From 3f5dc472965e6a5b8efe60e33c7b6c2d18d92008 Mon Sep 17 00:00:00 2001 From: Stefan Kerkmann Date: Mon, 11 Jul 2022 15:17:05 +0200 Subject: [Core] Use polled waiting on ChibiOS platforms that support it (#17607) * Use polled waiting on platforms that support it Due to context switching overhead waiting a very short amount of time on a sleeping thread is often not accurate and in fact not usable for timing critical usage i.e. in a driver. Thus we use polled waiting for ranges in the us range on platforms that support it instead. The fallback is the thread sleeping mechanism. This includes: * ARM platforms with CYCCNT register (ARMv7, ARMv8) this is incremented at CPU clock frequency * GD32VF103 RISC-V port with CSR_MCYCLE register this is incremented at CPU clock frequency * RP2040 ARMv6 port which uses the integrated timer peripheral which is incremented with a fixed 1MHz frequency * Use wait_us() instead of chSysPolledDelayX ...as it is powered by busy waiting now. * Add chibios waiting methods test bench --- keyboards/handwired/onekey/elite_c/config.h | 3 ++ .../onekey/keymaps/chibios_waiting_test/config.h | 12 ++++++ .../onekey/keymaps/chibios_waiting_test/keymap.c | 47 ++++++++++++++++++++++ keyboards/handwired/onekey/promicro/config.h | 3 ++ keyboards/handwired/onekey/rp2040/config.h | 9 ++++- keyboards/handwired/onekey/teensy_2/config.h | 3 ++ keyboards/handwired/onekey/teensy_2pp/config.h | 3 ++ keyboards/planck/rev6_drop/matrix.c | 25 ++++++------ keyboards/preonic/rev3_drop/matrix.c | 25 ++++++------ platforms/chibios/_wait.h | 5 +++ platforms/chibios/bootloaders/rp2040.c | 5 +-- platforms/chibios/chibios_config.h | 12 ++++++ platforms/chibios/drivers/serial.c | 3 +- .../drivers/vendor/RP/RP2040/serial_vendor.c | 2 +- 14 files changed, 126 insertions(+), 31 deletions(-) create mode 100644 keyboards/handwired/onekey/keymaps/chibios_waiting_test/config.h create mode 100644 keyboards/handwired/onekey/keymaps/chibios_waiting_test/keymap.c diff --git a/keyboards/handwired/onekey/elite_c/config.h b/keyboards/handwired/onekey/elite_c/config.h index f495a1c38b..a3f63983fe 100644 --- a/keyboards/handwired/onekey/elite_c/config.h +++ b/keyboards/handwired/onekey/elite_c/config.h @@ -30,3 +30,6 @@ #define RGB_CI_PIN B1 #define ADC_PIN F6 + +#define QMK_WAITING_TEST_BUSY_PIN F6 +#define QMK_WAITING_TEST_YIELD_PIN F7 diff --git a/keyboards/handwired/onekey/keymaps/chibios_waiting_test/config.h b/keyboards/handwired/onekey/keymaps/chibios_waiting_test/config.h new file mode 100644 index 0000000000..0c75fa3044 --- /dev/null +++ b/keyboards/handwired/onekey/keymaps/chibios_waiting_test/config.h @@ -0,0 +1,12 @@ +// Copyright 2022 Stefan Kerkmann +// SPDX-License-Identifier: GPL-2.0-or-later + +#pragma once + +#if !defined(QMK_WAITING_TEST_BUSY_PIN) +# define QMK_WAITING_TEST_BUSY_PIN A8 +#endif + +#if !defined(QMK_WAITING_TEST_YIELD_PIN) +# define QMK_WAITING_TEST_YIELD_PIN A9 +#endif diff --git a/keyboards/handwired/onekey/keymaps/chibios_waiting_test/keymap.c b/keyboards/handwired/onekey/keymaps/chibios_waiting_test/keymap.c new file mode 100644 index 0000000000..ecf67d3b3c --- /dev/null +++ b/keyboards/handwired/onekey/keymaps/chibios_waiting_test/keymap.c @@ -0,0 +1,47 @@ +// Copyright 2022 Stefan Kerkmann +// SPDX-License-Identifier: GPL-2.0-or-later + +#include QMK_KEYBOARD_H + +const uint16_t PROGMEM keymaps[][MATRIX_ROWS][MATRIX_COLS] = {LAYOUT_ortho_1x1(KC_A)}; + +#if defined(__AVR__) +# pragma message "AVR uses polled waiting by default, running theses tests will not show any difference" +static inline void chThdSleepMicroseconds(uint32_t us) { + wait_us(us); +} +#endif + +void keyboard_post_init_user(void) { + setPinOutput(QMK_WAITING_TEST_BUSY_PIN); + setPinOutput(QMK_WAITING_TEST_YIELD_PIN); +} + +static inline void wait_us_polling_with_strobe(uint32_t us) { + writePinHigh(QMK_WAITING_TEST_BUSY_PIN); + wait_us(us); + writePinLow(QMK_WAITING_TEST_BUSY_PIN); +} + +static inline void wait_us_yield_with_strobe(uint32_t us) { + writePinHigh(QMK_WAITING_TEST_YIELD_PIN); + chThdSleepMicroseconds(us); + writePinLow(QMK_WAITING_TEST_YIELD_PIN); +} + +static const uint32_t waiting_values[] = {0, 1, 5, 10, 25, 50, 100, 150, 200, 500, 1000}; + +void housekeeping_task_user(void) { + static uint32_t last_bench = 0; + if (timer_elapsed32(last_bench) > 500) { + for (int i = 0; i < (sizeof(waiting_values) / sizeof(waiting_values[0])); i++) { + wait_us_polling_with_strobe(waiting_values[i]); + wait_us(10); + } + for (int i = 0; i < (sizeof(waiting_values) / sizeof(waiting_values[0])); i++) { + wait_us_yield_with_strobe(waiting_values[i]); + wait_us(10); + } + last_bench = timer_read32(); + } +} diff --git a/keyboards/handwired/onekey/promicro/config.h b/keyboards/handwired/onekey/promicro/config.h index 9c8961d5ca..b9ab046eae 100644 --- a/keyboards/handwired/onekey/promicro/config.h +++ b/keyboards/handwired/onekey/promicro/config.h @@ -30,3 +30,6 @@ #define RGB_CI_PIN B1 #define ADC_PIN F6 + +#define QMK_WAITING_TEST_BUSY_PIN F6 +#define QMK_WAITING_TEST_YIELD_PIN F7 diff --git a/keyboards/handwired/onekey/rp2040/config.h b/keyboards/handwired/onekey/rp2040/config.h index f5a122e91b..f4e45a8981 100644 --- a/keyboards/handwired/onekey/rp2040/config.h +++ b/keyboards/handwired/onekey/rp2040/config.h @@ -6,10 +6,15 @@ #include "config_common.h" #define PRODUCT Onekey Raspberry Pi RP2040 -#define MATRIX_COL_PINS { GP4 } -#define MATRIX_ROW_PINS { GP5 } +#define MATRIX_COL_PINS \ + { GP4 } +#define MATRIX_ROW_PINS \ + { GP5 } #define DEBUG_MATRIX_SCAN_RATE +#define QMK_WAITING_TEST_BUSY_PIN GP8 +#define QMK_WAITING_TEST_YIELD_PIN GP9 + #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET_LED GP25 #define RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT 500U diff --git a/keyboards/handwired/onekey/teensy_2/config.h b/keyboards/handwired/onekey/teensy_2/config.h index b83262ef05..437c597f29 100644 --- a/keyboards/handwired/onekey/teensy_2/config.h +++ b/keyboards/handwired/onekey/teensy_2/config.h @@ -29,3 +29,6 @@ #define RGB_DI_PIN F6 #define ADC_PIN F6 + +#define QMK_WAITING_TEST_BUSY_PIN F6 +#define QMK_WAITING_TEST_YIELD_PIN F7 diff --git a/keyboards/handwired/onekey/teensy_2pp/config.h b/keyboards/handwired/onekey/teensy_2pp/config.h index 886ad70cbf..691dddfd1a 100644 --- a/keyboards/handwired/onekey/teensy_2pp/config.h +++ b/keyboards/handwired/onekey/teensy_2pp/config.h @@ -29,3 +29,6 @@ #define RGB_DI_PIN F6 #define ADC_PIN F6 + +#define QMK_WAITING_TEST_BUSY_PIN F6 +#define QMK_WAITING_TEST_YIELD_PIN F7 diff --git a/keyboards/planck/rev6_drop/matrix.c b/keyboards/planck/rev6_drop/matrix.c index 49e115d029..d10d94dcf8 100644 --- a/keyboards/planck/rev6_drop/matrix.c +++ b/keyboards/planck/rev6_drop/matrix.c @@ -15,14 +15,7 @@ * along with this program. If not, see . */ -#include -#include -#include -#include "hal.h" -#include "timer.h" -#include "wait.h" -#include "debug.h" -#include "matrix.h" +#include "quantum.h" /* * col: { B11, B10, B2, B1, A7, B0 } @@ -38,9 +31,13 @@ __attribute__((weak)) void matrix_init_user(void) {} __attribute__((weak)) void matrix_scan_user(void) {} -__attribute__((weak)) void matrix_init_kb(void) { matrix_init_user(); } +__attribute__((weak)) void matrix_init_kb(void) { + matrix_init_user(); +} -__attribute__((weak)) void matrix_scan_kb(void) { matrix_scan_user(); } +__attribute__((weak)) void matrix_scan_kb(void) { + matrix_scan_user(); +} void matrix_init(void) { dprintf("matrix init\n"); @@ -146,9 +143,13 @@ uint8_t matrix_scan(void) { return 1; } -bool matrix_is_on(uint8_t row, uint8_t col) { return (matrix[row] & (1 << col)); } +bool matrix_is_on(uint8_t row, uint8_t col) { + return (matrix[row] & (1 << col)); +} -matrix_row_t matrix_get_row(uint8_t row) { return matrix[row]; } +matrix_row_t matrix_get_row(uint8_t row) { + return matrix[row]; +} void matrix_print(void) { dprintf("\nr/c 01234567\n"); diff --git a/keyboards/preonic/rev3_drop/matrix.c b/keyboards/preonic/rev3_drop/matrix.c index 07171a39e9..82214e03d9 100644 --- a/keyboards/preonic/rev3_drop/matrix.c +++ b/keyboards/preonic/rev3_drop/matrix.c @@ -15,14 +15,7 @@ * along with this program. If not, see . */ -#include -#include -#include -#include "hal.h" -#include "timer.h" -#include "wait.h" -#include "debug.h" -#include "matrix.h" +#include "quantum.h" typedef uint16_t matrix_col_t; @@ -40,9 +33,13 @@ __attribute__((weak)) void matrix_init_user(void) {} __attribute__((weak)) void matrix_scan_user(void) {} -__attribute__((weak)) void matrix_init_kb(void) { matrix_init_user(); } +__attribute__((weak)) void matrix_init_kb(void) { + matrix_init_user(); +} -__attribute__((weak)) void matrix_scan_kb(void) { matrix_scan_user(); } +__attribute__((weak)) void matrix_scan_kb(void) { + matrix_scan_user(); +} void matrix_init(void) { dprintf("matrix init\n"); @@ -150,9 +147,13 @@ uint8_t matrix_scan(void) { return 1; } -bool matrix_is_on(uint8_t row, uint8_t col) { return (matrix[row] & (1 << col)); } +bool matrix_is_on(uint8_t row, uint8_t col) { + return (matrix[row] & (1 << col)); +} -matrix_row_t matrix_get_row(uint8_t row) { return matrix[row]; } +matrix_row_t matrix_get_row(uint8_t row) { + return matrix[row]; +} void matrix_print(void) { dprintf("\nr/c 01234567\n"); diff --git a/platforms/chibios/_wait.h b/platforms/chibios/_wait.h index 2f36c64a2e..21cdffe11a 100644 --- a/platforms/chibios/_wait.h +++ b/platforms/chibios/_wait.h @@ -30,6 +30,11 @@ #ifdef WAIT_US_TIMER void wait_us(uint16_t duration); +#elif PORT_SUPPORTS_RT == TRUE +# define