ESP8266 HW Timer1－MultiTimers revision
改版，增加了補償機制，但微乎其微的改善。請直接看 code 及比對前版差異。
#ifndef _c_HW_TIMER_
#define _c_HW_TIMER_
typedef enum {
DIVDED_BY_1 = 0, // timer clock
DIVDED_BY_16 = 4, // divided by 16
DIVDED_BY_256 = 8, // divided by 256
} time_predived_mode;
typedef enum { // timer interrupt mode
TM_LEVEL_INT = 1, // level interrupt
TM_EDGE_INT = 0, // edge interrupt
} time_int_mode;
typedef enum {
FRC1_SOURCE = 0,
NMI_SOURCE = 1,
} frc1_timer_source_type;
// not special, seems to prevent from calculation overflowing
// the t uses 1us
#define US_TO_RTC_TIMER_TICKS(t) \
((t) ? \
(((t) > 0x35A) ? \
(((t)>>2) * ((APB_CLK_FREQ>>4)/250000) + ((t)&0x3) * ((APB_CLK_FREQ>>4)/1000000)) : \
(((t) *(APB_CLK_FREQ>>4)) / 1000000)) : \
0)
#define FRC1_ENABLE_TIMER BIT7
#define FRC1_AUTO_LOAD BIT6
// multiple timers (max 6) share a single HW Timer.
// timers can be synced at the same time(but not suggest, rather, do in client) and can be offset(1.67s max).
// B syncs to A which means B's isr is going to issued once after B's sync call, at the same time by A's isr issuing(both timing still unaffect).
// B's offset sync call which means the moment A's isr issued, and then offset-value of time past would issue B's isr.
// so, once B's sync called, B's isr would not according to B's timing, once isr being issued will back to normal timing(reloaded).
// since the timeout-reload and isr servicing have the payload around 4us in average(div-16 used).
// the lib constraints user to only between 30us(33.3KHz) to 1.67s(0.6Hz) a safe range, with 1us resolution.
// the timers timeout under a span of time of PAYLOAD_US(4us) will be served as well at a call of main isr.
// here is the scenario, suppose there is B timer within 4us to be served after A having served at this call,
// B will be served as well at this call with a delay. if C got to be served within 4us after B served,
// delay and serve C as well and so on. So there are cases stay at a main ISR call too long, but not too bad.
// so, the minimal period as a constraint for every timer and the max 6 timers could ease such situations.
// such a strategy keeps timing accuracy and minimally affect to entire main system.
// for efficiency, the hw counter reg is 23-bit, we have 9, say, 3 bits(for max 6 timers) as for an identifier tailing to the counter value.
// however, 2^9-1 timers at most could be used in if you willing to try; wdt reset is foreseeing(stay in a single isr too long).
// switches
#define C_HW_TIMER_DEBUG 1
#define SYNC_WAITING 0 // (careful!) if enabled, sync could avoid mem-fault however, timings could affected at a syncing
#define COMPENSATION 1 // independent to COMPENSATION_ADV, a little bit income
#define COMPENSATION_ADV 1 // (careful!) much unstable and probably erroneous. it's rear part of COMPENSATION, but can disabled alone.
