RT-Thread源码-6-定时器功能剖析

• RT-Thread中，除了处理器提供硬件定时器外设，也提供了软件定时器。这里，软件定时器分为了软定时器及硬定时器，二者的区别在于对超时事件的处理时机的不同。软定时器于系统timer线程中执行超时事件处理函数，而硬定时器于系统时钟中断中处理。

软定时器线程

• 只有在使能软定时器（宏RT_USING_TIMER_SOFT）才能开启此线程。

初始化

• 在系统启动时，首先初始化了软定时器列表，定时器列表结构仍为rt_list，定时器数量即定时器列表大小由宏RT_TIMER_SKIP_LIST_LEVEL决定，默认为1。最后，初始化了系统timer线程，这里主要静态创建并启动timer线程，timer线程默认的栈空间大小为512字节，默认优先级为系统最高（0）。

int rtthread_startup(void)
{
    ...

    /* timer thread initialization */
    rt_system_timer_thread_init();

    ...

    /* never reach here */
    return 0;
}

void rt_system_timer_thread_init(void)
{
#ifdef RT_USING_TIMER_SOFT
    int i;

    for (i = 0;
         i < sizeof(rt_soft_timer_list) / sizeof(rt_soft_timer_list[0]);
         i++)
    {
        rt_list_init(rt_soft_timer_list + i);
    }

    /* start software timer thread */
    rt_thread_init(&timer_thread,
                   "timer",
                   rt_thread_timer_entry,
                   RT_NULL,
                   &timer_thread_stack[0],
                   sizeof(timer_thread_stack),
                   RT_TIMER_THREAD_PRIO,
                   10);

    /* startup */
    rt_thread_startup(&timer_thread);
#endif
}

线程主要功能

• 此线程主要工作是轮询软定时器列表的超时时间，并且判断其是否达到超时时间，若未达到，则timer线程休眠相应未达到时间差，之后进行下一次轮询。这里，若列表为空，则直接挂起该线程，进行一次线程调度切换。

static void rt_thread_timer_entry(void *parameter)
{
    rt_tick_t next_timeout;

    while (1)
    {
        /* get the next timeout tick */
        next_timeout = rt_timer_list_next_timeout(rt_soft_timer_list);
        if (next_timeout == RT_TICK_MAX)
        {
            /* no software timer exist, suspend self. */
            rt_thread_suspend(rt_thread_self());
            rt_schedule();
        }
        else
        {
            rt_tick_t current_tick;

            /* get current tick */
            current_tick = rt_tick_get();

            if ((next_timeout - current_tick) < RT_TICK_MAX / 2)
            {
                /* get the delta timeout tick */
                next_timeout = next_timeout - current_tick;
                rt_thread_delay(next_timeout);
            }
        }

        /* check software timer */
        rt_soft_timer_check();
    }
}

• 轮询工作主要在此函数中进行，若软定时器达到超时时间，首先将其从当前软定时器列表中移除并且衔接列表节点，之后调用软定时器初始化时注册的超时事件回调函数，执行完成之后，根据软定时器初始化的模式进行处理，软定时器初始化时主要分为周期性定时（RT_TIMER_FLAG_PERIODIC）以及单次定时（RT_TIMER_FLAG_ONE_SHOT），无论是两者中的哪一个，都会清除定时器启动标志位（RT_TIMER_FLAG_ACTIVATED）。而前者（周期性定时）会再次启动定时器。

void rt_soft_timer_check(void)
{
    rt_tick_t current_tick;
    rt_list_t *n;
    struct rt_timer *t;

    RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check enter\n"));

    current_tick = rt_tick_get();

    /* lock scheduler */
    rt_enter_critical();

    for (n = rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1].next;
         n != &(rt_soft_timer_list[RT_TIMER_SKIP_LIST_LEVEL - 1]);)
    {
        t = rt_list_entry(n, struct rt_timer, row[RT_TIMER_SKIP_LIST_LEVEL - 1]);

        /*
         * It supposes that the new tick shall less than the half duration of
         * tick max.
         */
        if ((current_tick - t->timeout_tick) < RT_TICK_MAX / 2)
        {
            RT_OBJECT_HOOK_CALL(rt_timer_enter_hook, (t));

            /* move node to the next */
            n = n->next;

            /* remove timer from timer list firstly */
            _rt_timer_remove(t);

            /* not lock scheduler when performing timeout function */
            rt_exit_critical();
            /* call timeout function */
            t->timeout_func(t->parameter);

            /* re-get tick */
            current_tick = rt_tick_get();

            RT_OBJECT_HOOK_CALL(rt_timer_exit_hook, (t));
            RT_DEBUG_LOG(RT_DEBUG_TIMER, ("current tick: %d\n", current_tick));