wait_us(us) \ + do { \ + chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)); \ + } while (0) #else # define wait_us(us) \ do { \ diff --git a/platforms/chibios/bootloaders/rp2040.c b/platforms/chibios/bootloaders/rp2040.c index 13a54036ef..bedc00f32e 100644 --- a/platforms/chibios/bootloaders/rp2040.c +++ b/platforms/chibios/bootloaders/rp2040.c @@ -43,9 +43,8 @@ void __late_init(void) { if (magic_location != magic_token) { magic_location = magic_token; // ChibiOS is not initialized at this point, so sleeping is only - // possible via busy waiting. The internal timer peripheral is running - // at this point with a precision of 1us. - chSysPolledDelayX(MS2RTC(1 * MHZ, RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT)); + // possible via busy waiting. + wait_us(RP2040_BOOTLOADER_DOUBLE_TAP_RESET_TIMEOUT * 1000U); magic_location = 0; return; } diff --git a/platforms/chibios/chibios_config.h b/platforms/chibios/chibios_config.h index e5aa8e3d05..c7a3a98fb0 100644 --- a/platforms/chibios/chibios_config.h +++ b/platforms/chibios/chibios_config.h @@ -21,6 +21,9 @@ #if defined(MCU_RP) # define CPU_CLOCK RP_CORE_CLK +// ChibiOS uses the RP2040 timer peripheral as its real time counter, this timer +// is monotonic and running at 1MHz. +# define REALTIME_COUNTER_CLOCK 1000000 # define USE_GPIOV1 # define PAL_OUTPUT_TYPE_OPENDRAIN _Static_assert(0, "RP2040 has no Open Drain GPIO configuration, setting this is not possible"); @@ -102,6 +105,11 @@ # endif #endif +#if defined(MCU_MIMXRT1062) +# include "clock_config.h" +# define CPU_CLOCK BOARD_BOOTCLOCKRUN_CORE_CLOCK +#endif + #if defined(HT32) # define CPU_CLOCK HT32_CK_SYS_FREQUENCY # define PAL_MODE_ALTERNATE PAL_HT32_MODE_AF @@ -109,3 +117,7 @@ # define PAL_OUTPUT_TYPE_PUSHPULL PAL_HT32_MODE_DIR # define PAL_OUTPUT_SPEED_HIGHEST 0 #endif + +#if !defined(REALTIME_COUNTER_CLOCK) +# define REALTIME_COUNTER_CLOCK CPU_CLOCK +#endif diff --git a/platforms/chibios/drivers/serial.c b/platforms/chibios/drivers/serial.c index 3fae5cd3a4..0dd8e71ae8 100644 --- a/platforms/chibios/drivers/serial.c +++ b/platforms/chibios/drivers/serial.c @@ -20,7 +20,8 @@ # error "chSysPolledDelayX method not supported on this platform" #else # undef wait_us -# define wait_us(x) chSysPolledDelayX(US2RTC(CPU_CLOCK, x)) +// Force usage of polled waiting - in case WAIT_US_TIMER is activated +# define wait_us(us) chSysPolledDelayX(US2RTC(REALTIME_COUNTER_CLOCK, us)) #endif #ifndef SELECT_SOFT_SERIAL_SPEED diff --git a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c index d933dc1f5d..338146dadd 100644 --- a/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c +++ b/platforms/chibios/drivers/vendor/RP/RP2040/serial_vendor.c @@ -152,7 +152,7 @@ static inline void enter_rx_state(void) { } // Wait for ~11 bits, 1 start bit + 8 data bits + 1 stop bit + 1 bit // headroom. - chSysPolledDelayX(US2RTC(1 * MHZ, (1000000U * 11 / SERIAL_USART_SPEED))); + wait_us(1000000U * 11U / SERIAL_USART_SPEED); // Disable tx state machine to not interfere with our tx pin manipulation pio_sm_set_enabled(pio, tx_state_machine, false); gpio_set_drive_strength(SERIAL_USART_TX_PIN, GPIO_DRIVE_STRENGTH_2MA); -- cgit v1.2.3