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objint.h

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  • machine_timer.c 9.91 KiB
    /*
     * This file is part of the MicroPython project, http://micropython.org/
     *
     * Development of the code in this file was sponsored by Microbric Pty Ltd
     *
     * The MIT License (MIT)
     *
     * Copyright (c) 2013-2015 Damien P. George
     * Copyright (c) 2016 Paul Sokolovsky
     *
     * 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 <stdint.h>
    #include <stdio.h>
    
    #include "py/obj.h"
    #include "py/runtime.h"
    #include "modmachine.h"
    #include "mphalport.h"
    
    #include "driver/timer.h"
    #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 1, 1)
    #include "hal/timer_ll.h"
    #define HAVE_TIMER_LL (1)
    #endif
    
    #define TIMER_INTR_SEL TIMER_INTR_LEVEL
    #define TIMER_DIVIDER  8
    
    // TIMER_BASE_CLK is normally 80MHz. TIMER_DIVIDER ought to divide this exactly
    #define TIMER_SCALE    (TIMER_BASE_CLK / TIMER_DIVIDER)
    
    #define TIMER_FLAGS    0
    
    typedef struct _machine_timer_obj_t {
        mp_obj_base_t base;
        mp_uint_t group;
        mp_uint_t index;
    
        mp_uint_t repeat;
        // ESP32 timers are 64-bit
        uint64_t period;
    
        mp_obj_t callback;
    
        intr_handle_t handle;
    
        struct _machine_timer_obj_t *next;
    } machine_timer_obj_t;
    
    const mp_obj_type_t machine_timer_type;
    
    STATIC void machine_timer_disable(machine_timer_obj_t *self);
    STATIC mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
    
    void machine_timer_deinit_all(void) {
        // Disable, deallocate and remove all timers from list
        machine_timer_obj_t **t = &MP_STATE_PORT(machine_timer_obj_head);
        while (*t != NULL) {
            machine_timer_disable(*t);
            machine_timer_obj_t *next = (*t)->next;
            m_del_obj(machine_timer_obj_t, *t);
            *t = next;
        }
    }
    
    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 = self_in;
    
        timer_config_t config;
        mp_printf(print, "Timer(%p; ", self);
    
        timer_get_config(self->group, self->index, &config);
    
        mp_printf(print, "alarm_en=%d, ", config.alarm_en);
        mp_printf(print, "auto_reload=%d, ", config.auto_reload);
        mp_printf(print, "counter_en=%d)", config.counter_en);
    }
    
    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) {
        mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
        mp_uint_t group = (mp_obj_get_int(args[0]) >> 1) & 1;
        mp_uint_t index = mp_obj_get_int(args[0]) & 1;
    
        machine_timer_obj_t *self = NULL;
    
        // Check whether the timer is already initialized, if so use it
        for (machine_timer_obj_t *t = MP_STATE_PORT(machine_timer_obj_head); t; t = t->next) {
            if (t->group == group && t->index == index) {
                self = t;
                break;
            }
        }
        // The timer does not exist, create it.
        if (self == NULL) {
            self = mp_obj_malloc(machine_timer_obj_t, &machine_timer_type);
            self->group = group;
            self->index = index;
    
            // Add the timer to the linked-list of timers
            self->next = MP_STATE_PORT(machine_timer_obj_head);
            MP_STATE_PORT(machine_timer_obj_head) = self;
        }
    
        if (n_args > 1 || n_kw > 0) {
            mp_map_t kw_args;
            mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
            machine_timer_init_helper(self, n_args - 1, args + 1, &kw_args);
        }
    
        return self;
    }
    
    STATIC void machine_timer_disable(machine_timer_obj_t *self) {
        if (self->handle) {
            timer_pause(self->group, self->index);
            esp_intr_free(self->handle);
            self->handle = NULL;
        }
    
        // We let the disabled timer stay in the list, as it might be
        // referenced elsewhere
    }
    
    STATIC void machine_timer_isr(void *self_in) {
        machine_timer_obj_t *self = self_in;
        timg_dev_t *device = self->group ? &(TIMERG1) : &(TIMERG0);
    
        #if HAVE_TIMER_LL
    
        #if CONFIG_IDF_TARGET_ESP32 && ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
        device->hw_timer[self->index].update = 1;
        #else
        #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(4, 4, 0)
        #if CONFIG_IDF_TARGET_ESP32S3
        device->hw_timer[self->index].update.tn_update = 1;
        #else
        device->hw_timer[self->index].update.tx_update = 1;
        #endif
        #else
        device->hw_timer[self->index].update.update = 1;
        #endif
        #endif
        timer_ll_clear_intr_status(device, self->index);
        #if ESP_IDF_VERSION < ESP_IDF_VERSION_VAL(5, 0, 0)
        timer_ll_set_alarm_enable(device, self->index, self->repeat);
        #else
        timer_ll_set_alarm_value(device, self->index, self->repeat);
        #endif
    
