mirror of
https://github.com/espressif/esp-idf.git
synced 2025-09-19 16:12:39 +00:00
3dda3d2438
This commit updates usleep() to always sleep for the required sleep period or more. This fixes a bug where the usleep() could sleep for less than the request sleep period. Closes https://github.com/espressif/esp-idf/pull/15132
318 lines
9.3 KiB
C
318 lines
9.3 KiB
C
/*
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* SPDX-FileCopyrightText: 2015-2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <errno.h>
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#include <stdlib.h>
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#include <time.h>
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#include <limits.h>
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#include <reent.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/reent.h>
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#include <sys/time.h>
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#include <sys/times.h>
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#include <sys/lock.h>
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#include "esp_system.h"
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#include "esp_attr.h"
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#include "esp_rom_sys.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_private/system_internal.h"
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#include "soc/rtc.h"
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#include "esp_time_impl.h"
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#include "sdkconfig.h"
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#if !CONFIG_ESP_TIME_FUNCS_USE_NONE
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#define IMPL_NEWLIB_TIME_FUNCS 1
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#endif
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#if IMPL_NEWLIB_TIME_FUNCS
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// time functions are implemented -- they should not be weak
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#define WEAK_UNLESS_TIMEFUNC_IMPL
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// stores the start time of the slew
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static uint64_t s_adjtime_start_us;
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// is how many microseconds total to slew
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static int64_t s_adjtime_total_correction_us;
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static _lock_t s_time_lock;
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// This function gradually changes boot_time to the correction value and immediately updates it.
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static uint64_t adjust_boot_time(void)
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{
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#define ADJTIME_CORRECTION_FACTOR 6
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uint64_t boot_time = esp_time_impl_get_boot_time();
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if ((boot_time == 0) || (esp_time_impl_get_time_since_boot() < s_adjtime_start_us)) {
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s_adjtime_start_us = 0;
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}
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if (s_adjtime_start_us > 0) {
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uint64_t since_boot = esp_time_impl_get_time_since_boot();
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// If to call this function once per second, then (since_boot - s_adjtime_start_us) will be 1_000_000 (1 second),
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// and the correction will be equal to (1_000_000us >> 6) = 15_625 us.
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// The minimum possible correction step can be (64us >> 6) = 1us.
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// Example: if the time error is 1 second, then it will be compensate for 1 sec / 0,015625 = 64 seconds.
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int64_t correction = (since_boot >> ADJTIME_CORRECTION_FACTOR) - (s_adjtime_start_us >> ADJTIME_CORRECTION_FACTOR);
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if (correction > 0) {
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s_adjtime_start_us = since_boot;
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if (s_adjtime_total_correction_us < 0) {
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if ((s_adjtime_total_correction_us + correction) >= 0) {
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boot_time = boot_time + s_adjtime_total_correction_us;
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s_adjtime_start_us = 0;
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} else {
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s_adjtime_total_correction_us += correction;
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boot_time -= correction;
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}
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} else {
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if ((s_adjtime_total_correction_us - correction) <= 0) {
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boot_time = boot_time + s_adjtime_total_correction_us;
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s_adjtime_start_us = 0;
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} else {
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s_adjtime_total_correction_us -= correction;
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boot_time += correction;
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}
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}
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esp_time_impl_set_boot_time(boot_time);
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}
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}
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return boot_time;
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}
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// Get the adjusted boot time.
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static uint64_t get_adjusted_boot_time(void)
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{
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_lock_acquire(&s_time_lock);
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uint64_t adjust_time = adjust_boot_time();
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_lock_release(&s_time_lock);
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return adjust_time;
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}
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// Applying the accumulated correction to base_time and stopping the smooth time adjustment.
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static void adjtime_corr_stop(void)
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{
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_lock_acquire(&s_time_lock);
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if (s_adjtime_start_us != 0) {
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adjust_boot_time();
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s_adjtime_start_us = 0;
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}
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_lock_release(&s_time_lock);
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}
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#else
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// no time functions are actually implemented -- allow users to override them
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#define WEAK_UNLESS_TIMEFUNC_IMPL __attribute__((weak))
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#endif
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WEAK_UNLESS_TIMEFUNC_IMPL int adjtime(const struct timeval *delta, struct timeval *outdelta)
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{
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#if IMPL_NEWLIB_TIME_FUNCS
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if (outdelta != NULL) {
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_lock_acquire(&s_time_lock);
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adjust_boot_time();
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if (s_adjtime_start_us != 0) {
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outdelta->tv_sec = s_adjtime_total_correction_us / 1000000L;
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outdelta->tv_usec = s_adjtime_total_correction_us % 1000000L;
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} else {
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outdelta->tv_sec = 0;
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outdelta->tv_usec = 0;
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}
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_lock_release(&s_time_lock);
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}
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if (delta != NULL) {
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int64_t sec = delta->tv_sec;
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int64_t usec = delta->tv_usec;
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if (llabs(sec) > ((INT_MAX / 1000000L) - 1L)) {
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errno = EINVAL;
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return -1;
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}
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/*
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* If adjusting the system clock by adjtime () is already done during the second call adjtime (),
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* and the delta of the second call is not NULL, the earlier tuning is stopped,
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* but the already completed part of the adjustment is not canceled.
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*/
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_lock_acquire(&s_time_lock);
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// If correction is already in progress (s_adjtime_start_time_us != 0), then apply accumulated corrections.