#define TIMER_NUM 15 // up to number of timers simul used(recommended max 6, here setting is allowable 15)
#define ID_MASK_VAL 0x0F // to extract id from counter value. note that id is from 1 to TIMER_NUM.(recommended 0x07)
#define ID_MASK_BIT 4 // number of bits to extract id from counter value(recommended 3 bits)
#define PAYLOAD_US 4 // payload in us to subtract(recommended 4us)
#define INTRUDE_TIME_CNT 100 // the counts(20us*5) safely/enough-time for access data when syncing
#define LO_BOUND_US 30
#define UP_BOUND_US 1670000
// no need to modify
#define PAYLOAD_CNT ((PAYLOAD_US)*5) // payload in counts to subtract, since 1us=5x0.2us; 1us has 5 counts
#define LO_BOUND_CNT ((LO_BOUND_US)*5)
#define UP_BOUND_CNT ((UP_BOUND_US)*5)
#define OP_GET_CNT(x) ((x)>>ID_MASK_BIT)
#define OP_GET_ID(x) ((x)&ID_MASK_VAL)
#define OP_MERGE_CNTID(cnt, id) (((cnt)<<ID_MASK_BIT)|(id))
#define OP_HEAP_TOP_CNT OP_GET_CNT(timer_obj.current[1])
#define OP_HEAP_TOP_ID OP_GET_ID(timer_obj.current[1])
#define CNT_TO_US(x) (((x)+2)/5)
#define US_TO_CNT(x) ((x)+((x)<<2))
#if C_HW_TIMER_DEBUG
IRAM_ATTR int hw_timer_overflow, hw_timer_stay_time_us1, hw_timer_stay_time_us;
#endif
#if SYNC_WAITING
IRAM_ATTR int sync_spin=false; // using bool is inhibited by IxRAM_ATTR
#endif
class cHwTimer{
#if C_HW_TIMER_DEBUG
public: // remove it when formal use; it is only for debug and print
#endif
typedef void (*void_func1)();
typedef struct{
unsigned reload[TIMER_NUM+1]; // num of counts for each timer to be reloaded(payload is evaled).
// since we support one-shot, it's better as to use this array
// and the reload[0] to be always 0 for the procedure reloading 0,
// which automatically stop.
// simply to say, set reload[i] to 0(not 0, should use loc to deallocate) or
// the current[i] being reloaded from reload[0] yields current[i] stop counting.
unsigned current[TIMER_NUM+1]; // current nit counts for each timer to be reloaded(incl. payload is evaled).
// this array is dedicated for using in heap funcs,
// so, the current[0] is the current number of running timers.
// timers occupy current[1] to current[number_of_timers],
// which are current[1] to current[ current[0] ].
// note that this array is entirely maintained by heap funcs called in main isr,
// but there are cases we have to intrude on this array(danger, by syncing funcs).
void_func1 isr[TIMER_NUM+1]; // callback functions.
// the up two arrays have distinct purpose of the [0] element,
// so is the isr[0] which used for the current isr going to run.
// Besides, isr[i] equals zero uniquely denotes the timer slot is empty.
} sHwTimerObj;
static sHwTimerObj timer_obj;
static void main_isr();
static void default_isr();
static void min_heap_insertion(unsigned key, unsigned *t);
static unsigned min_heap_removal(unsigned *t);
char loc; // identifies loc in array, please note that the loc starts from 1 to TIMER_NUM.
// loc 0 is reserved for one-shot identification.
// loc -1 identifies for uninitialized value.
void_func1 func_for_pause;
void arm(unsigned period_us, void(*isr)(), bool periodically){
for (unsigned i=1; i<=TIMER_NUM; i++){
// please especially note that we use isr[i] to identify whether a timer slot is empty.
// and we use who uses reload[0] as to identify one-shot(the id field is 0 and reload from reload[0] which is 0)
if (!timer_obj.isr[i]){ // search for an empty slot
unsigned cnt=US_TO_RTC_TIMER_TICKS(period_us-PAYLOAD_US);
timer_obj.isr[i]=isr;
func_for_pause=isr;
cnt=OP_MERGE_CNTID(cnt, i);
if (periodically) timer_obj.reload[i]=cnt;
else timer_obj.reload[i]=i; // id without count is used to deallocate when it reloads, for one-shot.
