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-rw-r--r--docs/mimxrt/quickref.rst9
-rw-r--r--ports/mimxrt/Makefile1
-rw-r--r--ports/mimxrt/board_init.c3
-rw-r--r--ports/mimxrt/machine_timer.c158
-rw-r--r--ports/mimxrt/main.c2
-rw-r--r--ports/mimxrt/mphalport.h4
-rw-r--r--ports/mimxrt/systick.c7
7 files changed, 58 insertions, 126 deletions
diff --git a/docs/mimxrt/quickref.rst b/docs/mimxrt/quickref.rst
index c75fe60c8d..06f91f7f50 100644
--- a/docs/mimxrt/quickref.rst
+++ b/docs/mimxrt/quickref.rst
@@ -56,21 +56,18 @@ Use the :mod:`time <time>` module::
Timers
------
-The i.MXRT port has three hardware timers. Use the :ref:`machine.Timer <machine.Timer>` class
-with a timer ID from 0 to 2 (inclusive)::
+The i.MXRT port supports virtual Timers. Example of usage::
from machine import Timer
- tim0 = Timer(0)
+ tim0 = Timer(-1)
tim0.init(period=5000, mode=Timer.ONE_SHOT, callback=lambda t:print(0))
- tim1 = Timer(1)
+ tim1 = Timer(-1)
tim1.init(period=2000, mode=Timer.PERIODIC, callback=lambda t:print(1))
The period is in milliseconds.
-Virtual timers are not currently supported on this port.
-
.. _mimxrt_Pins_and_GPIO:
Pins and GPIO
diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
index 2119e027ef..db03b7bef2 100644
--- a/ports/mimxrt/Makefile
+++ b/ports/mimxrt/Makefile
@@ -193,6 +193,7 @@ SHARED_SRC_C += \
shared/runtime/interrupt_char.c \
shared/runtime/mpirq.c \
shared/runtime/pyexec.c \
+ shared/runtime/softtimer.c \
shared/runtime/stdout_helpers.c \
shared/runtime/sys_stdio_mphal.c \
shared/timeutils/timeutils.c \
diff --git a/ports/mimxrt/board_init.c b/ports/mimxrt/board_init.c
index 12496890ac..d0625aac37 100644
--- a/ports/mimxrt/board_init.c
+++ b/ports/mimxrt/board_init.c
@@ -89,9 +89,6 @@ void board_init(void) {
// ADC
machine_adc_init();
- // PIT
- machine_timer_init_PIT();
-
// SDCard
#if MICROPY_PY_MACHINE_SDCARD
machine_sdcard_init0();
diff --git a/ports/mimxrt/machine_timer.c b/ports/mimxrt/machine_timer.c
index a237272390..54ae06b6b3 100644
--- a/ports/mimxrt/machine_timer.c
+++ b/ports/mimxrt/machine_timer.c
@@ -26,66 +26,24 @@
*/
#include "py/runtime.h"
-#include "py/mperrno.h"
#include "py/mphal.h"
-#include "fsl_pit.h"
-#include "modmachine.h"
-#include CLOCK_CONFIG_H
-
-#define TIMER_MODE_ONE_SHOT (0)
-#define TIMER_MODE_PERIODIC (1)
-#define TIMER_MIN_PERIOD 1
-
-#define alarm_callback PIT_IRQHandler
-#define PIT_IRQ_ID PIT_IRQn
-
-typedef struct _machine_timer_obj_t {
- mp_obj_base_t base;
- int8_t id;
- int8_t channel;
- uint32_t mode;
- uint32_t tick_hz;
- uint32_t delta_us; // for periodic mode
- mp_obj_t callback;
-} machine_timer_obj_t;
-
-static const int8_t channel_no[MICROPY_HW_PIT_NUM_CHANNELS] = {0, 2, 3}; // no channel 1
-static pit_config_t pit_config;
-
-// This is the interrupt handler
-// To tell which channel fired one has to poll the flags
-void alarm_callback(void) {
- for (uint8_t index = 0; index < MICROPY_HW_PIT_NUM_CHANNELS; index++) {
- uint32_t flag;
- machine_timer_obj_t *self = MP_STATE_PORT(timer_table)[index];
