Make timekeeping the driver's job (#4047)

esp-preempt/src/lib.rs

@@ -270,10 +270,6 @@ impl esp_radio_preempt_driver::Scheduler for Scheduler {
         timer::initialized()
     }
 
-    fn usleep(&self, us: u32) {
-        usleep(us)
-    }
-
     fn enable(&self) {
         // allocate the main task
         task::allocate_main_task();
@@ -336,4 +332,15 @@ impl esp_radio_preempt_driver::Scheduler for Scheduler {
             unwrap!(task.thread_semaphore)
         })
     }
+
+    fn usleep(&self, us: u32) {
+        usleep(us)
+    }
+
+    fn now(&self) -> u64 {
+        // FIXME: this function needs to return the timestamp of the scheduler's timer
+        esp_hal::time::Instant::now()
+            .duration_since_epoch()
+            .as_micros()
+    }
 }

esp-radio-preempt-driver/src/lib.rs

@@ -38,7 +38,6 @@ use crate::semaphore::SemaphorePtr;
 
 unsafe extern "Rust" {
     fn esp_preempt_initialized() -> bool;
-    fn esp_preempt_usleep(us: u32);
     fn esp_preempt_enable();
     fn esp_preempt_disable();
     fn esp_preempt_yield_task();
@@ -50,6 +49,9 @@ unsafe extern "Rust" {
     ) -> *mut c_void;
     fn esp_preempt_schedule_task_deletion(task_handle: *mut c_void);
     fn esp_preempt_current_task_thread_semaphore() -> SemaphorePtr;
+
+    fn esp_preempt_usleep(us: u32);
+    fn esp_preempt_now() -> u64;
 }
 
 /// Set the Scheduler implementation.
@@ -66,12 +68,6 @@ macro_rules! scheduler_impl {
             <$t as $crate::Scheduler>::initialized(&$name)
         }
 
-        #[unsafe(no_mangle)]
-        #[inline]
-        fn esp_preempt_usleep(us: u32) {
-            <$t as $crate::Scheduler>::usleep(&$name, us)
-        }
-
         #[unsafe(no_mangle)]
         #[inline]
         fn esp_preempt_enable() {
@@ -117,6 +113,18 @@ macro_rules! scheduler_impl {
         fn esp_preempt_current_task_thread_semaphore() -> SemaphorePtr {
             <$t as $crate::Scheduler>::current_task_thread_semaphore(&$name)
         }
+
+        #[unsafe(no_mangle)]
+        #[inline]
+        fn esp_preempt_usleep(us: u32) {
+            <$t as $crate::Scheduler>::usleep(&$name, us)
+        }
+
+        #[unsafe(no_mangle)]
+        #[inline]
+        fn esp_preempt_now() -> u64 {
+            <$t as $crate::Scheduler>::now(&$name)
+        }
     };
 }
 
@@ -129,10 +137,6 @@ pub trait Scheduler: Send + Sync + 'static {
     /// up.
     fn initialized(&self) -> bool;
 
-    /// This function is called by `esp_radio::init` to put the current task to sleep for the
-    /// specified number of microseconds.
-    fn usleep(&self, us: u32);
-
     /// This function is called by `esp-radio` to start the task scheduler.
     fn enable(&self);
 
@@ -166,6 +170,16 @@ pub trait Scheduler: Send + Sync + 'static {
     /// usize-sized memory location, which will be used to store a pointer
     /// to a semaphore for this thread.
     fn current_task_thread_semaphore(&self) -> SemaphorePtr;
+
+    /// This function is called by a task to sleep for the specified number of microseconds.
+    fn usleep(&self, us: u32);
+
+    /// Returns the current timestamp in microseconds.
+    ///
+    /// The underlying timer is expected not to overflow during the lifetime of the program.
+    ///
+    /// The clock that generates this timestamp must be the same one used to trigger timer events.
+    fn now(&self) -> u64;
 }
 
 // API used (mostly) by esp-radio
@@ -176,12 +190,6 @@ pub fn initialized() -> bool {
     unsafe { esp_preempt_initialized() }
 }
 