loc=i;
min_heap_insertion(cnt, timer_obj.current);
return;
}
}
};
cHwTimer(){};
public:
cHwTimer(unsigned period_us, void(*isr)(), bool periodically=true): loc(-1), func_for_pause(default_isr){
if (!isr || period_us<LO_BOUND_US || period_us>UP_BOUND_US || (timer_obj.current[0]==TIMER_NUM)) return;
arm(period_us, isr, periodically);
if (!(RTC_REG_READ(FRC1_CTRL_ADDRESS)&FRC1_ENABLE_TIMER)){ // timer is disabled, regarded as a brand new use.
timer_obj.isr[0]=default_isr;
ETS_FRC_TIMER1_INTR_ATTACH(main_isr, NULL);
/////ETS_FRC_TIMER1_NMI_INTR_ATTACH(main_isr);
RTC_REG_WRITE(FRC1_CTRL_ADDRESS, FRC1_ENABLE_TIMER /*| FRC1_AUTO_LOAD*/ | DIVDED_BY_16 | TM_EDGE_INT);
TM1_EDGE_INT_ENABLE();
ETS_FRC1_INTR_ENABLE();
}
};
cHwTimer(const cHwTimer &a){loc=a.loc; func_for_pause=a.func_for_pause;};
bool Sync(const cHwTimer &ref, unsigned offset_delay_us){
// this func might fail, if so, affect nothing
// this func might fault, if so, mem-fault or wdt-reset
if (loc>0 && ref.loc>0){
// this step can be dangerous or long-hold because main isr may alter this array at the same time.
unsigned i, j, k;
k=US_TO_CNT(offset_delay_us)+1;
j=10; // for at most delay 200us, which only affect this object is never mind.
do {
// there is a threshold time to ensure we have enough time to do something.
// so we check the minimum time of the upcoming timer, which longer than 20us.
// in the following if-condition, we can use flag to prevent main isr from access array and fault,
// however main isr spin-waiting could disturb all timer timings, of course could wdt-reset.
#if SYNC_WAITING
sync_spin=true;
#endif
if ((i=timer_obj.current[0]) && (OP_HEAP_TOP_CNT>INTRUDE_TIME_CNT)){
unsigned m, n, z;
while (i){
z=OP_GET_ID(timer_obj.current[i]);
if (z==ref.loc) m=i;
else if (z==loc) n=i;
--i;
}
if ((z=OP_GET_CNT(timer_obj.current[m])+k)<=UP_BOUND_CNT){
timer_obj.current[n]=OP_MERGE_CNTID(z+k, loc); // need not count on payload
#if SYNC_WAITING
sync_spin=false;
#endif
return true;
}
#if SYNC_WAITING
sync_spin=false;
#endif
}
#if SYNC_WAITING
sync_spin=false;
#endif
delayMicroseconds(20);
} while (--j);
}
return false;
};
bool isActive(){return (loc>0) && (timer_obj.reload[loc]>loc);};
bool isRunning(){return isActive() && (timer_obj.isr[loc]!=default_isr);};
void Pause(){
#if C_HW_TIMER_DEBUG
printf("\r\n\r\ntimer(%d) paused\r\n\r\n", loc);
#endif
if (isActive()) timer_obj.isr[loc]=default_isr;
};
void Resume(){
#if C_HW_TIMER_DEBUG
printf("\r\n\r\ntimer(%d) resumed\r\n\r\n", loc);
#endif
if (isActive()) timer_obj.isr[loc]=func_for_pause;
};
void Stop(){
#if C_HW_TIMER_DEBUG
printf("\r\n\r\ntimer(%d) stopped\r\n\r\n", loc);
#endif
if (loc>0){
timer_obj.reload[loc]=loc;
loc=-1;
}
};
#if !C_HW_TIMER_DEBUG
//~cHwTimer(){Stop();}; // if weird, mark this(cases for test only), since destructor possibly distroys static vars as well.
#endif
// the following 3 funcs are user functions for easy access,
// in addition, if you want to not bind to objects,
// you can comment off the destructor,
// such that timers can still run even objects are destructed.
