mimxrt: Improve ticks and sleep functions using GPT.

SysTick cannot wake the CPU from WFI/WFE so a hardware timer is needed to
keep track of ticks/delay (similar to the nrf port).

Fixes issue #7234.

Signed-off-by: Damien George <damien@micropython.org>

7 files changed, 189 insertions, 27 deletions

diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
index 85e77b978..3a001182a 100644
--- a/ports/mimxrt/Makefile
+++ b/ports/mimxrt/Makefile
@@ -82,6 +82,7 @@ SRC_TINYUSB_IMX_C += \
 	$(MCU_DIR)/project_template/clock_config.c \
 	$(MCU_DIR)/drivers/fsl_clock.c \
 	$(MCU_DIR)/drivers/fsl_gpio.c \
+	$(MCU_DIR)/drivers/fsl_gpt.c \
 	$(MCU_DIR)/drivers/fsl_common.c \
 	$(MCU_DIR)/drivers/fsl_lpuart.c \
 	$(MCU_DIR)/drivers/fsl_flexram.c \
@@ -90,6 +91,7 @@ SRC_C = \
 	main.c \
 	led.c \
 	pin.c \
+	ticks.c \
 	tusb_port.c \
 	board_init.c \
 	$(BOARD_DIR)/flash_config.c \
diff --git a/ports/mimxrt/board_init.c b/ports/mimxrt/board_init.c
index cd7dc9a7d..9095c8804 100644
--- a/ports/mimxrt/board_init.c
+++ b/ports/mimxrt/board_init.c
@@ -53,9 +53,6 @@ void board_init(void) {
     // Enable IOCON clock
     CLOCK_EnableClock(kCLOCK_Iomuxc);
 
-    // 1ms tick timer
-    SysTick_Config(SystemCoreClock / 1000);
-
     // ------------- USB0 ------------- //
 
     // Clock
@@ -85,10 +82,6 @@ void board_init(void) {
     //  CLOCK_EnableUsbhs1Clock(kCLOCK_Usb480M, 480000000U);
 }
 
-void SysTick_Handler(void) {
-    systick_ms++;
-}
-
 void USB_OTG1_IRQHandler(void) {
     tud_int_handler(0);
     tud_task();
diff --git a/ports/mimxrt/main.c b/ports/mimxrt/main.c
index e06283a8a..7832afffc 100644
--- a/ports/mimxrt/main.c
+++ b/ports/mimxrt/main.c
@@ -32,6 +32,7 @@
 #include "py/stackctrl.h"
 #include "lib/utils/gchelper.h"
 #include "lib/utils/pyexec.h"
+#include "ticks.h"
 #include "tusb.h"
 #include "led.h"
 
@@ -41,6 +42,7 @@ void board_init(void);
 
 int main(void) {
     board_init();
+    ticks_init();
     tusb_init();
     led_init();
 
diff --git a/ports/mimxrt/mphalport.c b/ports/mimxrt/mphalport.c
index 9fee3e85d..02a61a4f2 100644
--- a/ports/mimxrt/mphalport.c
+++ b/ports/mimxrt/mphalport.c
@@ -27,6 +27,7 @@
 
 #include "py/runtime.h"
 #include "py/mphal.h"
+#include "ticks.h"
 #include "tusb.h"
 
 #include CPU_HEADER_H
@@ -46,22 +47,6 @@ void mp_hal_set_interrupt_char(int c) {
 
 #endif
 
-void mp_hal_delay_ms(mp_uint_t ms) {
-    ms += 1;
-    uint32_t t0 = systick_ms;
-    while (systick_ms - t0 < ms) {
-        MICROPY_EVENT_POLL_HOOK
-    }
-}
-
-void mp_hal_delay_us(mp_uint_t us) {
-    uint32_t ms = us / 1000 + 1;
-    uint32_t t0 = systick_ms;
-    while (systick_ms - t0 < ms) {
-        __WFI();
-    }
-}
-
 int mp_hal_stdin_rx_chr(void) {
     for (;;) {
         // TODO
diff --git a/ports/mimxrt/mphalport.h b/ports/mimxrt/mphalport.h
index 2b9e49432..993e15156 100644
--- a/ports/mimxrt/mphalport.h
+++ b/ports/mimxrt/mphalport.h
@@ -28,21 +28,29 @@
 #define MICROPY_INCLUDED_MIMXRT_MPHALPORT_H
 
 #include <stdint.h>
+#include "ticks.h"
 
 #define mp_hal_pin_high(p) (GPIO_PinWrite(p->gpio, p->pin, 1U))
 #define mp_hal_pin_low(p) (GPIO_PinWrite(p->gpio, p->pin, 0U))
 #define mp_hal_pin_toggle(p) (GPIO_PortToggle(p->gpio, (1 << p->pin)))
 