            /* lock scheduler */
            rt_enter_critical();

            if ((t->parent.flag & RT_TIMER_FLAG_PERIODIC) &&
                (t->parent.flag & RT_TIMER_FLAG_ACTIVATED))
            {
                /* start it */
                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
                rt_timer_start(t);
            }
            else
            {
                /* stop timer */
                t->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
            }
        }
        else break; /* not check anymore */
    }

    /* unlock scheduler */
    rt_exit_critical();

    RT_DEBUG_LOG(RT_DEBUG_TIMER, ("software timer check leave\n"));
}

超时判断方式

        /*
         * It supposes that the new tick shall less than the half duration of
         * tick max.
         */
        if ((current_tick - t->timeout_tick) < RT_TICK_MAX / 2)
        {
        	...
        }

• 这里判断超时的方式是比较耐人寻味的。判断超时的方式最简单的方法就是将当前时间减去设定的超时时间是否0，即

        if ((current_tick - timeout_tick) >= 0)

• 但是由于轮询的间隔，往往会导致计时溢出，而不会恰好达到设定超时时间。注意到，在定时器启动时会对设定超时时间进行断言判断：

rt_err_t rt_timer_start(rt_timer_t timer)
{
    ...

    /*
     * get timeout tick,
     * the max timeout tick shall not great than RT_TICK_MAX/2
     */
    RT_ASSERT(timer->init_tick < RT_TICK_MAX / 2);
    timer->timeout_tick = rt_tick_get() + timer->init_tick;

    ...

    return RT_EOK;
}

• 在启动时，若设定的超时基础时间大于最大滴答数的一半，则直接退出。关于原理，推荐一个个人任务讲的比较好的帖子RT-Thread超时判断方式的理解

硬定时器

• 在系统启动时，除了初始化了软定时器，再来就是初始化系统定时器列表。这里系统定时器可以理解为硬定时器。

void rt_system_timer_init(void)
{
    int i;

    for (i = 0; i < sizeof(rt_timer_list) / sizeof(rt_timer_list[0]); i++)
    {
        rt_list_init(rt_timer_list + i);
    }
}

• 关于超时事件的处理，与软定时器相同，原理不多做赘述。唯一不同的是处理的时机，硬定时器于系统时钟中断中进行超时事件判断。

/**
 * This function will notify kernel there is one tick passed. Normally,
 * this function is invoked by clock ISR.
 */
void rt_tick_increase(void)
{
    ...

    /* check timer */
    rt_timer_check();
}

定时器控制

定时器设置

• 主要通过rt_timer_control进行设置，能够设置模式、设定及获取超时基础时间。

rt_err_t rt_timer_control(rt_timer_t timer, int cmd, void *arg)
{
    /* timer check */
    RT_ASSERT(timer != RT_NULL);
    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);

    switch (cmd)
    {
    case RT_TIMER_CTRL_GET_TIME:
        *(rt_tick_t *)arg = timer->init_tick;
        break;

    case RT_TIMER_CTRL_SET_TIME:
        timer->init_tick = *(rt_tick_t *)arg;
        break;

    case RT_TIMER_CTRL_SET_ONESHOT:
        timer->parent.flag &= ~RT_TIMER_FLAG_PERIODIC;
        break;

    case RT_TIMER_CTRL_SET_PERIODIC:
        timer->parent.flag |= RT_TIMER_FLAG_PERIODIC;
        break;
    }

    return RT_EOK;
}
RTM_EXPORT(rt_timer_control);

定时器开启

rt_err_t rt_timer_start(rt_timer_t timer)
{
    unsigned int row_lvl;
    rt_list_t *timer_list;
    register rt_base_t level;
    rt_list_t *row_head[RT_TIMER_SKIP_LIST_LEVEL];
    unsigned int tst_nr;
    static unsigned int random_nr;

    /* timer check */
    RT_ASSERT(timer != RT_NULL);
    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);

    /* stop timer firstly */
    level = rt_hw_interrupt_disable();
    /* remove timer from list */
    _rt_timer_remove(timer);
    /* change status of timer */
    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;
    rt_hw_interrupt_enable(level);

    RT_OBJECT_HOOK_CALL(rt_object_take_hook, (&(timer->parent)));

    /*
     * get timeout tick,
     * the max timeout tick shall not great than RT_TICK_MAX/2
     */
    RT_ASSERT(timer->init_tick < RT_TICK_MAX / 2);
    timer->timeout_tick = rt_tick_get() + timer->init_tick;

    /* disable interrupt */
    level = rt_hw_interrupt_disable();