// such case is suitable for one-shot test; non-oneshot hence has to be stopped explicitly.
static void StopAll(){for (int i=1; i<=TIMER_NUM; i++) timer_obj.reload[i]=i;};
static void PauseAll(){for (int i=0; i<=TIMER_NUM; i++) timer_obj.isr[i]=default_isr;}; // main isr may access at the same time.
static void ResumeAll(){/*can not resume all*/};
};
IRAM_ATTR cHwTimer::sHwTimerObj cHwTimer::timer_obj={
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
};
IRAM_ATTR void cHwTimer::default_isr(){
#if C_HW_TIMER_DEBUG
//printf("\r\n-\r\n");
#endif
}
IRAM_ATTR void cHwTimer::main_isr(){
#if C_HW_TIMER_DEBUG
hw_timer_stay_time_us1=micros();
static bool gate=false;
if (gate){
hw_timer_overflow++;
gate=false;
}
else gate=true;
#endif
#if SYNC_WAITING
while (sync_spin) yield();
#endif
unsigned discard_min, discard_min_cnt, i, j, diff;
#if 0 ///// read the old version to know about what new version does ///// this is old version
while (timer_obj.current[0] && (OP_HEAP_TOP_CNT<=PAYLOAD_CNT)){////// old version /////////
timer_obj.isr[0]();
////delayMicroseconds(CNT_TO_US(OP_HEAP_TOP_CNT));
diff=micros()+CNT_TO_US(OP_HEAP_TOP_CNT);/////
discard_min=min_heap_removal(timer_obj.current); // discard the used min one
timer_obj.isr[0]=timer_obj.isr[OP_GET_ID(discard_min)]; // update the isr, which will run next time
discard_min_cnt=OP_GET_CNT(discard_min); // it will join to calculation
for (i=timer_obj.current[0]; i; i--){ // update all counters
j=OP_GET_ID(timer_obj.current[i]); // get an id which needs to update
timer_obj.current[i]=OP_MERGE_CNTID(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt, j);
}
// add the new one that just discard
i=timer_obj.reload[OP_GET_ID(discard_min)];
if (i>TIMER_NUM) min_heap_insertion(i, timer_obj.current); // i possibly be 0 or id which are for one-aspect tackling
else timer_obj.isr[OP_GET_ID(discard_min)]=0; // it must be the one-shot or stopped timer which must deallocated
if (micros()<(diff-2)) delayMicroseconds(diff-micros());/////
#if C_HW_TIMER_DEBUG
else hw_timer_overflow++;
#endif
}////// old version /////////
#else ///// read the old version to know about what new version does ///// this is new version
if (timer_obj.current[0] && (OP_HEAP_TOP_CNT<=PAYLOAD_CNT)){////// new version /////////
discard_min_cnt=0;
#if (COMPENSATION || COMPENSATION_ADV)
unsigned compensation=0;
#endif
while (timer_obj.current[0] && (OP_HEAP_TOP_CNT<=(PAYLOAD_CNT+discard_min_cnt))){
timer_obj.isr[0]();
diff=micros()+CNT_TO_US(OP_HEAP_TOP_CNT-discard_min_cnt); // subtract past-time equals to amount time need to spend
// (since cnt & us are not integer-convertable, so the diff value may smaller than what we want; where)
// (as larger is ok, smaller means sub-isr will run in advance, but, still ok)
discard_min=min_heap_removal(timer_obj.current); // discard the used min one
j=OP_GET_ID(discard_min);
timer_obj.isr[0]=timer_obj.isr[j]; // update the isr, which will run next time
discard_min_cnt=OP_GET_CNT(discard_min); // update the past-time that is going to be(to subtract outside this loop)
// add the new one that just discard
i=timer_obj.reload[j];
//// what if j and OP_GET_ID(i) are not equal?
