embassy/embassy-rp/src/timer.rs

use core::cell::Cell;
use critical_section::CriticalSection;
use embassy::interrupt::{Interrupt, InterruptExt};
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),
};

static ALARMS: Mutex<[AlarmState; ALARM_COUNT]> = Mutex::new([DUMMY_ALARM; ALARM_COUNT]);

fn now() -> 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);
            }
        }
    }
}

struct Timer;
impl embassy::time::Clock for Timer {
    fn now(&self) -> u64 {
        now()
    }
}

pub trait AlarmInstance {
    fn alarm_num(&self) -> usize;
}

impl AlarmInstance for crate::peripherals::TIMER_ALARM0 {
    fn alarm_num(&self) -> usize {
        0
    }
}
impl AlarmInstance for crate::peripherals::TIMER_ALARM1 {
    fn alarm_num(&self) -> usize {
        1
    }
}
impl AlarmInstance for crate::peripherals::TIMER_ALARM2 {
    fn alarm_num(&self) -> usize {
        2
    }
}
impl AlarmInstance for crate::peripherals::TIMER_ALARM3 {
    fn alarm_num(&self) -> usize {
        3
    }
}

pub struct Alarm<T: AlarmInstance> {
    inner: T,
}

impl<T: AlarmInstance> Alarm<T> {
    pub fn new(inner: T) -> Self {
        Self { inner }
    }
}

impl<T: AlarmInstance> embassy::time::Alarm for Alarm<T> {
    fn set_callback(&self, callback: fn(*mut ()), ctx: *mut ()) {
        let n = self.inner.alarm_num();
        critical_section::with(|cs| {
            let alarm = &ALARMS.borrow(cs)[n];
            alarm.callback.set(Some((callback, ctx)));
        })
    }

    fn set(&self, timestamp: u64) {
        let n = self.inner.alarm_num();

        critical_section::with(|cs| {
            let alarm = &ALARMS.borrow(cs)[n];
            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 = now();

            // If alarm timestamp has passed, trigger it instantly.
            // This disarms it.
            if timestamp <= now {
                trigger_alarm(n, cs);
            }
        })
    }

    fn clear(&self) {
        self.set(u64::MAX);
    }
}

fn check_alarm(n: usize) {
    critical_section::with(|cs| {
        let alarm = &ALARMS.borrow(cs)[n];
        let timestamp = alarm.timestamp.get();
        if timestamp <= now() {
            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) };
        }
    });

    // clear the irq
    unsafe { pac::TIMER.intr().write(|w| w.set_alarm(n, true)) }
}

fn trigger_alarm(n: usize, cs: CriticalSection) {
    // disarm
    unsafe { pac::TIMER.armed().write(|w| w.set_armed(1 << n)) }

    let alarm = &ALARMS.borrow(cs)[n];
    alarm.timestamp.set(u64::MAX);

    // Call after clearing alarm, so the callback can set another alarm.
    if let Some((f, ctx)) = alarm.callback.get() {
        f(ctx);
    }
}

/// safety: must be called exactly once at bootup
pub unsafe fn init() {
    // init alarms
    critical_section::with(|cs| {
        let alarms = ALARMS.borrow(cs);
        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();

    embassy::time::set_clock(&Timer);
}

#[interrupt]
unsafe fn TIMER_IRQ_0() {
    check_alarm(0)
}

#[interrupt]
unsafe fn TIMER_IRQ_1() {
    check_alarm(1)
}

#[interrupt]
unsafe fn TIMER_IRQ_2() {
    check_alarm(2)
}

#[interrupt]
unsafe fn TIMER_IRQ_3() {
    check_alarm(3)
}