#ifdef RT_USING_TIMER_SOFT
    if (timer->parent.flag & RT_TIMER_FLAG_SOFT_TIMER)
    {
        /* insert timer to soft timer list */
        timer_list = rt_soft_timer_list;
    }
    else
#endif
    {
        /* insert timer to system timer list */
        timer_list = rt_timer_list;
    }

    row_head[0]  = &timer_list[0];
    for (row_lvl = 0; row_lvl < RT_TIMER_SKIP_LIST_LEVEL; row_lvl++)
    {
        for (; row_head[row_lvl] != timer_list[row_lvl].prev;
             row_head[row_lvl]  = row_head[row_lvl]->next)
        {
            struct rt_timer *t;
            rt_list_t *p = row_head[row_lvl]->next;

            /* fix up the entry pointer */
            t = rt_list_entry(p, struct rt_timer, row[row_lvl]);

            /* If we have two timers that timeout at the same time, it's
             * preferred that the timer inserted early get called early.
             * So insert the new timer to the end the the some-timeout timer
             * list.
             */
            if ((t->timeout_tick - timer->timeout_tick) == 0)
            {
                continue;
            }
            else if ((t->timeout_tick - timer->timeout_tick) < RT_TICK_MAX / 2)
            {
                break;
            }
        }
        if (row_lvl != RT_TIMER_SKIP_LIST_LEVEL - 1)
            row_head[row_lvl + 1] = row_head[row_lvl] + 1;
    }

    /* Interestingly, this super simple timer insert counter works very very
     * well on distributing the list height uniformly. By means of "very very
     * well", I mean it beats the randomness of timer->timeout_tick very easily
     * (actually, the timeout_tick is not random and easy to be attacked). */
    random_nr++;
    tst_nr = random_nr;

    rt_list_insert_after(row_head[RT_TIMER_SKIP_LIST_LEVEL - 1],
                         &(timer->row[RT_TIMER_SKIP_LIST_LEVEL - 1]));
    for (row_lvl = 2; row_lvl <= RT_TIMER_SKIP_LIST_LEVEL; row_lvl++)
    {
        if (!(tst_nr & RT_TIMER_SKIP_LIST_MASK))
            rt_list_insert_after(row_head[RT_TIMER_SKIP_LIST_LEVEL - row_lvl],
                                 &(timer->row[RT_TIMER_SKIP_LIST_LEVEL - row_lvl]));
        else
            break;
        /* Shift over the bits we have tested. Works well with 1 bit and 2
         * bits. */
        tst_nr >>= (RT_TIMER_SKIP_LIST_MASK + 1) >> 1;
    }

    timer->parent.flag |= RT_TIMER_FLAG_ACTIVATED;

    /* enable interrupt */
    rt_hw_interrupt_enable(level);

#ifdef RT_USING_TIMER_SOFT
    if (timer->parent.flag & RT_TIMER_FLAG_SOFT_TIMER)
    {
        /* check whether timer thread is ready */
        if ((timer_thread.stat & RT_THREAD_STAT_MASK) != RT_THREAD_READY)
        {
            /* resume timer thread to check soft timer */
            rt_thread_resume(&timer_thread);
            rt_schedule();
        }
    }
#endif

    return RT_EOK;
}
RTM_EXPORT(rt_timer_start);

• 每当有定时器启动，内核会根据定时器设定的超时时间进行排序。假若有两个定时器，它们设定的超时时间相同，则根据启动时序的先后进行优先级排序，即响应超时事件的优先级排序；若其中一方的设定超时时间大于另一方，则直接将其插入到与其设定超时时间差值最小的优先级大于其的定时器之后。
• 之后，为了缩短内核每次创建并启动的时间，使用跳表搜索算法加快以后定时器列表遍历。

定时器停止

• 由rt_timer_stop函数执行，工作较为简单：将需要停止的已启动定时器从定时器列表中移除。

rt_err_t rt_timer_stop(rt_timer_t timer)
{
    register rt_base_t level;

    /* timer check */
    RT_ASSERT(timer != RT_NULL);
    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);

    if (!(timer->parent.flag & RT_TIMER_FLAG_ACTIVATED))
        return -RT_ERROR;

    RT_OBJECT_HOOK_CALL(rt_object_put_hook, (&(timer->parent)));

    /* disable interrupt */
    level = rt_hw_interrupt_disable();

    _rt_timer_remove(timer);

    /* enable interrupt */
    rt_hw_interrupt_enable(level);

    /* change stat */
    timer->parent.flag &= ~RT_TIMER_FLAG_ACTIVATED;

    return RT_EOK;
}
RTM_EXPORT(rt_timer_stop);

定时器动态创建/静态创建

• rt_timer_create，调用此函数将于堆上申请定时器对象大小的内存，即动态创建。rt_timer_init，调用此函数由用户提供定时器对象大小的栈空间，即静态创建。

rt_timer_t rt_timer_create(const char *name,
                           void (*timeout)(void *parameter),
                           void       *parameter,
                           rt_tick_t   time,
                           rt_uint8_t  flag)
{
    struct rt_timer *timer;