////if (i>TIMER_NUM) min_heap_insertion(OP_MERGE_CNTID(OP_GET_CNT(i)+discard_min_cnt, OP_GET_ID(i)), timer_obj.current);
if (i>TIMER_NUM) min_heap_insertion(OP_MERGE_CNTID(OP_GET_CNT(i)+discard_min_cnt, j), timer_obj.current);
else timer_obj.isr[j]=0; // it must be the one-shot or stopped timer which must deallocated
#if COMPENSATION
///////////////////////////////////////////////
if (micros()<(diff-3)){ // if here takes runtime more than 3us then will collapse!!!
if (compensation<(diff-3-micros())){
delayMicroseconds(diff-micros()-compensation);
compensation=0;
#if C_HW_TIMER_DEBUG
hw_timer_overflow--;
#endif
}
else compensation-=(diff-micros());
}
else {
if (micros()>diff) compensation+=(micros()-diff); // compensate only if greater
#if C_HW_TIMER_DEBUG
hw_timer_overflow++;
#endif
}
/// if true, you can compensate the previous ones who disturb later timers which means run this timer in advance,
/// however it's complicated. if false, it's the ones who will disturb later ones and need to accumulate the penalties.
/// since all are under PAYLOAD_CNT of time, you have a few us for compete and all are likely willing to over time.
/// and if penalty did calculated, it could be subtracted at the below for-loop as well as the above delay.
///////////////////////////////////////////////
#else
if (micros()<(diff-2)) delayMicroseconds(diff-micros());
#if C_HW_TIMER_DEBUG
else hw_timer_overflow++;
#endif
#endif
}
#if COMPENSATION_ADV
compensation=US_TO_CNT(compensation); // convert us to cnt
#endif
for (i=timer_obj.current[0]; i; i--){ // update all counters
j=OP_GET_ID(timer_obj.current[i]); // get an id which needs to update
// since the discard_min_cnt which is a past-time not updated yet(postponed) in entire current[], so we do it now
#if COMPENSATION_ADV
// remaining compensation if any still needs to compensate in the entire current[].
// however, (guess)this is a decremental step which yields many sw timers got 0 in current[] for instant triggering,
// which caused hw timer repeatedly entering main-isr without rest which severely causing memory access fault;
// that is, read/write from current[] would probably be wrong value.
// in this aspect, you can observe here the current[i] value before and after, cases exist later larger than former.
// or directly dump current[] in main loop.
// in such case means overloading which is solved by accordingly, e.g., using less timers or sub-isr less monopolized.
// note again, at if-condition, timer_obj.current[i] could get bigger value which is not signed/unsigned problem?!
if (compensation<(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt))
timer_obj.current[i]=OP_MERGE_CNTID(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt-compensation, j);
else {
//// else means needs to run immedly, how can i do, i choose do nothing.
//// timer_obj.current[i]=OP_MERGE_CNTID(8, j); // may wrong because others in it may less than 8.
//// some trials caused wdt-reset, so give up this and use below.
//// are aware or not, compensation still can compensate some other timers in current[], there did exist.
//// timer_obj.current[i]=j; // set cnt to 0. starvation possible, wdt-reset. if so comment this and use below.
