diff options
| -rw-r--r-- | ports/mimxrt/Makefile | 3 | ||||
| -rw-r--r-- | ports/mimxrt/board_init.c | 4 | ||||
| -rw-r--r-- | ports/mimxrt/machine_timer.c | 210 | ||||
| -rw-r--r-- | ports/mimxrt/modmachine.c | 2 | ||||
| -rw-r--r-- | ports/mimxrt/modmachine.h | 36 | ||||
| -rw-r--r-- | ports/mimxrt/mpconfigport.h | 7 |
6 files changed, 261 insertions, 1 deletions
diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile index 956291b32..21eab51fe 100644 --- a/ports/mimxrt/Makefile +++ b/ports/mimxrt/Makefile @@ -107,6 +107,7 @@ SRC_TINYUSB_IMX_C += \ $(MCU_DIR)/drivers/fsl_lpuart.c \ $(MCU_DIR)/drivers/fsl_flexram.c \ $(MCU_DIR)/drivers/fsl_flexspi.c \ + $(MCU_DIR)/drivers/fsl_pit.c \ $(MCU_DIR)/drivers/fsl_trng.c \ SRC_C = \ @@ -119,6 +120,7 @@ SRC_C = \ $(BOARD_DIR)/flash_config.c \ machine_led.c \ machine_pin.c \ + machine_timer.c \ mimxrt_flash.c \ modutime.c \ modmachine.c \ @@ -144,6 +146,7 @@ SRC_S = lib/utils/gchelper_m3.s \ SRC_QSTR += \ machine_led.c \ machine_pin.c \ + machine_timer.c \ mimxrt_flash.c \ modutime.c \ modmachine.c \ diff --git a/ports/mimxrt/board_init.c b/ports/mimxrt/board_init.c index 0336cdf68..01f6848ea 100644 --- a/ports/mimxrt/board_init.c +++ b/ports/mimxrt/board_init.c @@ -38,6 +38,7 @@ #include "fsl_lpuart.h" #include "clock_config.h" +#include "modmachine.h" volatile uint32_t systick_ms = 0; @@ -78,6 +79,9 @@ void board_init(void) { // USB1 // CLOCK_EnableUsbhs1PhyPllClock(kCLOCK_Usbphy480M, 480000000U); // CLOCK_EnableUsbhs1Clock(kCLOCK_Usb480M, 480000000U); + + // PIT + machine_timer_init_PIT(); } void USB_OTG1_IRQHandler(void) { diff --git a/ports/mimxrt/machine_timer.c b/ports/mimxrt/machine_timer.c new file mode 100644 index 000000000..466860583 --- /dev/null +++ b/ports/mimxrt/machine_timer.c @@ -0,0 +1,210 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2020-2021 Damien P. George + * Copyright (c) 2021 Robert Hammelrath + * + * 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/runtime.h" +#include "py/mperrno.h" +#include "py/mphal.h" +#include "fsl_pit.h" +#include "modmachine.h" + +#define ALARM_ID_INVALID (-1) +#define TIMER_MODE_ONE_SHOT (0) +#define TIMER_MODE_PERIODIC (1) +#define TIMER_MIN_PERIOD 1 + +#define alarm_callback PIT_IRQHandler +#define PIT_SOURCE_CLOCK CLOCK_GetFreq(kCLOCK_OscClk) +#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); + } + } + } + } +} + +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); +} + +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_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} }, + }; + + // Parse args + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + MP_STATE_PORT(timer_table)[self->id] = self; // Insert into the table + + self->mode = args[ARG_mode].u_int; + 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)); + #else + self->delta_us = 1000000 / mp_obj_get_int(args[ARG_freq].u_obj); + #endif + } else { + // 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; + } + + self->callback = args[ARG_callback].u_obj; + + // Set timer period for channel id + PIT_SetTimerPeriod(PIT, self->channel, USEC_TO_COUNT(self->delta_us, PIT_SOURCE_CLOCK)); + + // Enable timer interrupts for the channel + PIT_EnableInterrupts(PIT, self->channel, kPIT_TimerInterruptEnable); + + // Enable at the NVIC + EnableIRQ(PIT_IRQ_ID); + + // Start channel 0 + PIT_StartTimer(PIT, self->channel); + + 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 = m_new_obj_with_finaliser(machine_timer_obj_t); + self->base.type = &machine_timer_type; + self->id = ALARM_ID_INVALID; + + // Get timer id in the range of 0..2 + mp_int_t id = 0; + 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")); + } + + // 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; + mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); + machine_timer_init_helper(self, n_args, args, &kw_args); + } + + return MP_OBJ_FROM_PTR(self); +} + +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); + 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); + MP_STATE_PORT(timer_table)[self->id] = NULL; + 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 source to OSC_CLK + CLOCK_SetMux(kCLOCK_PerclkMux, 1U); + // 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_deinit_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) }, +}; +STATIC MP_DEFINE_CONST_DICT(machine_timer_locals_dict, machine_timer_locals_dict_table); + +const mp_obj_type_t machine_timer_type = { + { &mp_type_type }, + .name = MP_QSTR_Timer, + .print = machine_timer_print, + .make_new = machine_timer_make_new, + .locals_dict = (mp_obj_dict_t *)&machine_timer_locals_dict, +}; diff --git a/ports/mimxrt/modmachine.c b/ports/mimxrt/modmachine.c index 1bb6b6a35..75fe1cd20 100644 --- a/ports/mimxrt/modmachine.c +++ b/ports/mimxrt/modmachine.c @@ -29,6 +29,7 @@ #include "extmod/machine_mem.h" #include "led.h" #include "pin.h" +#include "modmachine.h" #include CPU_HEADER_H @@ -54,6 +55,7 @@ STATIC const mp_rom_map_elem_t machine_module_globals_table[] = { { MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&machine_led_type) }, #endif { MP_ROM_QSTR(MP_QSTR_Pin), MP_ROM_PTR(&machine_pin_type) }, + { MP_ROM_QSTR(MP_QSTR_Timer), MP_ROM_PTR(&machine_timer_type) }, }; STATIC MP_DEFINE_CONST_DICT(machine_module_globals, machine_module_globals_table); diff --git a/ports/mimxrt/modmachine.h b/ports/mimxrt/modmachine.h new file mode 100644 index 000000000..8741e2058 --- /dev/null +++ b/ports/mimxrt/modmachine.h @@ -0,0 +1,36 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2021 Damien P. George + * Copyright (c) 2021 Robert Hammelrath + * + * 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_MODMACHINE_H +#define MICROPY_INCLUDED_MIMXRT_MODMACHINE_H + +#include "py/obj.h" + +extern const mp_obj_type_t machine_timer_type; + +void machine_timer_init_PIT(void); + +#endif // MICROPY_INCLUDED_MIMXRT_MODMACHINE_H diff --git a/ports/mimxrt/mpconfigport.h b/ports/mimxrt/mpconfigport.h index db1944a9b..e02de87ba 100644 --- a/ports/mimxrt/mpconfigport.h +++ b/ports/mimxrt/mpconfigport.h @@ -53,6 +53,8 @@ #define MICROPY_MODULE_BUILTIN_INIT (1) #define MICROPY_MODULE_WEAK_LINKS (1) #define MICROPY_CAN_OVERRIDE_BUILTINS (1) +#define MICROPY_ENABLE_SCHEDULER (1) +#define MICROPY_SCHEDULER_DEPTH (8) #define MICROPY_VFS (1) #define MICROPY_MODULE_FROZEN_MPY (1) #define MICROPY_QSTR_EXTRA_POOL mp_qstr_frozen_const_pool @@ -109,8 +111,11 @@ extern const struct _mp_obj_module_t mp_module_utime; { MP_ROM_QSTR(MP_QSTR_uos), MP_ROM_PTR(&mp_module_uos) }, \ { MP_ROM_QSTR(MP_QSTR_utime), MP_ROM_PTR(&mp_module_utime) }, \ +#define MICROPY_HW_PIT_NUM_CHANNELS 3 + #define MICROPY_PORT_ROOT_POINTERS \ - const char *readline_hist[8]; + const char *readline_hist[8]; \ + struct _machine_timer_obj_t *timer_table[MICROPY_HW_PIT_NUM_CHANNELS]; #define MP_STATE_PORT MP_STATE_VM |