Merge pull request #7201 from jepler/rp2040-light-sleep

raspberrypi: Make port_idle_until_interrupt work

ports/raspberrypi/Makefile

@@ -120,13 +120,14 @@ SRC_LWIP :=
 endif
 
 INC += \
-	-I. \
-	-Ilwip_inc \
+        -I. \
+        -Ilwip_inc \
         -I../.. \
         -I../lib/mp-readline \
         -I../shared/timeutils \
         -Iboards/$(BOARD) \
         -Iboards/ \
+        -isystem ./../../lib/cmsis/inc \
         -isystem sdk/ \
         -isystem sdk/src/common/pico_base/include/ \
         -isystem sdk/src/common/pico_binary_info/include/ \

ports/raspberrypi/supervisor/port.c

@@ -72,6 +72,9 @@
 
 #include "supervisor/serial.h"
 
+#include "tusb.h"
+#include <cmsis_compiler.h>
+
 extern volatile bool mp_msc_enabled;
 
 STATIC void _tick_callback(uint alarm_num);
@@ -241,38 +244,48 @@ uint32_t port_get_saved_word(void) {
     return __scratch_x_start__;
 }
 
+static volatile bool ticks_enabled;
+
 uint64_t port_get_raw_ticks(uint8_t *subticks) {
     uint64_t microseconds = time_us_64();
     return 1024 * (microseconds / 1000000) + (microseconds % 1000000) / 977;
 }
 
 STATIC void _tick_callback(uint alarm_num) {
-    supervisor_tick();
-    hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), 977));
+    if (ticks_enabled) {
+        supervisor_tick();
+        hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), 977));
+    }
 }
 
 // Enable 1/1024 second tick.
 void port_enable_tick(void) {
+    ticks_enabled = true;
     hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), 977));
 }
 
 // Disable 1/1024 second tick.
 void port_disable_tick(void) {
-    // hardware_alarm_cancel(0);
+    // One additional _tick_callback may occur, but it will just return
+    // whenever !ticks_enabled. Cancel is not called just in case
+    // it could nuke a timeout set by port_interrupt_after_ticks.
+    ticks_enabled = false;
 }
 
 // This is called by sleep, we ignore it when our ticks are enabled because
 // they'll wake us up earlier. If we don't, we'll mess up ticks by overwriting
 // the next RTC wake up time.
 void port_interrupt_after_ticks(uint32_t ticks) {
+    if (!ticks_enabled) {
+        hardware_alarm_set_target(0, delayed_by_us(get_absolute_time(), ticks * 977));
+    }
 }
 
 void port_idle_until_interrupt(void) {
     common_hal_mcu_disable_interrupts();
-    if (!background_callback_pending()) {
-        // TODO: Does not work when board is power-cycled.
-        // asm volatile ("dsb 0xF" ::: "memory");
-        // __wfi();
+    if (!background_callback_pending() && !tud_task_event_ready()) {
+        __DSB();
+        __WFI();
     }
     common_hal_mcu_enable_interrupts();
 }