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Commit83e82c5

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projectgusdpgeorge
authored andcommitted
rp2: Refactor to not use pico-sdk alarm pool functions for sleeping.
The best_effort_wfe_or_timeout() and sleep_us() pico-sdk functions use thepico-sdk alarm pool internally, and that has a bug.Some usages inside pico-sdk (notably multicore_lockout_start_blocking())will still end up calling best_effort_wfe_or_timeout(), although usuallywith "end_of_time" as the timeout value so it should avoid any alarm poolrace conditions.This work was funded through GitHub Sponsors.Signed-off-by: Angus Gratton <angus@redyak.com.au>
1 parent74fb42a commit83e82c5

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3 files changed

+39
-12
lines changed

3 files changed

+39
-12
lines changed

‎ports/rp2/mphalport.c

Lines changed: 34 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -198,17 +198,31 @@ mp_uint_t mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
198198
returndid_write ?ret :0;
199199
}
200200

201+
voidmp_hal_delay_us(mp_uint_tus) {
202+
// Avoid calling sleep_us() and invoking the alarm pool by splitting long
203+
// sleeps into an optional longer sleep and a shorter busy-wait
204+
uint64_tend=time_us_64()+us;
205+
if (us>1000) {
206+
mp_hal_delay_ms(us /1000);
207+
}
208+
while (time_us_64()<end) {
209+
// Tight loop busy-wait for accurate timing
210+
}
211+
}
212+
201213
voidmp_hal_delay_ms(mp_uint_tms) {
202-
absolute_time_tt=make_timeout_time_ms(ms);
214+
mp_uint_tstart=mp_hal_ticks_ms();
215+
mp_uint_telapsed=0;
203216
do {
204-
mp_event_handle_nowait();
205-
}while (!best_effort_wfe_or_timeout(t));
217+
mp_event_wait_ms(ms-elapsed);
218+
elapsed=mp_hal_ticks_ms()-start;
219+
}while (elapsed<ms);
206220
}
207221

208222
voidmp_hal_time_ns_set_from_rtc(void) {
209-
//Delay at least oneRTCclock cycle so it's registers have updated with the most
210-
//recent time settings.
211-
sleep_us(23);
223+
//OutstandingRTCregister writes need at least two RTC clock cycles to
224+
//update. (See RP2040 datasheet section 4.8.4 "Reference clock").
225+
mp_hal_delay_us(44);
212226

213227
// Sample RTC and time_us_64() as close together as possible, so the offset
214228
// calculated for the latter can be as accurate as possible.
@@ -295,3 +309,17 @@ void soft_timer_init(void) {
295309
hardware_alarm_claim(MICROPY_HW_SOFT_TIMER_ALARM_NUM);
296310
hardware_alarm_set_callback(MICROPY_HW_SOFT_TIMER_ALARM_NUM,soft_timer_hardware_callback);
297311
}
312+
313+
voidmp_wfe_or_timeout(uint32_ttimeout_ms) {
314+
soft_timer_entry_ttimer;
315+
316+
// Note the timer doesn't have an associated callback, it just exists to create a
317+
// hardware interrupt to wake the CPU
318+
soft_timer_static_init(&timer,SOFT_TIMER_MODE_ONE_SHOT,0,NULL);
319+
soft_timer_insert(&timer,timeout_ms);
320+
321+
__wfe();
322+
323+
// Clean up the timer node if it's not already
324+
soft_timer_remove(&timer);
325+
}

‎ports/rp2/mphalport.h

Lines changed: 4 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -62,23 +62,22 @@
6262
if ((TIMEOUT_MS) < 0) { \
6363
__wfe(); \
6464
} else { \
65-
best_effort_wfe_or_timeout(make_timeout_time_ms(TIMEOUT_MS)); \
65+
mp_wfe_or_timeout(TIMEOUT_MS); \
6666
} \
6767
} while (0)
6868

6969
externintmp_interrupt_char;
7070
externringbuf_tstdin_ringbuf;
7171

72+
// Port-specific function to create a wakeup interrupt after timeout_ms and enter WFE
73+
voidmp_wfe_or_timeout(uint32_ttimeout_ms);
74+
7275
uint32_tmp_thread_begin_atomic_section(void);
7376
voidmp_thread_end_atomic_section(uint32_t);
7477

7578
voidmp_hal_set_interrupt_char(intc);
7679
voidmp_hal_time_ns_set_from_rtc(void);
7780

78-
staticinlinevoidmp_hal_delay_us(mp_uint_tus) {
79-
sleep_us(us);
80-
}
81-
8281
staticinlinevoidmp_hal_delay_us_fast(mp_uint_tus) {
8382
busy_wait_us(us);
8483
}

‎shared/runtime/softtimer.c

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -89,7 +89,7 @@ void soft_timer_handler(void) {
8989
heap= (soft_timer_entry_t*)mp_pairheap_pop(soft_timer_lt,&heap->pairheap);
9090
if (entry->flags&SOFT_TIMER_FLAG_PY_CALLBACK) {
9191
mp_sched_schedule(entry->py_callback,MP_OBJ_FROM_PTR(entry));
92-
}else {
92+
}elseif (entry->c_callback){
9393
entry->c_callback(entry);
9494
}
9595
if (entry->mode==SOFT_TIMER_MODE_PERIODIC) {

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