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Zephyr timing fix #166

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merged 4 commits into from
Feb 23, 2023
Merged

Zephyr timing fix #166

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97141dd
Zephyr: Precompute epoch duration in nsec and usec
erlingrj Feb 23, 2023
707b6fd
for hi-res and lo-res
erlingrj Feb 23, 2023
48ae31e
Typo in last commit
erlingrj Feb 23, 2023
56438ee
Add Zephyr to CI
erlingrj Feb 23, 2023
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7 changes: 7 additions & 0 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,13 @@ jobs:
# runtime-ref: ${{ github.ref }}
# compiler-ref: ${{ needs.fetch-lf.outputs.ref }}

lf-default-zephyr:
needs: fetch-lf
uses: lf-lang/lingua-franca/.github/workflows/c-zephyr-tests.yml@master
with:
runtime-ref: ${{ github.ref }}
compiler-ref: ${{ needs.fetch-lf.outputs.ref }}

lf-default:
needs: fetch-lf
uses: lf-lang/lingua-franca/.github/workflows/c-tests.yml@master
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11 changes: 8 additions & 3 deletions core/platform/lf_zephyr_support.c
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Expand Up @@ -47,6 +47,7 @@ THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

// Keep track of overflows to keep clocks monotonic
static int64_t _lf_timer_epoch_duration_nsec;
static int64_t _lf_timer_epoch_duration_usec;
static volatile int64_t _lf_timer_last_epoch_nsec = 0;

#if defined(LF_ZEPHYR_CLOCK_HI_RES)
Expand Down Expand Up @@ -108,9 +109,11 @@ void lf_initialize_clock() {
while(1) {};
}

// Calculate the duration of an epoch
// Calculate the duration of an epoch. Compute both
// nsec and usec now at boot to avoid these computations later
counter_max_ticks = counter_get_max_top_value(_lf_counter_dev);
_lf_timer_epoch_duration_nsec = counter_ticks_to_us(_lf_counter_dev, counter_max_ticks) * 1000LL;
_lf_timer_epoch_duration_usec = counter_ticks_to_us(_lf_counter_dev, counter_max_ticks);
_lf_timer_epoch_duration_nsec = _lf_timer_epoch_duration_usec * 1000LL;

// Set the max_top value to be the maximum
counter_max_ticks = counter_get_max_top_value(_lf_counter_dev);
Expand All @@ -137,8 +140,10 @@ void lf_initialize_clock() {
LF_PRINT_LOG("Using Low resolution zephyr kernel clock");
LF_PRINT_LOG("Kernel Clock has frequency of %u Hz\n", CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC);
_lf_timer_last_epoch_nsec = 0;
// Compute the duration of an
// Compute the duration of an epoch. Compute both
// nsec and usec now at boot to avoid these computations later
_lf_timer_epoch_duration_nsec = ((1LL << 32) * SECONDS(1))/CONFIG_SYS_CLOCK_HW_CYCLES_PER_SEC;
_lf_timer_epoch_duration_usec = _lf_timer_epoch_duration_nsec/1000;
#endif
}

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1 change: 0 additions & 1 deletion include/core/platform/lf_zephyr_support.h
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Expand Up @@ -62,7 +62,6 @@ typedef int64_t _interval_t;
typedef uint32_t _microstep_t;

#ifdef LF_THREADED
#warning "Threaded support on Zephyr is still experimental"

typedef struct k_mutex _lf_mutex_t;
typedef struct k_condvar _lf_cond_t;
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