- if (self != NULL) {
- flag = PIT_GetStatusFlags(PIT, self->channel);
- if (flag & kPIT_TimerFlag) { // channel fired
- PIT_ClearStatusFlags(PIT, self->channel, kPIT_TimerFlag);
- __DSB();
-
- mp_sched_schedule(self->callback, MP_OBJ_FROM_PTR(self));
-
- if (self->mode == TIMER_MODE_ONE_SHOT) {
- PIT_StopTimer(PIT, self->channel);
- }
- }
- }
- }
-}
+#include "shared/runtime/softtimer.h"
+
+typedef soft_timer_entry_t machine_timer_obj_t;
+
+const mp_obj_type_t machine_timer_type;
STATIC void machine_timer_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(self_in);
- qstr mode = self->mode == TIMER_MODE_ONE_SHOT ? MP_QSTR_ONE_SHOT : MP_QSTR_PERIODIC;
- mp_printf(print, "Timer(channel=%d, mode=%q, period=%d, tick_hz=%d)",
- self->id, mode, self->delta_us / self->tick_hz, self->tick_hz);
+ qstr mode = self->mode == SOFT_TIMER_MODE_ONE_SHOT ? MP_QSTR_ONE_SHOT : MP_QSTR_PERIODIC;
+ mp_printf(print, "Timer(mode=%q, period=%u)", mode, self->delta_ms);
}
STATIC mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_mode, ARG_callback, ARG_period, ARG_tick_hz, ARG_freq, };
static const mp_arg_t allowed_args[] = {
- { MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = TIMER_MODE_PERIODIC} },
- { MP_QSTR_callback, MP_ARG_REQUIRED | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
+ { MP_QSTR_mode, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SOFT_TIMER_MODE_PERIODIC} },
+ { MP_QSTR_callback, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_period, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_tick_hz, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1000} },
{ MP_QSTR_freq, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
@@ -96,67 +54,56 @@ STATIC mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, size_t n_ar
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
self->mode = args[ARG_mode].u_int;
+
+ uint64_t delta_ms = self->delta_ms;
if (args[ARG_freq].u_obj != mp_const_none) {
// Frequency specified in Hz
#if MICROPY_PY_BUILTINS_FLOAT
- self->delta_us = (uint32_t)(MICROPY_FLOAT_CONST(1000000.0) / mp_obj_get_float(args[ARG_freq].u_obj));
+ delta_ms = (uint32_t)(MICROPY_FLOAT_CONST(1000.0) / mp_obj_get_float(args[ARG_freq].u_obj));
#else
- self->delta_us = 1000000 / mp_obj_get_int(args[ARG_freq].u_obj);
+ delta_ms = 1000 / mp_obj_get_int(args[ARG_freq].u_obj);
#endif
- } else {
+ } else if (args[ARG_period].u_int != 0xffffffff) {
// Period specified
- self->tick_hz = args[ARG_tick_hz].u_int;
- self->delta_us = (uint64_t)args[ARG_period].u_int * 1000000 / self->tick_hz;
- }
- if (self->delta_us < TIMER_MIN_PERIOD) {
- self->delta_us = TIMER_MIN_PERIOD;
+ delta_ms = (uint64_t)args[ARG_period].u_int * 1000 / args[ARG_tick_hz].u_int;
}
- self->callback = args[ARG_callback].u_obj;
-
- // Set timer period for channel id
- PIT_SetTimerPeriod(PIT, self->channel, USEC_TO_COUNT(self->delta_us, BOARD_BOOTCLOCKRUN_IPG_CLK_ROOT));
-
- // Enable timer interrupts for the channel
