Switch to freertos timers (InfiniTimeOrg#1095)

* Use FreeRTOS timer for AlarmController
* Use FreeRTOS timer for MotorController
* Remove app_timer component from compilation as we now solely use
  FreeROTS timer
* Simplify variable and text names for AlarmController and MotorController timers
* Call ScheduleAlarm directly from StopAlerting, for recurring timers

Co-authored-by: Riku Isokoski <[email protected]>
Co-authored-by: NeroBurner <[email protected]>

Author: 3 people

cmake-nRF5x/CMake_nRF5x.cmake

@@ -106,7 +106,6 @@ macro(nRF5x_setup)
       ${NRF5_SDK_PATH}/external/freertos/source/stream_buffer.c
       ${NRF5_SDK_PATH}/external/freertos/source/tasks.c
       ${NRF5_SDK_PATH}/external/freertos/source/timers.c
-      ${NRF5_SDK_PATH}/components/libraries/timer/app_timer_freertos.c
       )
 
     # freertos include
@@ -335,7 +334,6 @@ endmacro(nRF5x_addAppFIFO)
 # adds app-level Timer libraries
 macro(nRF5x_addAppTimer)
     list(APPEND SDK_SOURCE_FILES
-            "${NRF5_SDK_PATH}/components/libraries/timer/app_timer.c"
             )
 endmacro(nRF5x_addAppTimer)
 

src/CMakeLists.txt

@@ -42,7 +42,6 @@ set(SDK_SOURCE_FILES
         "${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_gpiote.c"
         "${NRF5_SDK_PATH}/modules/nrfx/soc/nrfx_atomic.c"
         "${NRF5_SDK_PATH}/modules/nrfx/drivers/src/nrfx_saadc.c"
-        "${NRF5_SDK_PATH}/components/libraries/timer/app_timer.h"
 
         # FreeRTOS
         ${NRF5_SDK_PATH}/external/freertos/source/croutine.c
@@ -53,7 +52,6 @@ set(SDK_SOURCE_FILES
         ${NRF5_SDK_PATH}/external/freertos/source/stream_buffer.c
         ${NRF5_SDK_PATH}/external/freertos/source/tasks.c
         ${NRF5_SDK_PATH}/external/freertos/source/timers.c
-        ${NRF5_SDK_PATH}/components/libraries/timer/app_timer_freertos.c
 
         # Libs
         "${NRF5_SDK_PATH}/components/libraries/atomic/nrf_atomic.c"

src/components/alarm/AlarmController.cpp

@@ -17,7 +17,6 @@
 */
 #include "components/alarm/AlarmController.h"
 #include "systemtask/SystemTask.h"
-#include "app_timer.h"
 #include "task.h"
 #include <chrono>
 
@@ -27,20 +26,16 @@ using namespace std::chrono_literals;
 AlarmController::AlarmController(Controllers::DateTime& dateTimeController) : dateTimeController {dateTimeController} {
 }
 
-APP_TIMER_DEF(alarmAppTimer);
-
 namespace {
-  void SetOffAlarm(void* p_context) {
-    auto* controller = static_cast<Pinetime::Controllers::AlarmController*>(p_context);
-    if (controller != nullptr) {
-      controller->SetOffAlarmNow();
-    }
+  void SetOffAlarm(TimerHandle_t xTimer) {
+    auto controller = static_cast<Pinetime::Controllers::AlarmController*>(pvTimerGetTimerID(xTimer));
+    controller->SetOffAlarmNow();
   }
 }
 
 void AlarmController::Init(System::SystemTask* systemTask) {
-  app_timer_create(&alarmAppTimer, APP_TIMER_MODE_SINGLE_SHOT, SetOffAlarm);
   this->systemTask = systemTask;
+  alarmTimer = xTimerCreate("Alarm", 1, pdFALSE, this, SetOffAlarm);
 }
 
 void AlarmController::SetAlarmTime(uint8_t alarmHr, uint8_t alarmMin) {
@@ -49,8 +44,8 @@ void AlarmController::SetAlarmTime(uint8_t alarmHr, uint8_t alarmMin) {
 }
 
 void AlarmController::ScheduleAlarm() {
-  // Determine the next time the alarm needs to go off and set the app_timer
-  app_timer_stop(alarmAppTimer);
+  // Determine the next time the alarm needs to go off and set the timer
+  xTimerStop(alarmTimer, 0);
 
   auto now = dateTimeController.CurrentDateTime();
   alarmTime = now;
@@ -80,8 +75,9 @@ void AlarmController::ScheduleAlarm() {
 
   // now can convert back to a time_point
   alarmTime = std::chrono::system_clock::from_time_t(std::mktime(tmAlarmTime));
-  auto mSecToAlarm = std::chrono::duration_cast<std::chrono::milliseconds>(alarmTime - now).count();
-  app_timer_start(alarmAppTimer, APP_TIMER_TICKS(mSecToAlarm), this);
+  auto secondsToAlarm = std::chrono::duration_cast<std::chrono::seconds>(alarmTime - now).count();
+  xTimerChangePeriod(alarmTimer, secondsToAlarm * configTICK_RATE_HZ, 0);
+  xTimerStart(alarmTimer, 0);
 
   state = AlarmState::Set;
 }
@@ -91,7 +87,7 @@ uint32_t AlarmController::SecondsToAlarm() {
 }
 
 void AlarmController::DisableAlarm() {
-  app_timer_stop(alarmAppTimer);
+  xTimerStop(alarmTimer, 0);
   state = AlarmState::Not_Set;
 }
 
