SOFT 298: delay_us implemented without soft timer

libraries/ms-common/src/stm32f0xx/delay.c

@@ -0,0 +1,50 @@
+#include "delay.h"
+
+#include <stdbool.h>
+#include <stddef.h>
+
+#include "soft_timer.h"
+#include "stm32f0xx.h"
+#include "stm32f0xx_misc.h"
+#include "wait.h"
+
+// needs soft_timer to be initalized
+
+static void prv_delay_us_sys_clock(uint32_t t) {
+  uint32_t current_time = TIM_GetCounter(TIM2);  // use TIM2
+  uint32_t end_time = current_time + t;
+  // since t is uint32, there is a max of 1 rollover
+  bool rollover = (end_time < current_time);
+
+  while (rollover || current_time < end_time) {
+    // update time
+    uint32_t time = TIM_GetCounter(TIM2);
+    if (time < current_time) {  // rollover detection
+      rollover = false;
+    }
+    current_time = time;
+  }
+}
+
+static void prv_delay_it(SoftTimerId timer_id, void *context) {
+  volatile bool *block = context;
+  *block = false;
+}
+
+static void prv_delay_us_soft_timer(uint32_t t) {
+  volatile bool block = true;
+  soft_timer_start(t, prv_delay_it, (void *)&block, NULL);
+  while (block) {
+    wait();
+  }
+}
+
+void delay_us(uint32_t t) {
+  // use softtimer if interrupts are not disabled
+  // use clock delay if iterrupts are disabled
+  if (__get_PRIMASK()) {  // interrupts disabled
+    prv_delay_us_sys_clock(t);
+  } else {
+    prv_delay_us_soft_timer(t);
+  }
+}

libraries/ms-common/src/x86/delay.c

@@ -0,0 +1,50 @@
+#include "delay.h"
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdio.h>
+#include <sys/time.h>
+#include <time.h>
+
+#include "soft_timer.h"
+#include "wait.h"
+#include "x86_interrupt.h"
+
+static void prv_delay_us_sys_clock(uint32_t t) {
+  volatile struct timespec timer;
+
+  // Start clock
+  clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+  time_t start_sec = timer.tv_sec;
+  time_t start_nano = timer.tv_nsec;
+
+  time_t end_sec = start_sec + t / 1000000;
+  time_t end_nano = start_nano + (t % 1000000) * 1000;
+
+  while (timer.tv_sec < end_sec || (timer.tv_sec == end_sec && timer.tv_nsec < end_nano)) {
+    clock_gettime(CLOCK_MONOTONIC_RAW, &timer);
+  }
+}
+
+static void prv_delay_it(SoftTimerId timer_id, void *context) {
+  volatile bool *block = context;
+  *block = false;
+}
+
+static void prv_delay_us_soft_timer(uint32_t t) {
+  volatile bool block = true;
+  soft_timer_start(t, prv_delay_it, (void *)&block, NULL);
+  while (block) {
+    wait();
+  }
+}
+
+void delay_us(uint32_t t) {
+  // use softtimer if interrupts are not disabled
+  // use clock delay if iterrupts are disabled
+  if (x86_interrupt_in_handler()) {  // interrupts disabled
+    prv_delay_us_sys_clock(t);
+  } else {
+    prv_delay_us_soft_timer(t);
+  }
+}

libraries/ms-common/test/test_delay.c

@@ -4,6 +4,8 @@
 #include "soft_timer.h"
 #include "unity.h"
 
+bool soft_timer_done;
+
 // These tests serve a dual purpose as they also implicitly test the wait
 // module.
 
@@ -17,3 +19,18 @@ void teardown_test(void) {}
 void test_delay_us(void) {
   delay_us(10000);
 }
+
+// The following 2 functions test that delay_us can be used
+// inside a soft timer callback without deadlock (issue SOFT-298)
+static void callback(SoftTimerId timer, void *context) {
+  delay_us(10000);
+  soft_timer_done = true;
+}
+void test_delay_in_soft_timer(void) {
+  soft_timer_done = false;
+  soft_timer_start(10000, callback, NULL, NULL);
+
+  // Soft timer should be done after 20000 us
+  delay_us(20000);
+  TEST_ASSERT_TRUE(soft_timer_done);
+}

libraries/ms-common/test/test_watchdog.c

@@ -41,7 +41,7 @@ void test_watchdog_expiry(void) {
   watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
   TEST_ASSERT_FALSE(s_expiry_called);
 
-  delay_ms(TIMEOUT_MS + 5);
+  delay_ms(TIMEOUT_MS + 50);
 
   TEST_ASSERT_TRUE(s_expiry_called);
   TEST_ASSERT_EQUAL(&context_data, s_passed_context);
@@ -67,7 +67,7 @@ void test_watchdog_expired_does_not_call_callback_multiple_times(void) {
   uint32_t context_data = 0xdeadbeef;
   watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
 
-  delay_ms(TIMEOUT_MS + 5);
+  delay_ms(TIMEOUT_MS + 20);
 
   TEST_ASSERT_TRUE(s_expiry_called);
   TEST_ASSERT_EQUAL(&context_data, s_passed_context);
@@ -82,7 +82,7 @@ void test_watchdog_expired_can_start_again(void) {
   watchdog_start(&s_watchdog, TIMEOUT_MS, prv_expiry_callback, &context_data);
 
