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Commitc765ca1

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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 commitc765ca1

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6 files changed

+28
-13
lines changed

6 files changed

+28
-13
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) {
7676
// This is a tickless port, interrupts should always trigger SEV.
7777
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"))
8183
setup_default_uart();

‎ports/rp2/mpconfigport.h

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -147,6 +147,10 @@
147147
#defineMICROPY_SSL_MBEDTLS (1)
148148
#defineMICROPY_PY_LWIP_SOCK_RAW (MICROPY_PY_LWIP)
149149

150+
// Hardware timer alarm index. Available range 0-3.
151+
// Number 3 is currently used by pico-sdk (PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM)
152+
#defineMICROPY_HW_SOFT_TIMER_ALARM_NUM (2)
153+
150154
// fatfs configuration
151155
#defineMICROPY_FATFS_ENABLE_LFN (1)
152156
#defineMICROPY_FATFS_LFN_CODE_PAGE 437/* 1=SFN/ANSI 437=LFN/U.S.(OEM) */

‎ports/rp2/mphalport.c

Lines changed: 14 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -35,6 +35,7 @@
3535
#include"pendsv.h"
3636
#include"tusb.h"
3737
#include"uart.h"
38+
#include"hardware/irq.h"
3839
#include"hardware/rtc.h"
3940
#include"pico/unique_id.h"
4041

@@ -46,8 +47,6 @@
4647
// microseconds since the Epoch.
4748
STATICuint64_ttime_us_64_offset_from_epoch;
4849

49-
staticalarm_id_tsoft_timer_alarm_id=0;
50-
5150
#ifMICROPY_HW_ENABLE_UART_REPL||MICROPY_HW_USB_CDC
5251

5352
#ifndefMICROPY_HW_STDIN_BUFFER_LEN
@@ -273,21 +272,24 @@ uint32_t storage_read_blocks(uint8_t *dest, uint32_t block_num, uint32_t num_blo
273272
panic_unsupported();
274273
}
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
}
285278

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_handler must be executed at IRQ_PRI_PENDSV priority. Rather
292+
// than having the timer IRQ trigger the handler via a PendSV interrupt,
293+
// have the timer IRQ execute it directly at the correct priority.
294+
NVIC_SetPriority(TIMER_IRQ_0_IRQn+MICROPY_HW_SOFT_TIMER_ALARM_NUM,IRQ_PRI_PENDSV);
293295
}

‎ports/rp2/mpnetworkport.c

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -66,7 +66,7 @@ static void gpio_irq_handler(void) {
6666
voidcyw43_irq_init(void) {
6767
gpio_add_raw_irq_handler_with_order_priority(CYW43_PIN_WL_HOST_WAKE,gpio_irq_handler,CYW43_SHARED_IRQ_HANDLER_PRIORITY);
6868
irq_set_enabled(IO_IRQ_BANK0, true);
69-
NVIC_SetPriority(PendSV_IRQn,PICO_LOWEST_IRQ_PRIORITY);
69+
NVIC_SetPriority(PendSV_IRQn,IRQ_PRI_PENDSV);
7070
}
7171

7272
voidcyw43_post_poll_hook(void) {

‎ports/rp2/pendsv.h

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -42,6 +42,9 @@ enum {
4242

4343
#definePENDSV_DISPATCH_NUM_SLOTS PENDSV_DISPATCH_MAX
4444

45+
// PendSV IRQ priority, to run system-level tasks that preempt the main thread.
46+
#defineIRQ_PRI_PENDSV PICO_LOWEST_IRQ_PRIORITY
47+
4548
typedefvoid (*pendsv_dispatch_t)(void);
4649

4750
voidpendsv_suspend(void);

‎shared/runtime/softtimer.h

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -81,6 +81,10 @@ static inline void soft_timer_reinsert(soft_timer_entry_t *entry, uint32_t initi
8181
// pend-SV IRQ level, or equivalent.
8282
uint32_tsoft_timer_get_ms(void);
8383
voidsoft_timer_schedule_at_ms(uint32_tticks_ms);
84+
85+
// Optional port-specific initialisation function (provided by the port and called
86+
// by the port if needed.)
87+
voidsoft_timer_init(void);
8488
#endif
8589

8690
#endif// MICROPY_INCLUDED_SHARED_RUNTIME_SOFTTIMER_H

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