@@ -101,14 +97,12 @@ void AlarmController::SetOffAlarmNow() {
 }
 
 void AlarmController::StopAlerting() {
-  systemTask->PushMessage(System::Messages::StopRinging);
-
   // Alarm state is off unless this is a recurring alarm
   if (recurrence == RecurType::None) {
     state = AlarmState::Not_Set;
   } else {
-    state = AlarmState::Set;
     // set next instance
     ScheduleAlarm();
   }
+  systemTask->PushMessage(System::Messages::StopRinging);
 }

src/components/alarm/AlarmController.h

@@ -17,6 +17,8 @@
 */
 #pragma once
 
+#include <FreeRTOS.h>
+#include <timers.h>
 #include <cstdint>
 #include "components/datetime/DateTimeController.h"
 
@@ -57,6 +59,7 @@ namespace Pinetime {
     private:
       Controllers::DateTime& dateTimeController;
       System::SystemTask* systemTask = nullptr;
+      TimerHandle_t alarmTimer;
       uint8_t hours = 7;
       uint8_t minutes = 0;
       std::chrono::time_point<std::chrono::system_clock, std::chrono::nanoseconds> alarmTime;

src/components/motor/MotorController.cpp

@@ -1,43 +1,39 @@
 #include "components/motor/MotorController.h"
 #include <hal/nrf_gpio.h>
 #include "systemtask/SystemTask.h"
-#include "app_timer.h"
 #include "drivers/PinMap.h"
 
-APP_TIMER_DEF(shortVibTimer);
-APP_TIMER_DEF(longVibTimer);
-
 using namespace Pinetime::Controllers;
 
 void MotorController::Init() {
   nrf_gpio_cfg_output(PinMap::Motor);
   nrf_gpio_pin_set(PinMap::Motor);
-  app_timer_init();
 
-  app_timer_create(&shortVibTimer, APP_TIMER_MODE_SINGLE_SHOT, StopMotor);
-  app_timer_create(&longVibTimer, APP_TIMER_MODE_REPEATED, Ring);
+  shortVib = xTimerCreate("shortVib", 1, pdFALSE, nullptr, StopMotor);
+  longVib = xTimerCreate("longVib", pdMS_TO_TICKS(1000), pdTRUE, this, Ring);
 }
 
-void MotorController::Ring(void* p_context) {
-  auto* motorController = static_cast<MotorController*>(p_context);
+void MotorController::Ring(TimerHandle_t xTimer) {
+  auto* motorController = static_cast<MotorController*>(pvTimerGetTimerID(xTimer));
   motorController->RunForDuration(50);
 }
 
 void MotorController::RunForDuration(uint8_t motorDuration) {
-  nrf_gpio_pin_clear(PinMap::Motor);
-  app_timer_start(shortVibTimer, APP_TIMER_TICKS(motorDuration), nullptr);
+  if (xTimerChangePeriod(shortVib, pdMS_TO_TICKS(motorDuration), 0) == pdPASS && xTimerStart(shortVib, 0) == pdPASS) {
+    nrf_gpio_pin_clear(PinMap::Motor);
+  }
 }
 
 void MotorController::StartRinging() {
-  Ring(this);
-  app_timer_start(longVibTimer, APP_TIMER_TICKS(1000), this);
+  RunForDuration(50);
+  xTimerStart(longVib, 0);
 }
 
 void MotorController::StopRinging() {
-  app_timer_stop(longVibTimer);
+  xTimerStop(longVib, 0);
   nrf_gpio_pin_set(PinMap::Motor);
 }
 
-void MotorController::StopMotor(void* p_context) {
+void MotorController::StopMotor(TimerHandle_t xTimer) {
   nrf_gpio_pin_set(PinMap::Motor);
 }

src/components/motor/MotorController.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <FreeRTOS.h>
+#include <timers.h>
 #include <cstdint>
 
 namespace Pinetime {
@@ -15,8 +17,10 @@ namespace Pinetime {
       void StopRinging();
 
     private:
-      static void Ring(void* p_context);
-      static void StopMotor(void* p_context);
+      static void Ring(TimerHandle_t xTimer);
+      static void StopMotor(TimerHandle_t xTimer);
+      TimerHandle_t shortVib;
+      TimerHandle_t longVib;
     };
   }
 }

src/main.cpp

@@ -3,7 +3,6 @@
 #include <hal/nrf_wdt.h>
 #include <legacy/nrf_drv_clock.h>
 #include <libraries/gpiote/app_gpiote.h>
-#include <libraries/timer/app_timer.h>
 #include <softdevice/common/nrf_sdh.h>
 #include <nrf_delay.h>
 

src/sdk_config.h

@@ -6781,7 +6781,7 @@
 // <e> APP_TIMER_ENABLED - app_timer - Application timer functionality
 //==========================================================
 #ifndef APP_TIMER_ENABLED
-  #define APP_TIMER_ENABLED 1
+  #define APP_TIMER_ENABLED 0
 #endif
 // <o> APP_TIMER_CONFIG_RTC_FREQUENCY  - Configure RTC prescaler.
 

src/systemtask/SystemTask.cpp

@@ -2,7 +2,6 @@
 #include <hal/nrf_rtc.h>
 #include <libraries/gpiote/app_gpiote.h>
 #include <libraries/log/nrf_log.h>
-#include <app_timer.h>
 #include "BootloaderVersion.h"
 #include "components/battery/BatteryController.h"
 #include "components/ble/BleController.h"
@@ -127,8 +126,6 @@ void SystemTask::Work() {
   NRF_LOG_INFO("Last reset reason : %s", Pinetime::Drivers::Watchdog::ResetReasonToString(watchdog.ResetReason()));
   APP_GPIOTE_INIT(2);
 
-  app_timer_init();
-
   spi.Init();
   spiNorFlash.Init();
   spiNorFlash.Wakeup();