timer_obj.current[i]=OP_MERGE_CNTID(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt, j);
#if C_HW_TIMER_DEBUG
hw_timer_overflow++;
#endif
}
#else
timer_obj.current[i]=OP_MERGE_CNTID(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt, j);
#endif
}
}////// new version /////////
#endif ///////////////////////////////////////////////////////////////////////////// change version
if (timer_obj.current[0]){
RTC_REG_WRITE(FRC1_LOAD_ADDRESS, OP_HEAP_TOP_CNT); // load the current min asap
timer_obj.isr[0](); // service the last time of isr asap, which means needs to update var this time
discard_min=min_heap_removal(timer_obj.current); // discard the used min one
j=OP_GET_ID(discard_min);
timer_obj.isr[0]=timer_obj.isr[j]; // update the isr, which will run next time
discard_min_cnt=OP_GET_CNT(discard_min); // it will join to calculation
for (i=timer_obj.current[0]; i; i--){ // update all counters
timer_obj.current[i]=OP_MERGE_CNTID(OP_GET_CNT(timer_obj.current[i])-discard_min_cnt, OP_GET_ID(timer_obj.current[i]));
}
// add the new one that just discard
i=timer_obj.reload[j];
if (i>TIMER_NUM) min_heap_insertion(i, timer_obj.current); // i possibly be 0 or id which are for one-aspect tackling
else timer_obj.isr[j]=0; // it must be the one-shot or stopped timer which must deallocated
}
else { // if here to do, no timer remains, the last one timer which belongs to this isr has been deallocated properly
timer_obj.isr[0]();
timer_obj.isr[0]=default_isr; // since hw timer still counting and intring
RTC_REG_WRITE(FRC1_CTRL_ADDRESS, RTC_REG_READ(FRC1_CTRL_ADDRESS)&~(FRC1_ENABLE_TIMER)); // disable counter reg
TM1_EDGE_INT_DISABLE(); // disable int
}
#if C_HW_TIMER_DEBUG
gate=false;
hw_timer_stay_time_us=micros()-hw_timer_stay_time_us1;
#endif
}
IRAM_ATTR void cHwTimer::min_heap_insertion(unsigned key, unsigned *t){ // t[0] must be the current size
unsigned i=++t[0], j=(i>>1);
for (; j && t[j]>key; t[i]=t[j], i=j, j>>=1);
t[i]=key;
// should use OP_GET_CNT(t[]) however, thinking about same count with diff id, A(111-001), B(111-000),
// A is larger than B(or say B is smaller than A), no matter which one larger,
// we ignore this case which still holds heap property since A==B in this fact. (in another words,)
// (either A or B is larger, will be maintained, however A==B need not maintained by heap even it's maintained.)
// and the other case A(111-uvw), B(110-xyz), no matter uvwxyz are, all lead to A>B which holds heap property.
// therefore we needn't use OP_GET_CNT(t[]) within this func.
};
IRAM_ATTR unsigned cHwTimer::min_heap_removal(unsigned *t){ // t[0] must be the current size
///if (!t[0]) return -1;
unsigned key=t[1];
unsigned j=2, i=1, k=t[0]--;
for (; j<k; i=j, j<<=1){
if (t[j]>t[j+1]) ++j;
t[i]=t[j];
}
for (j=(i>>1); j && t[j]>t[k]; t[i]=t[j], i=j, j>>=1);
t[i]=t[k];
return key;
};
#endif // _c_HW_TIMER_
unsigned x=0;
unsigned ay1, ay2, ay3, ay4, ay5, ay6, ay7, ay8, ay9, ay10, ay11, ay12, ay13, ay14, ay15;
unsigned times[15];
float a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, a13, a14, a15;
unsigned p, q;
void IRAM_ATTR user1(void)
{
static unsigned z=micros();
ay1=micros()-z;
z=micros();
a1=abs(ay1-times[0])/(float)(times[0])*100.0f;
x^=0x01;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user2(void)
{
static unsigned z=micros();
ay2=micros()-z;
z=micros();
a2=abs(ay2-times[1])/float(times[1])*100.0f;
x^=0x02;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user3(void)
{
static unsigned z=micros();
ay3=micros()-z;
z=micros();
a3=abs(ay3-times[2])/float(times[2])*100.0f;
x^=0x04;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user4(void)
{
static unsigned z=micros();
ay4=micros()-z;
z=micros();
a4=abs(ay4-times[3])/float(times[3])*100.0f;