-/// Puts the current task to sleep for the specified number of microseconds.
-#[inline]
-pub fn usleep(us: u32) {
-    unsafe { esp_preempt_usleep(us) }
-}
-
 /// Starts the task scheduler.
 #[inline]
 pub fn enable() {
@@ -239,3 +247,15 @@ pub unsafe fn schedule_task_deletion(task_handle: *mut c_void) {
 pub fn current_task_thread_semaphore() -> SemaphorePtr {
     unsafe { esp_preempt_current_task_thread_semaphore() }
 }
+
+/// Puts the current task to sleep for the specified number of microseconds.
+#[inline]
+pub fn usleep(us: u32) {
+    unsafe { esp_preempt_usleep(us) }
+}
+
+/// Returns the current timestamp, in microseconds.
+#[inline]
+pub fn now() -> u64 {
+    unsafe { esp_preempt_now() }
+}

esp-radio/src/common_adapter/mod.rs

@@ -308,7 +308,7 @@ pub unsafe extern "C" fn __esp_radio_gettimeofday(tv: *mut timeval, _tz: *mut ()
 #[unsafe(no_mangle)]
 pub unsafe extern "C" fn __esp_radio_esp_timer_get_time() -> i64 {
     trace!("esp_timer_get_time");
-    crate::time::ticks_to_micros(crate::time::systimer_count()) as i64
+    crate::time::ticks_to_micros(crate::preempt::now()) as i64
 }
 
 #[unsafe(no_mangle)]

esp-radio/src/compat/common.rs

@@ -200,6 +200,6 @@ pub(crate) unsafe extern "C" fn sleep(
 /// components/newlib/time.c
 #[unsafe(no_mangle)]
 unsafe extern "C" fn usleep(us: u32) -> c_int {
-    esp_radio_preempt_driver::usleep(us);
+    crate::preempt::usleep(us);
     0
 }

esp-radio/src/compat/mutex.rs

@@ -1,7 +1,9 @@
-use esp_radio_preempt_driver::mutex::{MutexHandle, MutexPtr};
 use esp_wifi_sys::c_types::c_void;
 
-use crate::compat::OSI_FUNCS_TIME_BLOCKING;
+use crate::{
+    compat::OSI_FUNCS_TIME_BLOCKING,
+    preempt::mutex::{MutexHandle, MutexPtr},
+};
 
 pub(crate) fn mutex_create(recursive: bool) -> *mut c_void {
     MutexHandle::new(recursive).leak().as_ptr().cast()

esp-radio/src/compat/queue.rs

@@ -1,7 +1,9 @@
-use esp_radio_preempt_driver::queue::{QueueHandle, QueuePtr};
 use esp_wifi_sys::c_types::*;
 
-use crate::compat::OSI_FUNCS_TIME_BLOCKING;
+use crate::{
+    compat::OSI_FUNCS_TIME_BLOCKING,
+    preempt::queue::{QueueHandle, QueuePtr},
+};
 
 pub(crate) fn queue_create(queue_len: c_int, item_size: c_int) -> *mut c_void {
     trace!("queue_create len={} size={}", queue_len, item_size);

esp-radio/src/compat/semaphore.rs

@@ -1,7 +1,9 @@
-use esp_radio_preempt_driver::semaphore::{SemaphoreHandle, SemaphorePtr};
 use esp_wifi_sys::c_types::c_void;
 
-use crate::compat::OSI_FUNCS_TIME_BLOCKING;
+use crate::{
+    compat::OSI_FUNCS_TIME_BLOCKING,
+    preempt::semaphore::{SemaphoreHandle, SemaphorePtr},
+};
 
 pub(crate) fn sem_create(max: u32, init: u32) -> *mut c_void {
     SemaphoreHandle::new(max, init).leak().as_ptr().cast()

esp-radio/src/compat/timer_compat.rs

@@ -64,9 +64,7 @@ impl TimerQueue {
     ) -> Option<&mut Box<Timer>> {
         let mut current = self.head.as_mut();
         while let Some(timer) = current {
-            if timer.active
-                && crate::time::time_diff(timer.started, current_timestamp) >= timer.timeout
-            {
+            if timer.active && current_timestamp - timer.started >= timer.timeout {
                 return Some(timer);
             }
             current = timer.next.as_mut();
@@ -156,7 +154,7 @@ pub(crate) fn compat_timer_arm(ets_timer: *mut ets_timer, tmout: u32, repeat: bo
 
 #[cfg(any(feature = "wifi", all(feature = "ble", npl)))]
 pub(crate) fn compat_timer_arm_us(ets_timer: *mut ets_timer, us: u32, repeat: bool) {
-    let systick = crate::time::systimer_count();
+    let systick = crate::preempt::now();
     let ticks = crate::time::micros_to_ticks(us as u64);
 
     trace!(

esp-radio/src/tasks.rs

@@ -1,7 +1,6 @@
 use crate::{
     compat::timer_compat::TIMERS,
     preempt::{task_create, yield_task},
-    time::systimer_count,
 };
 