        #else
    
        device->hw_timer[self->index].update = 1;
        if (self->index) {
            device->int_clr_timers.t1 = 1;
        } else {
            device->int_clr_timers.t0 = 1;
        }
        device->hw_timer[self->index].config.alarm_en = self->repeat;
    
        #endif
    
        mp_sched_schedule(self->callback, self);
        mp_hal_wake_main_task_from_isr();
    }
    
    STATIC void machine_timer_enable(machine_timer_obj_t *self) {
        timer_config_t config;
        config.alarm_en = TIMER_ALARM_EN;
        config.auto_reload = self->repeat;
        config.counter_dir = TIMER_COUNT_UP;
        config.divider = TIMER_DIVIDER;
        config.intr_type = TIMER_INTR_LEVEL;
        config.counter_en = TIMER_PAUSE;
        #if SOC_TIMER_GROUP_SUPPORT_XTAL
        config.clk_src = TIMER_SRC_CLK_APB;
        #endif
    
        check_esp_err(timer_init(self->group, self->index, &config));
        check_esp_err(timer_set_counter_value(self->group, self->index, 0x00000000));
        check_esp_err(timer_set_alarm_value(self->group, self->index, self->period));
        check_esp_err(timer_enable_intr(self->group, self->index));
        check_esp_err(timer_isr_register(self->group, self->index, machine_timer_isr, (void *)self, TIMER_FLAGS, &self->handle));
        check_esp_err(timer_start(self->group, self->index));
    }
    
    STATIC mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, mp_uint_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 = 1} },
            { MP_QSTR_callback,     MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_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} },
            #if MICROPY_PY_BUILTINS_FLOAT
            { MP_QSTR_freq,         MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
            #else
            { MP_QSTR_freq,         MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
            #endif
        };
    
        machine_timer_disable(self);
    
        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);
    
        #if MICROPY_PY_BUILTINS_FLOAT
        if (args[ARG_freq].u_obj != mp_const_none) {
            self->period = (uint64_t)(TIMER_SCALE / mp_obj_get_float(args[ARG_freq].u_obj));
        }
        #else
        if (args[ARG_freq].u_int != 0xffffffff) {
            self->period = TIMER_SCALE / ((uint64_t)args[ARG_freq].u_int);
        }
        #endif
        else {
            self->period = (((uint64_t)args[ARG_period].u_int) * TIMER_SCALE) / args[ARG_tick_hz].u_int;
        }
    
        self->repeat = args[ARG_mode].u_int;
        self->callback = args[ARG_callback].u_obj;
        self->handle = NULL;
    
        machine_timer_enable(self);
    
        return mp_const_none;
    }
    
    STATIC mp_obj_t machine_timer_deinit(mp_obj_t self_in) {
        machine_timer_disable(self_in);
    
        return mp_const_none;
    }
    STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_timer_deinit_obj, machine_timer_deinit);
    
    STATIC mp_obj_t machine_timer_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
        return machine_timer_init_helper(args[0], 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_value(mp_obj_t self_in) {
        machine_timer_obj_t *self = self_in;
        double result;
    
        timer_get_counter_time_sec(self->group, self->index, &result);
    
        return MP_OBJ_NEW_SMALL_INT((mp_uint_t)(result * 1000));  // value in ms
    }
    STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_timer_value_obj, machine_timer_value);
    
    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_deinit), 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_value), MP_ROM_PTR(&machine_timer_value_obj) },
        { MP_ROM_QSTR(MP_QSTR_ONE_SHOT), MP_ROM_INT(false) },
        { MP_ROM_QSTR(MP_QSTR_PERIODIC), MP_ROM_INT(true) },
    };
    STATIC MP_DEFINE_CONST_DICT(machine_timer_locals_dict, machine_timer_locals_dict_table);
    
    MP_DEFINE_CONST_OBJ_TYPE(
        machine_timer_type,
        MP_QSTR_Timer,
        MP_TYPE_FLAG_NONE,
        make_new, machine_timer_make_new,
        print, machine_timer_print,
        locals_dict, &machine_timer_locals_dict
        );
    
    MP_REGISTER_ROOT_POINTER(struct _machine_timer_obj_t *machine_timer_obj_head);