hrtimer和usleep说明

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已于 2023-11-23 17:21:44 修改

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分类专栏：内核配置相关文章标签：嵌入式硬件

于 2023-11-23 17:19:26 首次发布

本文链接：https://blog.csdn.net/qq_18804879/article/details/134582129

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内核高精度定时器hrtimer

这里只讲使用，不讲原理，只要芯片支持，打开内核配置，按测试代码就可以正常使用us级的定时器

1、内核打开配置CONFIG_HIGH_RES_TIMERS

示例代码

#include <linux/init.h>
#include <linux/kernel.h>
#include <linux/module.h>

#include <linux/ktime.h>
#include <linux/hrtimer.h>

static struct hrtimer timer;
volatile static int t1 = 0, t2 = 0;
static int sys_get_time(void)
{
    struct timespec64 tv;

    ktime_get_real_ts64(&tv);

    return tv.tv_sec*1000000+tv.tv_nsec/1000;
}

static enum hrtimer_restart timer_handler(struct hrtimer *timer )
{
    dump_stack();
    t2 = sys_get_time();
    printk("hrtimer handler,delay %d us\n", t2 - t1);
    hrtimer_forward_now(timer, ktime_set(0,10*1000*1000));
    t1=t2;
    return HRTIMER_NORESTART;
    // return HRTIMER_RESTART;
}

static int __init my_init(void) 
{
    ktime_t tim;
    
	hrtimer_init(&timer, CLOCK_MONOTONIC, HRTIMER_MODE_REL);
    timer.function = timer_handler;
    tim = ktime_set(0,10000); //10000ns
    t1 = sys_get_time();
    hrtimer_start(&timer,tim,HRTIMER_MODE_REL);

    return 0;
}

static void __exit my_exit(void)
{
	printk("%s enter\n", __func__);
	hrtimer_cancel(&timer);
}

module_init(my_init);
module_exit(my_exit);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("lzf <snail_studying@163.com>");
MODULE_DESCRIPTION("hrtimer example");

高精度定时会重新配置event_handler这个回调函数
在这里插入图片描述

1.1高精度定时器中断触发的调用流程

timer_handler+0x34/0xcc [hrtimer]
__hrtimer_run_queues+0x124/0x244
hrtimer_interrupt+0x11c/0x360
arch_timer_handler_phys+0x34/0x44//这里调timer_handler->event_handler->hrtimer_interrupt
handle_percpu_devid_irq+0x84/0x150
__handle_domain_irq+0x7c/0xe0
gic_handle_irq+0x88/0x150
el1_irq+0xbc/0x140
add_device_randomness+0xc8/0x104
do_one_initcall+0xd4/0x1c0
do_init_module+0x44/0x1d0
load_module+0x1dfc/0x2444
__se_sys_finit_module+0xb8/0x100
__arm64_sys_finit_module+0x1c/0x30
do_el0_svc+0xec/0x210
el0_svc+0x14/0x20
el0_sync_handler+0xb0/0xd0
el0_sync+0x170/0x180

1.2以下是普通定时器调用流程

timer_handler+0x34/0xcc [hrtimer]
__hrtimer_run_queues+0x124/0x244
hrtimer_run_queues+0xdc/0x110
run_local_timers+0x20/0x50
update_process_times+0x58/0xa0
tick_periodic+0x3c/0xe0
tick_handle_periodic+0x34/0x8c
arch_timer_handler_phys+0x34/0x44
handle_percpu_devid_irq+0x84/0x150
__handle_domain_irq+0x7c/0xe0
gic_handle_irq+0x88/0x150
el1_irq+0xbc/0x140
arch_cpu_idle+0x18/0x30
default_idle_call+0x3c/0x8c
do_idle+0xd4/0x160
cpu_startup_entry+0x24/0x50
secondary_start_kernel+0x130/0x160