 /// Initializes the `timer` task for the Wi-Fi driver.
@@ -16,7 +15,7 @@ pub(crate) fn init_tasks() {
 /// events.
 pub(crate) extern "C" fn timer_task(_param: *mut esp_wifi_sys::c_types::c_void) {
     loop {
-        let current_timestamp = systimer_count();
+        let current_timestamp = crate::preempt::now();
         let to_run = TIMERS.with(|timers| {
             let to_run = unsafe { timers.find_next_due(current_timestamp) }?;
 

esp-radio/src/time.rs

@@ -1,52 +1,19 @@
-// Time keeping
+//! Time conversions
+#![allow(unused)]
 pub const TICKS_PER_SECOND: u64 = 1_000_000;
 
-/// Current systimer count value
-/// A tick is 1 / 1_000_000 seconds
-/// This function must not be called in a critical section. Doing so may return
-/// an incorrect value.
-pub(crate) fn systimer_count() -> u64 {
-    esp_hal::time::Instant::now()
-        .duration_since_epoch()
-        .as_micros()
-}
-
-// TODO: use an Instance type instead...
-#[cfg(target_arch = "riscv32")]
-pub(crate) fn time_diff(start: u64, end: u64) -> u64 {
-    // 52-bit wrapping sub
-    end.wrapping_sub(start) & 0x000f_ffff_ffff_ffff
-}
-
-// TODO: use an Instance type instead...
-#[cfg(target_arch = "xtensa")]
-pub(crate) fn time_diff(start: u64, end: u64) -> u64 {
-    end.wrapping_sub(start)
-}
-
-#[allow(unused)]
 pub(crate) fn micros_to_ticks(us: u64) -> u64 {
     us * (TICKS_PER_SECOND / 1_000_000)
 }
 
-#[allow(unused)]
 pub(crate) fn millis_to_ticks(ms: u64) -> u64 {
     ms * (TICKS_PER_SECOND / 1_000)
 }
 
-#[allow(unused)]
 pub(crate) fn ticks_to_micros(ticks: u64) -> u64 {
     ticks / (TICKS_PER_SECOND / 1_000_000)
 }
 
-#[allow(unused)]
 pub(crate) fn ticks_to_millis(ticks: u64) -> u64 {
     ticks / (TICKS_PER_SECOND / 1_000)
 }
-
-/// Do not call this in a critical section!
-#[cfg(feature = "wifi")]
-pub(crate) fn elapsed_time_since(start: u64) -> u64 {
-    let now = systimer_count();
-    time_diff(start, now)
-}

esp-radio/src/wifi/os_adapter/mod.rs

@@ -530,10 +530,7 @@ pub unsafe extern "C" fn task_delete(task_handle: *mut c_void) {
 /// *************************************************************************
 pub unsafe extern "C" fn task_delay(tick: u32) {
     trace!("task_delay tick {}", tick);
-    let start_time = crate::time::systimer_count();
-    while crate::time::elapsed_time_since(start_time) < tick as u64 {
-        yield_task();
-    }
+    crate::preempt::usleep(tick)
 }
 
 /// **************************************************************************

examples/ieee802154/ieee802154_receive_all_frames/Cargo.toml

@@ -12,6 +12,7 @@ esp-backtrace = { path = "../../../esp-backtrace", features = [
 ] }
 esp-bootloader-esp-idf = { path = "../../../esp-bootloader-esp-idf" }
 esp-hal = { path = "../../../esp-hal", features = ["log-04", "unstable"] }
+esp-preempt = { path = "../../../esp-preempt", features = ["log-04"] }
 esp-println = { path = "../../../esp-println", features = ["log-04"] }
 esp-radio = { path = "../../../esp-radio", features = [
     "ieee802154",
@@ -23,12 +24,14 @@ esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-bootloader-esp-idf/esp32c6",
     "esp-hal/esp32c6",
+    "esp-preempt/esp32c6",
     "esp-radio/esp32c6",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-bootloader-esp-idf/esp32h2",
     "esp-hal/esp32h2",
+    "esp-preempt/esp32h2",
     "esp-radio/esp32h2",
 ]
 

examples/ieee802154/ieee802154_receive_all_frames/src/main.rs

@@ -4,6 +4,7 @@
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::main;
+use esp_preempt as _;
 use esp_println::println;
 use esp_radio::ieee802154::{Config, Ieee802154};
 

examples/ieee802154/ieee802154_receive_frame/Cargo.toml

@@ -12,6 +12,7 @@ esp-backtrace = { path = "../../../esp-backtrace", features = [
 ] }
 esp-bootloader-esp-idf = { path = "../../../esp-bootloader-esp-idf" }
 esp-hal = { path = "../../../esp-hal", features = ["log-04", "unstable"] }
+esp-preempt = { path = "../../../esp-preempt", features = ["log-04"] }
 esp-println = { path = "../../../esp-println", features = ["log-04"] }
 esp-radio = { path = "../../../esp-radio", features = [
     "ieee802154",
@@ -23,12 +24,14 @@ esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-bootloader-esp-idf/esp32c6",
     "esp-hal/esp32c6",
+    "esp-preempt/esp32c6",
     "esp-radio/esp32c6",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-bootloader-esp-idf/esp32h2",
     "esp-hal/esp32h2",
+    "esp-preempt/esp32h2",
     "esp-radio/esp32h2",
 ]
 

