embassy/embassy-rp/src/timer.rs

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4.6 KiB
Rust
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use atomic_polyfill::{AtomicU8, Ordering};
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use core::cell::Cell;
use critical_section::CriticalSection;
use embassy::interrupt::{Interrupt, InterruptExt};
use embassy::time::driver::{AlarmHandle, Driver};
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use embassy::util::CriticalSectionMutex as Mutex;
use crate::{interrupt, pac};
struct AlarmState {
timestamp: Cell<u64>,
callback: Cell<Option<(fn(*mut ()), *mut ())>>,
}
unsafe impl Send for AlarmState {}
const ALARM_COUNT: usize = 4;
const DUMMY_ALARM: AlarmState = AlarmState {
timestamp: Cell::new(0),
callback: Cell::new(None),
};
struct TimerDriver {
alarms: Mutex<[AlarmState; ALARM_COUNT]>,
next_alarm: AtomicU8,
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}
embassy::time_driver_impl!(static DRIVER: TimerDriver = TimerDriver{
alarms: Mutex::new([DUMMY_ALARM; ALARM_COUNT]),
next_alarm: AtomicU8::new(0),
});
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impl Driver for TimerDriver {
fn now(&self) -> u64 {
loop {
unsafe {
let hi = pac::TIMER.timerawh().read();
let lo = pac::TIMER.timerawl().read();
let hi2 = pac::TIMER.timerawh().read();
if hi == hi2 {
return (hi as u64) << 32 | (lo as u64);
}
}
}
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}
unsafe fn allocate_alarm(&self) -> Option<AlarmHandle> {
let id = self
.next_alarm
.fetch_update(Ordering::AcqRel, Ordering::Acquire, |x| {
if x < ALARM_COUNT as u8 {
Some(x + 1)
} else {
None
}
});
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match id {
Ok(id) => Some(AlarmHandle::new(id)),
Err(_) => None,
}
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}
fn set_alarm_callback(&self, alarm: AlarmHandle, callback: fn(*mut ()), ctx: *mut ()) {
let n = alarm.id() as usize;
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critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
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alarm.callback.set(Some((callback, ctx)));
})
}
fn set_alarm(&self, alarm: AlarmHandle, timestamp: u64) {
let n = alarm.id() as usize;
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critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
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alarm.timestamp.set(timestamp);
// Arm it.
// Note that we're not checking the high bits at all. This means the irq may fire early
// if the alarm is more than 72 minutes (2^32 us) in the future. This is OK, since on irq fire
// it is checked if the alarm time has passed.
unsafe { pac::TIMER.alarm(n).write_value(timestamp as u32) };
let now = self.now();
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// If alarm timestamp has passed, trigger it instantly.
// This disarms it.
if timestamp <= now {
self.trigger_alarm(n, cs);
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}
})
}
}
impl TimerDriver {
fn check_alarm(&self, n: usize) {
critical_section::with(|cs| {
let alarm = &self.alarms.borrow(cs)[n];
let timestamp = alarm.timestamp.get();
if timestamp <= self.now() {
self.trigger_alarm(n, cs)
} else {
// Not elapsed, arm it again.
// This can happen if it was set more than 2^32 us in the future.
unsafe { pac::TIMER.alarm(n).write_value(timestamp as u32) };
}
});
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// clear the irq
unsafe { pac::TIMER.intr().write(|w| w.set_alarm(n, true)) }
}
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fn trigger_alarm(&self, n: usize, cs: CriticalSection) {
// disarm
unsafe { pac::TIMER.armed().write(|w| w.set_armed(1 << n)) }
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let alarm = &self.alarms.borrow(cs)[n];
alarm.timestamp.set(u64::MAX);
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// Call after clearing alarm, so the callback can set another alarm.
if let Some((f, ctx)) = alarm.callback.get() {
f(ctx);
}
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}
}
/// safety: must be called exactly once at bootup
pub unsafe fn init() {
// init alarms
critical_section::with(|cs| {
let alarms = DRIVER.alarms.borrow(cs);
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for a in alarms {
a.timestamp.set(u64::MAX);
}
});
// enable all irqs
pac::TIMER.inte().write(|w| {
w.set_alarm(0, true);
w.set_alarm(1, true);
w.set_alarm(2, true);
w.set_alarm(3, true);
});
interrupt::TIMER_IRQ_0::steal().enable();
interrupt::TIMER_IRQ_1::steal().enable();
interrupt::TIMER_IRQ_2::steal().enable();
interrupt::TIMER_IRQ_3::steal().enable();
}
#[interrupt]
unsafe fn TIMER_IRQ_0() {
DRIVER.check_alarm(0)
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}
#[interrupt]
unsafe fn TIMER_IRQ_1() {
DRIVER.check_alarm(1)
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}
#[interrupt]
unsafe fn TIMER_IRQ_2() {
DRIVER.check_alarm(2)
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}
#[interrupt]
unsafe fn TIMER_IRQ_3() {
DRIVER.check_alarm(3)
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}