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Commitb9d8f65

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rp2: Refactor soft timer to use hardware timer alarm.
Progress towards removing pico-sdk alarm pool, due to a known issue.This work was funded through GitHub Sponsors.Signed-off-by: Angus Gratton <angus@redyak.com.au>
1 parent9feb068 commitb9d8f65

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4 files changed

+19
-12
lines changed

4 files changed

+19
-12
lines changed

‎ports/rp2/main.c

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -76,6 +76,8 @@ int main(int argc, char **argv) {
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// This is a tickless port, interrupts should always trigger SEV.
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SCB->SCR |=SCB_SCR_SEVONPEND_Msk;
7878

79+
soft_timer_init();
80+
7981
#ifMICROPY_HW_ENABLE_UART_REPL
8082
bi_decl(bi_program_feature("UART REPL"))
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setup_default_uart();

‎ports/rp2/mpconfigport.h

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Original file line numberDiff line numberDiff line change
@@ -147,6 +147,8 @@
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#defineMICROPY_SSL_MBEDTLS (1)
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#defineMICROPY_PY_LWIP_SOCK_RAW (MICROPY_PY_LWIP)
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150+
#defineMICROPY_HW_SOFT_TIMER_ALARM_NUM (2)
151+
150152
// fatfs configuration
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#defineMICROPY_FATFS_ENABLE_LFN (1)
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#defineMICROPY_FATFS_LFN_CODE_PAGE 437/* 1=SFN/ANSI 437=LFN/U.S.(OEM) */

‎ports/rp2/mphalport.c

Lines changed: 13 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -24,6 +24,7 @@
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* THE SOFTWARE.
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*/
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27+
#include"hardware/irq.h"
2728
#include"py/runtime.h"
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#include"py/stream.h"
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#include"py/mphal.h"
@@ -46,8 +47,6 @@
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// microseconds since the Epoch.
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STATICuint64_ttime_us_64_offset_from_epoch;
4849

49-
staticalarm_id_tsoft_timer_alarm_id=0;
50-
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#ifMICROPY_HW_ENABLE_UART_REPL||MICROPY_HW_USB_CDC
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5352
#ifndefMICROPY_HW_STDIN_BUFFER_LEN
@@ -273,21 +272,23 @@ uint32_t storage_read_blocks(uint8_t *dest, uint32_t block_num, uint32_t num_blo
273272
panic_unsupported();
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}
275274

276-
staticint64_tsoft_timer_callback(alarm_id_tid,void*user_data) {
277-
soft_timer_alarm_id=0;
278-
pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER,soft_timer_handler);
279-
return0;// don't reschedule this alarm
280-
}
281-
282275
uint32_tsoft_timer_get_ms(void) {
283276
returnmp_hal_ticks_ms();
284277
}
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286279
voidsoft_timer_schedule_at_ms(uint32_tticks_ms) {
287-
if (soft_timer_alarm_id!=0) {
288-
cancel_alarm(soft_timer_alarm_id);
289-
}
290280
int32_tms=soft_timer_ticks_diff(ticks_ms,mp_hal_ticks_ms());
291281
ms=MAX(0,ms);
292-
soft_timer_alarm_id=add_alarm_in_ms(ms,soft_timer_callback,NULL, true);
282+
if (hardware_alarm_set_target(MICROPY_HW_SOFT_TIMER_ALARM_NUM,delayed_by_ms(get_absolute_time(),ms))) {
283+
// "missed" hardware alarm target
284+
hardware_alarm_force_irq(MICROPY_HW_SOFT_TIMER_ALARM_NUM);
285+
}
286+
}
287+
288+
voidsoft_timer_init(void) {
289+
hardware_alarm_claim(MICROPY_HW_SOFT_TIMER_ALARM_NUM);
290+
hardware_alarm_set_callback(MICROPY_HW_SOFT_TIMER_ALARM_NUM, (void*)soft_timer_handler);
291+
// soft timer IRQ handler has to run at PendSV priority. adjusting priority here so we don't
292+
// need to trigger PendSV the timer IRQ.
293+
NVIC_SetPriority(TIMER_IRQ_0_IRQn+MICROPY_HW_SOFT_TIMER_ALARM_NUM,PICO_LOWEST_IRQ_PRIORITY);
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}

‎shared/runtime/softtimer.h

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -73,12 +73,14 @@ static inline void soft_timer_reinsert(soft_timer_entry_t *entry, uint32_t initi
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#if !defined(MICROPY_SOFT_TIMER_TICKS_MS)
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// IF MICROPY_SOFT_TIMER_TICKS_MS is not defined then the port must provide the
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// following timer functions:
76+
// - soft_timer_init() to initialize soft timer hardware as needed.
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// - soft_timer_get_ms() must return a 32-bit millisecond counter that wraps around.
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// - soft_timer_schedule_at_ms(ticks_ms) must schedule a callback of soft_timer_handler()
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// when the above millisecond counter reaches the given ticks_ms value. If ticks_ms
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// is behind the current counter (using int32_t arithmetic) then the callback should
8081
// be scheduled immediately. The callback of soft_timer_handler() should be made at
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// pend-SV IRQ level, or equivalent.
83+
voidsoft_timer_init(void);
8284
uint32_tsoft_timer_get_ms(void);
8385
voidsoft_timer_schedule_at_ms(uint32_tticks_ms);
8486
#endif

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