- PIT_EnableInterrupts(PIT, self->channel, kPIT_TimerInterruptEnable);
+ if (delta_ms < 1) {
+ delta_ms = 1;
+ } else if (delta_ms >= 0x40000000) {
+ mp_raise_ValueError(MP_ERROR_TEXT("period too large"));
+ }
+ self->delta_ms = (uint32_t)delta_ms;
- // Enable at the NVIC
- EnableIRQ(PIT_IRQ_ID);
+ if (args[ARG_callback].u_obj != MP_OBJ_NULL) {
+ self->py_callback = args[ARG_callback].u_obj;
+ }
- // Start channel 0
- PIT_StartTimer(PIT, self->channel);
+ if (self->py_callback != mp_const_none) {
+ soft_timer_insert(self, self->delta_ms);
+ }
return mp_const_none;
}
STATIC mp_obj_t machine_timer_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
- machine_timer_obj_t *self;
-
- // Get timer id in the range of 0..2
- mp_int_t id = 0;
+ machine_timer_obj_t *self = m_new_obj(machine_timer_obj_t);
+ self->pairheap.base.type = &machine_timer_type;
+ self->flags = SOFT_TIMER_FLAG_PY_CALLBACK | SOFT_TIMER_FLAG_GC_ALLOCATED;
+ self->delta_ms = 1000;
+ self->py_callback = mp_const_none;
+
+ // Get timer id (only soft timer (-1) supported at the moment)
+ mp_int_t id = -1;
if (n_args > 0) {
id = mp_obj_get_int(args[0]);
--n_args;
++args;
}
- if (id < 0 || id >= MICROPY_HW_PIT_NUM_CHANNELS) {
- mp_raise_ValueError(MP_ERROR_TEXT("Timer does not exist"));
+ if (id != -1) {
+ mp_raise_ValueError(MP_ERROR_TEXT("Timer doesn't exist"));
}
- // check, if a timer exists at that channel and stop it first
- if (MP_STATE_PORT(timer_table)[id] != NULL) {
- PIT_StopTimer(PIT, channel_no[id]);
- self = MP_STATE_PORT(timer_table)[id];
- } else {
- self = m_new_obj_with_finaliser(machine_timer_obj_t);
- self->base.type = &machine_timer_type;
- MP_STATE_PORT(timer_table)[id] = self;
- }
-
- // Set initial values
- self->id = id;
- self->channel = channel_no[id];
-
if (n_args > 0 || n_kw > 0) {
// Start the timer
mp_map_t kw_args;
@@ -167,47 +114,26 @@ STATIC mp_obj_t machine_timer_make_new(const mp_obj_type_t *type, size_t n_args,
return MP_OBJ_FROM_PTR(self);
}
-STATIC mp_obj_t machine_timer___del__(mp_obj_t self_in) {
- machine_timer_obj_t *self = MP_OBJ_TO_PTR(self_in);
- PIT_StopTimer(PIT, self->channel);
- MP_STATE_PORT(timer_table)[self->id] = NULL;
- return mp_const_none;
-}
-STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_timer___del___obj, machine_timer___del__);
-
STATIC mp_obj_t machine_timer_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(args[0]);
- PIT_StopTimer(PIT, self->channel);
+ soft_timer_remove(self);
return machine_timer_init_helper(self, n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_timer_init_obj, 1, machine_timer_init);
STATIC mp_obj_t machine_timer_deinit(mp_obj_t self_in) {
machine_timer_obj_t *self = MP_OBJ_TO_PTR(self_in);
- PIT_StopTimer(PIT, self->channel);
+ soft_timer_remove(self);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_timer_deinit_obj, machine_timer_deinit);
-// Initialize clock an first config
-void machine_timer_init_PIT(void) {
- // PIT timer
- // Enable clock gate for GPIO1
- CLOCK_EnableClock(kCLOCK_Gpio1); // ?