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adjust_boot_time();
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s_adjtime_start_us = esp_time_impl_get_time_since_boot();
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s_adjtime_total_correction_us = sec * 1000000L + usec;
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_lock_release(&s_time_lock);
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}
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return 0;
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#else
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errno = ENOSYS;
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return -1;
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#endif
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}
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clock_t IRAM_ATTR _times_r(struct _reent *r, struct tms *ptms)
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{
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clock_t t = xTaskGetTickCount() * (portTICK_PERIOD_MS * CLK_TCK / 1000);
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ptms->tms_cstime = 0;
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ptms->tms_cutime = 0;
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ptms->tms_stime = t;
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ptms->tms_utime = 0;
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struct timeval tv = {0, 0};
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_gettimeofday_r(r, &tv, NULL);
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return (clock_t) tv.tv_sec;
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}
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WEAK_UNLESS_TIMEFUNC_IMPL int IRAM_ATTR _gettimeofday_r(struct _reent *r, struct timeval *tv, void *tz)
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{
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(void) tz;
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#if IMPL_NEWLIB_TIME_FUNCS
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if (tv) {
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uint64_t microseconds = get_adjusted_boot_time() + esp_time_impl_get_time_since_boot();
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tv->tv_sec = microseconds / 1000000;
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tv->tv_usec = microseconds % 1000000;
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}
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return 0;
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#else
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__errno_r(r) = ENOSYS;
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return -1;
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#endif
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}
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WEAK_UNLESS_TIMEFUNC_IMPL int settimeofday(const struct timeval *tv, const struct timezone *tz)
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{
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(void) tz;
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#if IMPL_NEWLIB_TIME_FUNCS
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if (tv) {
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adjtime_corr_stop();
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uint64_t now = ((uint64_t) tv->tv_sec) * 1000000LL + tv->tv_usec;
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uint64_t since_boot = esp_time_impl_get_time_since_boot();
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esp_time_impl_set_boot_time(now - since_boot);
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}
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return 0;
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#else
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errno = ENOSYS;
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return -1;
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#endif
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}
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int usleep(useconds_t us)
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{
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/* Even at max tick rate, vTaskDelay can still delay for the max of the us argument,
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we just need to make sure the tick calculation does not overflow
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*/
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const int64_t us_per_tick = portTICK_PERIOD_MS * 1000;
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if (us < us_per_tick) {
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esp_rom_delay_us((uint32_t) us);
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} else {
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/* vTaskDelay may return up to (n-1) tick periods due to the tick ISR
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being asynchronous to the call. We must sleep at least the specified
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time, or longer. Checking the monotonic clock allows making an
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additional call to vTaskDelay when needed to ensure minimal time is
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actually slept. Adding `us_per_tick - 1` prevents ever passing 0 to
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vTaskDelay().
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*/
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uint64_t now_us = esp_time_impl_get_time();
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uint64_t target_us = now_us + us;
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do {
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vTaskDelay((((target_us - now_us) + us_per_tick - 1) / us_per_tick));
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now_us = esp_time_impl_get_time();
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/* It is possible that the time left until the target time is less
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* than a tick period. However, we let usleep() to sleep for an
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* entire tick period. This, could result in usleep() sleeping for
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* a longer time than the requested time but that does not violate
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* the spec of usleep(). Additionally, it allows FreeRTOS to schedule
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* other tasks while the current task is sleeping.
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*/
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} while (now_us < target_us);
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}
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return 0;
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}
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unsigned int sleep(unsigned int seconds)
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{
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usleep(seconds * 1000000UL);
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return 0;
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}
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WEAK_UNLESS_TIMEFUNC_IMPL int clock_settime(clockid_t clock_id, const struct timespec *tp)
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{
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#if IMPL_NEWLIB_TIME_FUNCS
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if (tp == NULL) {
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errno = EINVAL;
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return -1;
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}
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struct timeval tv;
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switch (clock_id) {
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case CLOCK_REALTIME:
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tv.tv_sec = tp->tv_sec;
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tv.tv_usec = tp->tv_nsec / 1000L;
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settimeofday(&tv, NULL);
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break;
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default:
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errno = EINVAL;
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return -1;
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}
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return 0;
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#else
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errno = ENOSYS;
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return -1;
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#endif
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}
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WEAK_UNLESS_TIMEFUNC_IMPL int clock_gettime(clockid_t clock_id, struct timespec *tp)
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{
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#if IMPL_NEWLIB_TIME_FUNCS
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if (tp == NULL) {
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errno = EINVAL;
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return -1;
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}
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struct timeval tv;
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uint64_t monotonic_time_us = 0;
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switch (clock_id) {
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case CLOCK_REALTIME:
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_gettimeofday_r(NULL, &tv, NULL);
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tp->tv_sec = tv.tv_sec;
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tp->tv_nsec = tv.tv_usec * 1000L;
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break;
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case CLOCK_MONOTONIC:
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monotonic_time_us = esp_time_impl_get_time();
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tp->tv_sec = monotonic_time_us / 1000000LL;
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tp->tv_nsec = (monotonic_time_us % 1000000LL) * 1000L;
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break;
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default:
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errno = EINVAL;
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return -1;
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}
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return 0;
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#else
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errno = ENOSYS;
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return -1;
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#endif
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}
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WEAK_UNLESS_TIMEFUNC_IMPL int clock_getres(clockid_t clock_id, struct timespec *res)
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{
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#if IMPL_NEWLIB_TIME_FUNCS
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if (res == NULL) {
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errno = EINVAL;
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return -1;
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}
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res->tv_sec = 0;
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res->tv_nsec = esp_system_get_time_resolution();
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return 0;
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#else
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errno = ENOSYS;
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return -1;
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#endif
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}
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void esp_newlib_time_init(void)
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{
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esp_time_impl_init();
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}
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