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samd/machine_timer: Add machine.Timer based on the shared soft-timer.

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This commit is contained in:
robert-hh 2022-06-06 11:13:25 +02:00 committed by Damien George
parent 3625388d8c
commit 32c973d554
11 changed files with 307 additions and 12 deletions
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4
ports/samd/Makefile
View File

@ -95,12 +95,14 @@ SRC_C = \
machine_led.c \
machine_pin.c \
machine_spi.c \
machine_timer.c \
machine_uart.c \
main.c \
modutime.c \
modmachine.c \
modsamd.c \
mphalport.c \
pendsv.c \
pin_af.c \
$(BUILD)/pins.c \
samd_flash.c \
@ -128,6 +130,7 @@ SRC_C = \
shared/readline/readline.c \
shared/runtime/gchelper_native.c \
shared/runtime/pyexec.c \
shared/runtime/softtimer.c \
shared/runtime/stdout_helpers.c \
shared/runtime/sys_stdio_mphal.c \
shared/timeutils/timeutils.c \
@ -150,6 +153,7 @@ SRC_QSTR += \
machine_pin.c \
machine_pwm.c \
machine_spi.c \
machine_timer.c \
machine_uart.c \
modutime.c \
modmachine.c \

11
ports/samd/boards/mpconfig_samd21.h
View File

@ -7,3 +7,14 @@
#define CPU_FREQ (48000000)
#define APB_FREQ (48000000)
#define IRQ_PRI_PENDSV ((1 << __NVIC_PRIO_BITS) - 1)
static inline uint32_t raise_irq_pri(uint32_t pri) {
(void)pri;
return 0;
}
static inline void restore_irq_pri(uint32_t basepri) {
(void)basepri;
}

20
ports/samd/boards/mpconfig_samd51.h
View File

@ -22,3 +22,23 @@ unsigned long trng_random_u32(void);
#define CPU_FREQ (120000000)
#define APB_FREQ (48000000)
#define DPLLx_REF_FREQ (32768)
#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003)
#define IRQ_PRI_PENDSV NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 7, 0)
static inline uint32_t raise_irq_pri(uint32_t pri) {
uint32_t basepri = __get_BASEPRI();
// If non-zero, the processor does not process any exception with a
// priority value greater than or equal to BASEPRI.
// When writing to BASEPRI_MAX the write goes to BASEPRI only if either:
// - Rn is non-zero and the current BASEPRI value is 0
// - Rn is non-zero and less than the current BASEPRI value
pri <<= (8 - __NVIC_PRIO_BITS);
__ASM volatile ("msr basepri_max, %0" : : "r" (pri) : "memory");
return basepri;
}
// "basepri" should be the value returned from raise_irq_pri
static inline void restore_irq_pri(uint32_t basepri) {
__set_BASEPRI(basepri);
}