   // its expired
-  delay_ms(TIMEOUT_MS + 5);
+  delay_ms(TIMEOUT_MS + 20);
   TEST_ASSERT_TRUE(s_expiry_called);
   prv_reset_callback();
 

libraries/ms-drivers/test/test_ads1259_adc.c

@@ -12,6 +12,7 @@
 #define NUM_CONFIG_REGISTERS 3
 #define TEST_CHK_SUM_FLAG_BIT 0x80
 #define TEST_DATA_SETTLING_TIME_MS 17
+#define DATA_SETTLING_BUFFER_MS 3
 
 #define TEST_BAUDRATE 60000
 #define TEST_MOSI_PIN \
@@ -210,7 +211,7 @@ void test_ads1259_get_conversion_data() {
   s_test_mode = ADS1259_MODE_MAX_POS_DATA;
   uint32_t test_raw = 0x7FFFFF;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   TEST_ASSERT_EQUAL(0xFF, s_storage.conv_data.LSB | s_storage.conv_data.MID);
   TEST_ASSERT_EQUAL(0x7F, s_storage.conv_data.MSB);
   // Math changed as a result of hardware testing, so assertions on s_storage.reading are wrong.
@@ -222,32 +223,32 @@ void test_ads1259_get_conversion_data() {
   s_test_mode = ADS1259_MODE_MAX_NEG_DATA;
   test_raw = 0x800000;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   // TEST_ASSERT_EQUAL(-50, s_storage.reading);
 
   // test with min readable pos data
   s_test_mode = ADS1259_MODE_MIN_POS_DATA;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   // TEST_ASSERT_EQUAL(0.000095, s_storage.reading);
 
   // test with min readable neg data
   s_test_mode = ADS1259_MODE_MIN_NEG_DATA;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   // TEST_ASSERT_EQUAL(-0.000095, s_storage.reading);
 
   // test with zero data
   s_test_mode = ADS1259_MODE_ZERO_DATA;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   // TEST_ASSERT_EQUAL(0, s_storage.reading);
 
   // test with a random data set
   s_test_mode = ADS1259_MODE_MIXED_DATA;
   test_raw = 0x102030;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   TEST_ASSERT_EQUAL(0x10, s_storage.conv_data.MSB);
   TEST_ASSERT_EQUAL(0x20, s_storage.conv_data.MID);
   TEST_ASSERT_EQUAL(0x30, s_storage.conv_data.LSB);
@@ -258,13 +259,13 @@ void test_ads1259_get_conversion_data() {
   s_test_mode = ADS1259_MODE_CHECKSUM_FAULT;
   s_checksum = false;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   TEST_ASSERT_TRUE(s_checksum);
 
   // test out of range flag triggered
   s_test_mode = ADS1259_MODE_OUT_RANGE_FLAG_TRIGGERED;
   s_out_of_range = false;
   ads1259_get_conversion_data(&s_storage);
-  delay_ms(TEST_DATA_SETTLING_TIME_MS);
+  delay_ms(TEST_DATA_SETTLING_TIME_MS + DATA_SETTLING_BUFFER_MS);
   TEST_ASSERT_TRUE(s_out_of_range);
 }

mu/ctl/req.py

@@ -1,6 +1,7 @@
-import requests
-from mu.srv.server import TCP_PORT
-
-def send(route, params=None, body=None):
-    url = 'http://localhost:{}/{}'.format(TCP_PORT, route)
-    return requests.get(url, params=params, json=body)
+import requests
+from mu.srv.server import TCP_PORT
+
+
+def send(route, params=None, body=None):
+    url = 'http://localhost:{}/{}'.format(TCP_PORT, route)
+    return requests.get(url, params=params, json=body)

mu/ctl/sims.py

@@ -1,36 +1,36 @@
-import json
-
-import mu.ctl.req as req
-
-
-def reset(args):
-    r = req.send('reset')
-    print(r.text)
-
-
-def start(args):
-    params = { 'sim': args.sim, 'proj': args.proj }
-    r = req.send('start', params)
-    print(r.text)
-
-
-def stop(args):
-    params = { 'sim': args.sim }
-    r = req.send('stop', params)
-    print(r.text)
-
-
-def sims(args):
-    r = req.send('sims')
-    sims = json.loads(r.text)
-    print('Available sims:')
-    for sim in sims:
-        print(sim)
-
-
-def sim_list(args):
-    r = req.send('list')
-    sims = json.loads(r.text)
-    print('Running sims:')
-    for sim in sims:
-        print(sim)
+import json
+
+import mu.ctl.req as req
+
+
+def reset(args):
+    r = req.send('reset')
+    print(r.text)
+
+
+def start(args):
+    params = {'sim': args.sim, 'proj': args.proj}
+    r = req.send('start', params)
+    print(r.text)
+
+
+def stop(args):
+    params = {'sim': args.sim}
+    r = req.send('stop', params)
+    print(r.text)
+
+
+def sims(args):
+    r = req.send('sims')
+    sims = json.loads(r.text)
+    print('Available sims:')
+    for sim in sims:
+        print(sim)
+
+
+def sim_list(args):
+    r = req.send('list')
+    sims = json.loads(r.text)
+    print('Running sims:')
+    for sim in sims:
+        print(sim)