zephyr: Run scheduled callbacks at REPL and during mp_hal_delay_ms.
And ctrl-C can now interrupt a time.sleep call. This uses Zephyr's k_poll API to wait efficiently for an event signal, and an optional semaphore. Signed-off-by: Damien George <damien@micropython.org>
This commit is contained in:
parent
916c3fd23f
commit
d120859857
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@ -46,6 +46,7 @@ set(MICROPY_SOURCE_PORT
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modutime.c
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modzephyr.c
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modzsensor.c
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mphalport.c
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uart_core.c
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zephyr_storage.c
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)
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@ -45,6 +45,7 @@
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#include "py/runtime.h"
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#include "py/repl.h"
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#include "py/gc.h"
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#include "py/mphal.h"
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#include "py/stackctrl.h"
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#include "lib/utils/pyexec.h"
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#include "lib/mp-readline/readline.h"
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@ -123,6 +124,7 @@ int real_main(void) {
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mp_stack_set_limit(CONFIG_MAIN_STACK_SIZE - 512);
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init_zephyr();
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mp_hal_init();
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#ifdef TEST
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static const char *argv[] = {"test"};
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@ -96,6 +96,9 @@
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#define MICROPY_COMP_CONST (0)
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#define MICROPY_COMP_DOUBLE_TUPLE_ASSIGN (0)
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void mp_hal_signal_event(void);
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#define MICROPY_SCHED_HOOK_SCHEDULED mp_hal_signal_event()
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#define MICROPY_PY_SYS_PLATFORM "zephyr"
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#ifdef CONFIG_BOARD
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@ -0,0 +1,74 @@
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/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2021 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "py/runtime.h"
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#include "py/mphal.h"
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static struct k_poll_signal wait_signal;
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static struct k_poll_event wait_events[2] = {
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K_POLL_EVENT_INITIALIZER(K_POLL_TYPE_SIGNAL,
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K_POLL_MODE_NOTIFY_ONLY,
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&wait_signal),
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K_POLL_EVENT_STATIC_INITIALIZER(K_POLL_TYPE_SEM_AVAILABLE,
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K_POLL_MODE_NOTIFY_ONLY,
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NULL, 0),
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};
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void mp_hal_init(void) {
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k_poll_signal_init(&wait_signal);
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}
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void mp_hal_signal_event(void) {
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k_poll_signal_raise(&wait_signal, 0);
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}
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void mp_hal_wait_sem(struct k_sem *sem, uint32_t timeout_ms) {
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mp_uint_t t0 = mp_hal_ticks_ms();
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if (sem) {
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k_poll_event_init(&wait_events[1], K_POLL_TYPE_SEM_AVAILABLE, K_POLL_MODE_NOTIFY_ONLY, sem);
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}
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for (;;) {
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k_timeout_t wait;
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if (timeout_ms == (uint32_t)-1) {
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wait = K_FOREVER;
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} else {
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uint32_t dt = mp_hal_ticks_ms() - t0;
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if (dt >= timeout_ms) {
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return;
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}
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wait = K_MSEC(timeout_ms - dt);
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}
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k_poll(wait_events, sem ? 2 : 1, wait);
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if (wait_events[0].state == K_POLL_STATE_SIGNALED) {
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wait_events[0].signal->signaled = 0;
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wait_events[0].state = K_POLL_STATE_NOT_READY;
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mp_handle_pending(true);
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} else if (sem && wait_events[1].state == K_POLL_STATE_SEM_AVAILABLE) {
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wait_events[1].state = K_POLL_STATE_NOT_READY;
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return;
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}
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}
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}
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@ -1,6 +1,9 @@
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#include <zephyr.h>
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#include "lib/utils/interrupt_char.h"
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void mp_hal_init(void);
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void mp_hal_wait_sem(struct k_sem *sem, uint32_t timeout_ms);
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static inline mp_uint_t mp_hal_ticks_us(void) {
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return k_cyc_to_ns_floor64(k_cycle_get_32()) / 1000;
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}
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@ -21,7 +24,7 @@ static inline void mp_hal_delay_us(mp_uint_t delay) {
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}
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static inline void mp_hal_delay_ms(mp_uint_t delay) {
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k_msleep(delay);
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mp_hal_wait_sem(NULL, delay);
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}
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static inline uint64_t mp_hal_time_ns(void) {
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@ -13,6 +13,7 @@ CONFIG_CONSOLE_PUTCHAR_BUFSIZE=128
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CONFIG_NEWLIB_LIBC=y
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CONFIG_FPU=y
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CONFIG_MAIN_STACK_SIZE=4736
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CONFIG_POLL=y
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# Enable sensor subsystem (doesn't add code if not used).
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# Specific sensors should be enabled per-board.
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@ -1,6 +1,7 @@
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CONFIG_NEWLIB_LIBC=y
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CONFIG_FPU=y
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CONFIG_MAIN_STACK_SIZE=4096
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CONFIG_POLL=y
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CONFIG_UART_INTERRUPT_DRIVEN=y
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CONFIG_CONSOLE_SUBSYS=y
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@ -22,6 +22,8 @@
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extern int mp_interrupt_char;
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void mp_sched_keyboard_interrupt(void);
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void mp_hal_signal_event(void);
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void mp_hal_wait_sem(struct k_sem *sem, uint32_t timeout_ms);
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static struct k_sem uart_sem;
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#define UART_BUFSIZE 256
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@ -36,6 +38,7 @@ static int console_irq_input_hook(uint8_t ch)
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return 1;
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}
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if (ch == mp_interrupt_char) {
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mp_hal_signal_event();
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mp_sched_keyboard_interrupt();
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return 1;
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} else {
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@ -49,6 +52,7 @@ static int console_irq_input_hook(uint8_t ch)
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}
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uint8_t zephyr_getchar(void) {
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mp_hal_wait_sem(&uart_sem, -1);
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k_sem_take(&uart_sem, K_FOREVER);
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unsigned int key = irq_lock();
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uint8_t c = uart_ringbuf[i_get++];
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