cm,
+               &xbeeboard.spi_timer, 0); /* immediate */
        spi_servo_set_bypass(1);
 }