146
ports/samd/machine_timer.c Normal file
View File

@ -0,0 +1,146 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2019 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "py/runtime.h"
#include "py/mphal.h"
#include "shared/runtime/softtimer.h"
typedef soft_timer_entry_t machine_timer_obj_t;
const mp_obj_type_t machine_timer_type;
STATIC void machine_timer_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(self_in);
qstr mode = self->mode == SOFT_TIMER_MODE_ONE_SHOT ? MP_QSTR_ONE_SHOT : MP_QSTR_PERIODIC;
mp_printf(print, "Timer(mode=%q, period=%u)", mode, self->delta_ms);
}
STATIC mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_mode, ARG_callback, ARG_period, ARG_tick_hz, ARG_freq, };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SOFT_TIMER_MODE_PERIODIC} },
{ MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_tick_hz, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1000} },
{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
};
// Parse args
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
self->mode = args[ARG_mode].u_int;
uint64_t delta_ms = self->delta_ms;
if (args[ARG_freq].u_obj != mp_const_none) {
// Frequency specified in Hz
#if MICROPY_PY_BUILTINS_FLOAT
delta_ms = (uint32_t)(MICROPY_FLOAT_CONST(1000.0) / mp_obj_get_float(args[ARG_freq].u_obj));
#else
delta_ms = 1000 / mp_obj_get_int(args[ARG_freq].u_obj);
#endif
} else if (args[ARG_period].u_int != 0xffffffff) {
// Period specified
delta_ms = (uint64_t)args[ARG_period].u_int * 1000 / args[ARG_tick_hz].u_int;
}
if (delta_ms < 1) {
delta_ms = 1;
} else if (delta_ms >= 0x40000000) {
mp_raise_ValueError(MP_ERROR_TEXT("period too large"));
}
self->delta_ms = (uint32_t)delta_ms;
if (args[ARG_callback].u_obj != MP_OBJ_NULL) {
self->py_callback = args[ARG_callback].u_obj;
}
if (self->py_callback != mp_const_none) {
soft_timer_insert(self, self->delta_ms);
}
return mp_const_none;
}
STATIC mp_obj_t machine_timer_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
machine_timer_obj_t *self = m_new_obj(machine_timer_obj_t);
self->pairheap.base.type = &machine_timer_type;
self->flags = SOFT_TIMER_FLAG_PY_CALLBACK | SOFT_TIMER_FLAG_GC_ALLOCATED;
self->delta_ms = 1000;
self->py_callback = mp_const_none;
// Get timer id (only soft timer (-1) supported at the moment)
mp_int_t id = -1;
if (n_args > 0) {
id = mp_obj_get_int(args[0]);
--n_args;
++args;
}
if (id != -1) {
mp_raise_ValueError(MP_ERROR_TEXT("Timer doesn't exist"));
}
if (n_args > 0 || n_kw > 0) {
// Start the timer
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
machine_timer_init_helper(self, n_args, args, &kw_args);
}
return MP_OBJ_FROM_PTR(self);
}
STATIC mp_obj_t machine_timer_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(args[0]);
soft_timer_remove(self);
return machine_timer_init_helper(self, n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_timer_init_obj, 1, machine_timer_init);
STATIC mp_obj_t machine_timer_deinit(mp_obj_t self_in) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(self_in);
soft_timer_remove(self);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_timer_deinit_obj, machine_timer_deinit);
STATIC const mp_rom_map_elem_t machine_timer_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_timer_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_timer_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_ONE_SHOT), MP_ROM_INT(SOFT_TIMER_MODE_ONE_SHOT) },
{ MP_ROM_QSTR(MP_QSTR_PERIODIC), MP_ROM_INT(SOFT_TIMER_MODE_PERIODIC) },
};
STATIC MP_DEFINE_CONST_DICT(machine_timer_locals_dict, machine_timer_locals_dict_table);
MP_DEFINE_CONST_OBJ_TYPE(
machine_timer_type,
MP_QSTR_Timer,
MP_TYPE_FLAG_NONE,
make_new, machine_timer_make_new,
print, machine_timer_print,
locals_dict, &machine_timer_locals_dict
);

2
ports/samd/main.c
View File

@ -31,6 +31,7 @@
#include "py/stackctrl.h"
#include "shared/runtime/gchelper.h"
#include "shared/runtime/pyexec.h"
#include "shared/runtime/softtimer.h"
extern uint8_t _sstack, _estack, _sheap, _eheap;
extern void adc_deinit_all(void);
@ -82,6 +83,7 @@ void samd_main(void) {
pwm_deinit_all();
sercom_deinit_all();
uart_deinit_all();
soft_timer_deinit();
gc_sweep_all();
mp_deinit();
}

1
ports/samd/modmachine.c
View File

@ -157,6 +157,7 @@ STATIC const mp_rom_map_elem_t machine_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&machine_hw_i2c_type) },
{ MP_ROM_QSTR(MP_QSTR_SoftSPI), MP_ROM_PTR(&mp_machine_soft_spi_type) },
{ MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&machine_spi_type) },
{ MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) },
{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&machine_uart_type) },
{ MP_ROM_QSTR(MP_QSTR_idle), MP_ROM_PTR(&machine_idle_obj) },