examples/ieee802154/ieee802154_receive_frame/src/main.rs

@@ -4,6 +4,7 @@
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::main;
+use esp_preempt as _;
 use esp_println::println;
 use esp_radio::ieee802154::{Config, Ieee802154};
 

examples/ieee802154/ieee802154_send_broadcast_frame/Cargo.toml

@@ -12,6 +12,7 @@ esp-backtrace = { path = "../../../esp-backtrace", features = [
 ] }
 esp-bootloader-esp-idf = { path = "../../../esp-bootloader-esp-idf" }
 esp-hal = { path = "../../../esp-hal", features = ["log-04", "unstable"] }
+esp-preempt = { path = "../../../esp-preempt", features = ["log-04"] }
 esp-println = { path = "../../../esp-println", features = ["log-04"] }
 esp-radio = { path = "../../../esp-radio", features = [
     "ieee802154",
@@ -24,12 +25,14 @@ esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-bootloader-esp-idf/esp32c6",
     "esp-hal/esp32c6",
+    "esp-preempt/esp32c6",
     "esp-radio/esp32c6",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-bootloader-esp-idf/esp32h2",
     "esp-hal/esp32h2",
+    "esp-preempt/esp32h2",
     "esp-radio/esp32h2",
 ]
 

examples/ieee802154/ieee802154_send_broadcast_frame/src/main.rs

@@ -4,6 +4,7 @@
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::{delay::Delay, main};
+use esp_preempt as _;
 use esp_println::println;
 use esp_radio::ieee802154::{Config, Frame, Ieee802154};
 use ieee802154::mac::{

examples/ieee802154/ieee802154_send_frame/Cargo.toml

@@ -12,6 +12,7 @@ esp-backtrace = { path = "../../../esp-backtrace", features = [
 ] }
 esp-bootloader-esp-idf = { path = "../../../esp-bootloader-esp-idf" }
 esp-hal = { path = "../../../esp-hal", features = ["log-04", "unstable"] }
+esp-preempt = { path = "../../../esp-preempt", features = ["log-04"] }
 esp-println = { path = "../../../esp-println", features = ["log-04"] }
 esp-radio = { path = "../../../esp-radio", features = [
     "ieee802154",
@@ -24,12 +25,14 @@ esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-bootloader-esp-idf/esp32c6",
     "esp-hal/esp32c6",
+    "esp-preempt/esp32c6",
     "esp-radio/esp32c6",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-bootloader-esp-idf/esp32h2",
     "esp-hal/esp32h2",
+    "esp-preempt/esp32h2",
     "esp-radio/esp32h2",
 ]
 

examples/ieee802154/ieee802154_send_frame/src/main.rs

@@ -4,6 +4,7 @@
 use esp_alloc as _;
 use esp_backtrace as _;
 use esp_hal::{delay::Delay, main};
+use esp_preempt as _;
 use esp_println::println;
 use esp_radio::ieee802154::{Config, Frame, Ieee802154};
 use ieee802154::mac::{

examples/ieee802154/ieee802154_sniffer/Cargo.toml

@@ -13,6 +13,7 @@ esp-backtrace = { path = "../../../esp-backtrace", features = [
 ] }
 esp-bootloader-esp-idf = { path = "../../../esp-bootloader-esp-idf" }
 esp-hal = { path = "../../../esp-hal", features = ["log-04", "unstable"] }
+esp-preempt = { path = "../../../esp-preempt", features = ["log-04"] }
 esp-println = { path = "../../../esp-println", features = ["log-04"] }
 esp-radio = { path = "../../../esp-radio", features = [
     "ieee802154",
@@ -25,12 +26,14 @@ esp32c6 = [
     "esp-backtrace/esp32c6",
     "esp-bootloader-esp-idf/esp32c6",
     "esp-hal/esp32c6",
+    "esp-preempt/esp32c6",
     "esp-radio/esp32c6",
 ]
 esp32h2 = [
     "esp-backtrace/esp32h2",
     "esp-bootloader-esp-idf/esp32h2",
     "esp-hal/esp32h2",
+    "esp-preempt/esp32h2",
     "esp-radio/esp32h2",
 ]
 

examples/ieee802154/ieee802154_sniffer/src/main.rs

@@ -14,6 +14,7 @@ use esp_hal::{
     system::software_reset,
     uart::{self, Uart},
 };
+use esp_preempt as _;
 use esp_println::println;
 use esp_radio::ieee802154::{Config, Ieee802154};