    /* allocate a object */
    timer = (struct rt_timer *)rt_object_allocate(RT_Object_Class_Timer, name);
    if (timer == RT_NULL)
    {
        return RT_NULL;
    }

    _rt_timer_init(timer, timeout, parameter, time, flag);

    return timer;
}
RTM_EXPORT(rt_timer_create);

void rt_timer_init(rt_timer_t  timer,
                   const char *name,
                   void (*timeout)(void *parameter),
                   void       *parameter,
                   rt_tick_t   time,
                   rt_uint8_t  flag)
{
    /* timer check */
    RT_ASSERT(timer != RT_NULL);

    /* timer object initialization */
    rt_object_init((rt_object_t)timer, RT_Object_Class_Timer, name);

    _rt_timer_init(timer, timeout, parameter, time, flag);
}
RTM_EXPORT(rt_timer_init);

• _rt_timer_init 仅对定时器rt_timer中的成员进行初始化，无其他特殊操作，此处不做特别赘述。

定时器删除/分离

• 这里的分离对应着静态创建的定时器，分离后将定时器从定时器列表中移除并将其对象从内核分离；删除对应动态创建的定时器，删除后将定时器从定时器列表中移除并将其对象从堆上释放。

rt_err_t rt_timer_detach(rt_timer_t timer)
{
    register rt_base_t level;

    /* timer check */
    RT_ASSERT(timer != RT_NULL);
    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
    RT_ASSERT(rt_object_is_systemobject(&timer->parent));

    /* disable interrupt */
    level = rt_hw_interrupt_disable();

    _rt_timer_remove(timer);

    /* enable interrupt */
    rt_hw_interrupt_enable(level);

    rt_object_detach((rt_object_t)timer);

    return RT_EOK;
}
RTM_EXPORT(rt_timer_detach);

rt_err_t rt_timer_delete(rt_timer_t timer)
{
    register rt_base_t level;

    /* timer check */
    RT_ASSERT(timer != RT_NULL);
    RT_ASSERT(rt_object_get_type(&timer->parent) == RT_Object_Class_Timer);
    RT_ASSERT(rt_object_is_systemobject(&timer->parent) == RT_FALSE);

    /* disable interrupt */
    level = rt_hw_interrupt_disable();

    _rt_timer_remove(timer);

    /* enable interrupt */
    rt_hw_interrupt_enable(level);

    rt_object_delete((rt_object_t)timer);

    return RT_EOK;
}
RTM_EXPORT(rt_timer_delete);

其他

钩子函数设定

• 与其他内核对象类似，此处不做其他赘述，直接贴源码

#ifdef RT_USING_HOOK
extern void (*rt_object_take_hook)(struct rt_object *object);
extern void (*rt_object_put_hook)(struct rt_object *object);
static void (*rt_timer_enter_hook)(struct rt_timer *timer);
static void (*rt_timer_exit_hook)(struct rt_timer *timer);

/**
 * @addtogroup Hook
 */

/**@{*/

/**
 * This function will set a hook function, which will be invoked when enter
 * timer timeout callback function.
 *
 * @param hook the hook function
 */
void rt_timer_enter_sethook(void (*hook)(struct rt_timer *timer))
{
    rt_timer_enter_hook = hook;
}

/**
 * This function will set a hook function, which will be invoked when exit
 * timer timeout callback function.
 *
 * @param hook the hook function
 */
void rt_timer_exit_sethook(void (*hook)(struct rt_timer *timer))
{
    rt_timer_exit_hook = hook;
}

/**@}*/
#endif

调试

• rt_timer_count_height用于计算跳表的层数
• rt_timer_dump将每个定时器的跳表层数打印出来

#if RT_DEBUG_TIMER
static int rt_timer_count_height(struct rt_timer *timer)
{
    int i, cnt = 0;

    for (i = 0; i < RT_TIMER_SKIP_LIST_LEVEL; i++)
    {
        if (!rt_list_isempty(&timer->row[i]))
            cnt++;
    }
    return cnt;
}

void rt_timer_dump(rt_list_t timer_heads[])
{
    rt_list_t *list;

    for (list = timer_heads[RT_TIMER_SKIP_LIST_LEVEL - 1].next;
         list != &timer_heads[RT_TIMER_SKIP_LIST_LEVEL - 1];
         list = list->next)
    {
        struct rt_timer *timer = rt_list_entry(list,
                                               struct rt_timer,
                                               row[RT_TIMER_SKIP_LIST_LEVEL - 1]);
        rt_kprintf("%d", rt_timer_count_height(timer));
    }
    rt_kprintf("\n");
}
#endif