- // Set PERCLK_CLK divider to 1
- CLOCK_SetDiv(kCLOCK_PerclkDiv, 0U);
-
- PIT_GetDefaultConfig(&pit_config);
- PIT_Init(PIT, &pit_config);
-}
-
STATIC const mp_rom_map_elem_t machine_timer_locals_dict_table[] = {
- { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&machine_timer___del___obj) },
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_timer_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&machine_timer_deinit_obj) },
- { MP_ROM_QSTR(MP_QSTR_ONE_SHOT), MP_ROM_INT(TIMER_MODE_ONE_SHOT) },
- { MP_ROM_QSTR(MP_QSTR_PERIODIC), MP_ROM_INT(TIMER_MODE_PERIODIC) },
+ { MP_ROM_QSTR(MP_QSTR_ONE_SHOT), MP_ROM_INT(SOFT_TIMER_MODE_ONE_SHOT) },
+ { MP_ROM_QSTR(MP_QSTR_PERIODIC), MP_ROM_INT(SOFT_TIMER_MODE_PERIODIC) },
};
STATIC MP_DEFINE_CONST_DICT(machine_timer_locals_dict, machine_timer_locals_dict_table);
@@ -219,5 +145,3 @@ MP_DEFINE_CONST_OBJ_TYPE(
print, machine_timer_print,
locals_dict, &machine_timer_locals_dict
);
-
-MP_REGISTER_ROOT_POINTER(struct _machine_timer_obj_t *timer_table[MICROPY_HW_PIT_NUM_CHANNELS]);
diff --git a/ports/mimxrt/main.c b/ports/mimxrt/main.c
index 82e07868a1..b81a44e278 100644
--- a/ports/mimxrt/main.c
+++ b/ports/mimxrt/main.c
@@ -33,6 +33,7 @@
#include "shared/readline/readline.h"
#include "shared/runtime/gchelper.h"
#include "shared/runtime/pyexec.h"
+#include "shared/runtime/softtimer.h"
#include "ticks.h"
#include "tusb.h"
#include "led.h"
@@ -120,6 +121,7 @@ int main(void) {
mod_network_deinit();
#endif
machine_pwm_deinit_all();
+ soft_timer_deinit();
gc_sweep_all();
mp_deinit();
}
diff --git a/ports/mimxrt/mphalport.h b/ports/mimxrt/mphalport.h
index 124b905604..30390a4a4c 100644
--- a/ports/mimxrt/mphalport.h
+++ b/ports/mimxrt/mphalport.h
@@ -38,6 +38,10 @@
#define MP_HAL_PIN_FMT "%q"
extern ringbuf_t stdin_ringbuf;
+// Define an alias fo systick_ms, because the shared softtimer.c uses
+// the symbol uwTick for the systick ms counter.
+#define uwTick systick_ms
+
#define mp_hal_pin_obj_t const machine_pin_obj_t *
#define mp_hal_get_pin_obj(o) pin_find(o)
#define mp_hal_pin_name(p) ((p)->name)
diff --git a/ports/mimxrt/systick.c b/ports/mimxrt/systick.c
index 086bf16701..8b0f5eb7b2 100644
--- a/ports/mimxrt/systick.c
+++ b/ports/mimxrt/systick.c
@@ -28,6 +28,9 @@
#include "py/mphal.h"
#include "systick.h"
+#include "pendsv.h"
+#include "shared/runtime/softtimer.h"
+
volatile uint32_t systick_ms = 0;
systick_dispatch_t systick_dispatch_table[SYSTICK_DISPATCH_NUM_SLOTS];
@@ -44,6 +47,10 @@ void SysTick_Handler(void) {
if (f != NULL) {
f(uw_tick);
}
+
+ if (soft_timer_next == uw_tick) {
+ pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
+ }
}
bool systick_has_passed(uint32_t start_tick, uint32_t delay_ms) {
generated by cgit v1.2.3 (git 2.39.1) at 2025-06-05 03:50:41 +0000