x^=0x08;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user5(void)
{
static unsigned z=micros();
ay5=micros()-z;
z=micros();
a5=abs(ay5-times[4])/float(times[4])*100.0f;
x^=0x10;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user6(void)
{
static unsigned z=micros();
ay6=micros()-z;
z=micros();
a6=abs(ay6-times[5])/float(times[5])*100.0f;
x^=0x20;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user7(void)
{
static unsigned z=micros();
ay7=micros()-z;
z=micros();
a7=abs(ay7-times[6])/float(times[6])*100.0f;
x^=0x40;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user8(void)
{
static unsigned z=micros();
ay8=micros()-z;
z=micros();
a8=abs(ay8-times[7])/float(times[7])*100.0f;
x^=0x80;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user9(void)
{
static unsigned z=micros();
ay9=micros()-z;
z=micros();
a9=abs(ay9-times[8])/float(times[8])*100.0f;
x^=0x100;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user10(void)
{
static unsigned z=micros();
ay10=micros()-z;
z=micros();
a10=abs(ay10-times[9])/float(times[9])*100.0f;
x^=0x200;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user11(void)
{
static unsigned z=micros();
ay11=micros()-z;
z=micros();
a11=abs(ay11-times[10])/float(times[10])*100.0f;
x^=0x400;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user12(void)
{
static unsigned z=micros();
ay12=micros()-z;
z=micros();
a12=abs(ay12-times[11])/float(times[11])*100.0f;
x^=0x800;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user13(void)
{
static unsigned z=micros();
ay13=micros()-z;
z=micros();
a13=abs(ay13-times[12])/float(times[12])*100.0f;
x^=0x1000;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user14(void)
{
p=micros();
static unsigned z=micros();
ay14=micros()-z;
z=micros();
a14=abs(ay14-times[13])/float(times[13])*100.0f;
x^=0x2000;
delayMicroseconds(random(5)+5);
}
void IRAM_ATTR user15(void)
{
q=micros()-p;
static unsigned z=micros();
ay15=micros()-z;
z=micros();
a15=abs(ay15-times[14])/float(times[14])*100.0f;
x^=0x4000;
delayMicroseconds(random(5)+5);
//printf("\r\n\r\none-shot\r\n\r\n");
}
void (*test[15])()={
user1, user2, user3, user4, user5, user6, user7, user8, user9, user10, user11, user12, user13, user14, user15
};
void setup() {
Serial.begin(115200);
}
#define time_base_a 1900
#define time_range_a 200
void loop() {
if (random(12)==2){
printf("\r\n-=change=-\r\n");
cHwTimer::StopAll();
delay(1670+10); // flush all timers
times[13]=800030; times[14]=800000;
cHwTimer a(800030, user14), b(800000, user15);
delay(random(100)+50);
a.Sync(b, 100000);
delay(random(100)+50);
b.Sync(a, 0);
delay(random(100)+50);
printf("\r\nsync(p[%d], q[%d], diff[%d])\r\n", p, p+q, q);
for (int i=0; i<13; i++){
times[i]=random(time_range_a)+time_base_a;
cHwTimer(times[i], test[i]);
}
}
#if C_HW_TIMER_DEBUG
printf("\r\n[overflow=%d, stay=%d, isr_run=%X]\r\n", hw_timer_overflow, hw_timer_stay_time_us, x);
#endif
printf("[% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u][% 5u]\r\n",\
times[0], times[1], times[2], times[3], times[4], times[5], times[6], times[7],\
times[8], times[9], times[10], times[11], times[12], times[13], times[14]);
printf("[% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d][% 5d]\r\n",\
ay1-times[0], ay2-times[1], ay3-times[2], ay4-times[3], ay5-times[4], ay6-times[5], ay7-times[6], ay8-times[7],\
ay9-times[8], ay10-times[9], ay11-times[10], ay12-times[11], ay13-times[12], ay14-times[13], ay15-times[14]);
// the % cal is diff from the upper two line is because ayi are altered by isr instantly.
printf("[% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%]"\
"[% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%][% 3.1f%%]\r\n",\
a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, a13, a14, a15);
delay(800);
}