1
ports/samd/modmachine.h
View File

@ -34,6 +34,7 @@ extern const mp_obj_type_t machine_led_type;
extern const mp_obj_type_t machine_pin_type;
extern const mp_obj_type_t machine_pwm_type;
extern const mp_obj_type_t machine_spi_type;
extern const mp_obj_type_t machine_timer_type;
extern const mp_obj_type_t machine_uart_type;
#endif // MICROPY_INCLUDED_SAMD_MODMACHINE_H

4
ports/samd/mphalport.h
View File

@ -40,6 +40,10 @@ extern volatile uint32_t systick_ms_upper;
void mp_hal_set_interrupt_char(int c);
// Define an alias fo systick_ms, because the shared softtimer.c uses
// the symbol uwTick for the systick ms counter.
#define uwTick systick_ms
#define mp_hal_delay_us_fast mp_hal_delay_us
static inline mp_uint_t mp_hal_ticks_ms(void) {

71
ports/samd/pendsv.c Normal file
View File

@ -0,0 +1,71 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdlib.h>
#include "py/runtime.h"
#include "shared/runtime/interrupt_char.h"
#include "sam.h"
#include "pendsv.h"
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
uint32_t pendsv_dispatch_active;
pendsv_dispatch_t pendsv_dispatch_table[PENDSV_DISPATCH_NUM_SLOTS];
#endif
void pendsv_init(void) {
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
pendsv_dispatch_active = false;
#endif
// set PendSV interrupt at lowest priority
NVIC_SetPriority(PendSV_IRQn, IRQ_PRI_PENDSV);
}
#if defined(PENDSV_DISPATCH_NUM_SLOTS)
void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) {
pendsv_dispatch_table[slot] = f;
pendsv_dispatch_active = true;
SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
}
void pendsv_dispatch_handler(void) {
for (size_t i = 0; i < PENDSV_DISPATCH_NUM_SLOTS; ++i) {
if (pendsv_dispatch_table[i] != NULL) {
pendsv_dispatch_t f = pendsv_dispatch_table[i];
pendsv_dispatch_table[i] = NULL;
f();
}
}
}
void PendSV_Handler(void) {
if (pendsv_dispatch_active) {
pendsv_dispatch_handler();
}
}
#endif

41
ports/samd/pendsv.h Normal file
View File

@ -0,0 +1,41 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#ifndef MICROPY_INCLUDED_SAMD_PENDSV_H
#define MICROPY_INCLUDED_SAMD_PENDSV_H
enum {
PENDSV_DISPATCH_SOFT_TIMER, // For later & for having at least one entry
PENDSV_DISPATCH_MAX
};
#define PENDSV_DISPATCH_NUM_SLOTS PENDSV_DISPATCH_MAX
typedef void (*pendsv_dispatch_t)(void);
void pendsv_init(void);
void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f);
#endif // MICROPY_INCLUDED_SAMD_PENDSV_H

18
ports/samd/samd_isr.c
View File

@ -27,9 +27,9 @@
#include "py/runtime.h"
#include "py/mphal.h"
#include "samd_soc.h"
// includes for Softtimer
// #include "pendsv.h"
// #include "softtimer.h"
#include "pendsv.h"
#include "shared/runtime/softtimer.h"
typedef void (*ISR)(void);
@ -97,17 +97,11 @@ void SysTick_Handler(void) {
systick_ms_upper += 1;
}
// if (soft_timer_next == next_tick) {
// pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
// }
if (soft_timer_next == next_tick) {
pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
}
}
// Temporary Handlers to allow builds.
// Will be removed when the respecitve module is added.
void PendSV_Handler(void) {
}
void (*sercom_irq_handler_table[SERCOM_INST_NUM])(int num) = {};
void sercom_register_irq(int sercom_id, void (*sercom_irq_handler)) {