-extern volatile uint32_t systick_ms;
-
 void mp_hal_set_interrupt_char(int c);
 
 static inline mp_uint_t mp_hal_ticks_ms(void) {
-    return systick_ms;
+    return ticks_ms32();
 }
 
 static inline mp_uint_t mp_hal_ticks_us(void) {
-    return systick_ms * 1000;
+    return ticks_us32();
+}
+
+static inline void mp_hal_delay_ms(mp_uint_t ms) {
+    uint64_t us = (uint64_t)ms * 1000;
+    ticks_delay_us64(us);
+}
+
+static inline void mp_hal_delay_us(mp_uint_t us) {
+    ticks_delay_us64(us);
 }
 
 static inline mp_uint_t mp_hal_ticks_cpu(void) {
diff --git a/ports/mimxrt/ticks.c b/ports/mimxrt/ticks.c
new file mode 100644
index 000000000..676f81b30
--- /dev/null
+++ b/ports/mimxrt/ticks.c
@@ -0,0 +1,137 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "py/mphal.h"
+#include "ticks.h"
+#include "fsl_gpt.h"
+
+// General purpose timer for keeping microsecond and millisecond tick values.
+#define GPTx GPT2
+#define GPTx_IRQn GPT2_IRQn
+#define GPTx_IRQHandler GPT2_IRQHandler
+
+static uint32_t ticks_us64_upper;
+static uint32_t ticks_ms_upper;
+
+void ticks_init(void) {
+    ticks_us64_upper = 0;
+    ticks_ms_upper = 0;
+
+    gpt_config_t config;
+    config.clockSource = kGPT_ClockSource_Osc;
+    config.divider = 24; // XTAL is 24MHz
+    config.enableFreeRun = true;
+    config.enableRunInWait = true;
+    config.enableRunInStop = true;
+    config.enableRunInDoze = true;
+    config.enableRunInDbg = false;
+    config.enableMode = true;
+    GPT_Init(GPTx, &config);
+
+    GPT_EnableInterrupts(GPTx, kGPT_RollOverFlagInterruptEnable);
+    NVIC_SetPriority(GPTx_IRQn, 0); // highest priority
+    NVIC_EnableIRQ(GPTx_IRQn);
+
+    GPT_StartTimer(GPTx);
+}
+
+void GPTx_IRQHandler(void) {
+    if (GPT_GetStatusFlags(GPTx, kGPT_OutputCompare1Flag)) {
+        GPT_ClearStatusFlags(GPTx, kGPT_OutputCompare1Flag);
+        GPT_DisableInterrupts(GPTx, kGPT_OutputCompare1InterruptEnable);
+        __SEV();
+    }
+    if (GPT_GetStatusFlags(GPTx, kGPT_RollOverFlag)) {
+        GPT_ClearStatusFlags(GPTx, kGPT_RollOverFlag);
+        ++ticks_us64_upper;
+        if (++ticks_ms_upper >= 1000) {
+            // Wrap upper counter at a multiple of 1000 so that when mp_hal_ticks_ms()
+            // wraps due to overflow it wraps smoothly.
+            ticks_ms_upper = 0;
+        }
+    }
+}
+
+static void ticks_wake_after_us32(uint32_t us) {
+    if (us < 2) {
+        // Delay too short to guarantee that we won't miss it when setting the OCR below.
+        __SEV();
+    } else {
+        // Disable IRQs so setting the OCR is done without any interruption.
+        uint32_t irq_state = DisableGlobalIRQ();
+        GPT_EnableInterrupts(GPTx, kGPT_OutputCompare1InterruptEnable);
+        uint32_t oc = GPT_GetCurrentTimerCount(GPTx) + us;
+        GPT_SetOutputCompareValue(GPTx, kGPT_OutputCompare_Channel1, oc);
+        EnableGlobalIRQ(irq_state);
+    }
+}
+
+static uint64_t ticks_us64_with(uint32_t *upper_ptr) {
+    uint32_t irq_state = DisableGlobalIRQ();
+    uint32_t lower = GPT_GetCurrentTimerCount(GPTx);
+    uint32_t upper = *upper_ptr;
+    uint32_t overflow = GPT_GetStatusFlags(GPTx, kGPT_RollOverFlag);
+    EnableGlobalIRQ(irq_state);
+    if (overflow && lower < 0x80000000) {
+        // The timer counter overflowed before reading it but the IRQ handler
+        // has not yet been called, so perform the IRQ arithmetic now.
+        ++upper;
+    }
+    return (uint64_t)upper << 32 | (uint64_t)lower;
+}
+
+uint32_t ticks_us32(void) {
+    return GPT_GetCurrentTimerCount(GPTx);
+}
+
+uint64_t ticks_us64(void) {
+    return ticks_us64_with(&ticks_us64_upper);
+}
+
+uint32_t ticks_ms32(void) {
+    // This will return a value that only has the lower 32-bits valid.
+    return ticks_us64_with(&ticks_ms_upper) / 1000;
+}
+
+void ticks_delay_us64(uint64_t us) {
+    uint64_t t0 = ticks_us64();
+    for (;;) {
+        uint64_t dt = ticks_us64() - t0;
+        if (dt >= us) {
+            return;
+        }
+        dt = us - dt;
+        if (dt > 0xffffffff) {
+            dt = 0xffffffff;
+        }
+        ticks_wake_after_us32((uint32_t)dt);
+        if (dt < 50) {
+            __WFE();
+        } else {
+            MICROPY_EVENT_POLL_HOOK
+        }
+    }
+}
diff --git a/ports/mimxrt/ticks.h b/ports/mimxrt/ticks.h
new file mode 100644
index 000000000..11127c29c
--- /dev/null
+++ b/ports/mimxrt/ticks.h
@@ -0,0 +1,35 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Damien P. George
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+#ifndef MICROPY_INCLUDED_MIMXRT_TICKS_H
+#define MICROPY_INCLUDED_MIMXRT_TICKS_H
+
+void ticks_init(void);
+uint32_t ticks_us32(void);
+uint64_t ticks_us64(void);
+uint32_t ticks_ms32(void);
+void ticks_delay_us64(uint64_t us);
+
+#endif // MICROPY_INCLUDED_MIMXRT_TICKS_H