From a5159edc2090a5670c33a829d7e54ab2ba8635c4 Mon Sep 17 00:00:00 2001
From: Damien George <damien.p.george@gmail.com>
Date: Wed, 15 Feb 2017 23:04:53 +1100
Subject: [PATCH] stmhal: Enable micropython.schedule().
ExtInt, Timer and CAN IRQ callbacks are made to work with the scheduler.
They are still hard IRQs by default, but one can now call
micropython.schedule within the hard IRQ to schedule a soft callback.
---
stmhal/can.c | 2 ++
stmhal/extint.c | 3 ++-
stmhal/mpconfigport.h | 11 ++++++++++-
stmhal/systick.c | 2 ++
stmhal/timer.c | 2 ++
5 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/stmhal/can.c b/stmhal/can.c
index e293b8742..9b8f2a071 100644
--- a/stmhal/can.c
+++ b/stmhal/can.c
@@ -865,6 +865,7 @@ void can_rx_irq_handler(uint can_id, uint fifo_id) {
}
if (callback != mp_const_none) {
+ mp_sched_lock();
gc_lock();
nlr_buf_t nlr;
if (nlr_push(&nlr) == 0) {
@@ -877,6 +878,7 @@ void can_rx_irq_handler(uint can_id, uint fifo_id) {
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
}
gc_unlock();
+ mp_sched_unlock();
}
}
diff --git a/stmhal/extint.c b/stmhal/extint.c
index dacf8dd56..59b00cb73 100644
--- a/stmhal/extint.c
+++ b/stmhal/extint.c
@@ -28,7 +28,6 @@
#include <stddef.h>
#include <string.h>
-#include "py/nlr.h"
#include "py/runtime.h"
#include "py/gc.h"
#include "py/mphal.h"
@@ -412,6 +411,7 @@ void Handle_EXTI_Irq(uint32_t line) {
if (line < EXTI_NUM_VECTORS) {
mp_obj_t *cb = &MP_STATE_PORT(pyb_extint_callback)[line];
if (*cb != mp_const_none) {
+ mp_sched_lock();
// When executing code within a handler we must lock the GC to prevent
// any memory allocations. We must also catch any exceptions.
gc_lock();
@@ -427,6 +427,7 @@ void Handle_EXTI_Irq(uint32_t line) {
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
}
gc_unlock();
+ mp_sched_unlock();
}
}
}
diff --git a/stmhal/mpconfigport.h b/stmhal/mpconfigport.h
index 38a5ac5da..339360bae 100644
--- a/stmhal/mpconfigport.h
+++ b/stmhal/mpconfigport.h
@@ -69,6 +69,8 @@
#define MICROPY_MODULE_WEAK_LINKS (1)
#define MICROPY_CAN_OVERRIDE_BUILTINS (1)
#define MICROPY_USE_INTERNAL_ERRNO (1)
+#define MICROPY_ENABLE_SCHEDULER (1)
+#define MICROPY_SCHEDULER_DEPTH (8)
#define MICROPY_VFS (1)
#define MICROPY_VFS_FAT (1)
@@ -303,6 +305,8 @@ static inline mp_uint_t disable_irq(void) {
#if MICROPY_PY_THREAD
#define MICROPY_EVENT_POLL_HOOK \
do { \
+ extern void mp_handle_pending(void); \
+ mp_handle_pending(); \
if (pyb_thread_enabled) { \
MP_THREAD_GIL_EXIT(); \
pyb_thread_yield(); \
@@ -312,7 +316,12 @@ static inline mp_uint_t disable_irq(void) {
} \
} while (0);
#else
-#define MICROPY_EVENT_POLL_HOOK __WFI();
+#define MICROPY_EVENT_POLL_HOOK \
+ do { \
+ extern void mp_handle_pending(void); \
+ mp_handle_pending(); \
+ __WFI(); \
+ } while (0);
#endif
// There is no classical C heap in bare-metal ports, only Python
diff --git a/stmhal/systick.c b/stmhal/systick.c
index eb11de9b7..71e3d3488 100644
--- a/stmhal/systick.c
+++ b/stmhal/systick.c
@@ -24,6 +24,7 @@
* THE SOFTWARE.
*/
+#include "py/runtime.h"
#include "py/mphal.h"
#include "irq.h"
#include "systick.h"
@@ -58,6 +59,7 @@ void mp_hal_delay_ms(mp_uint_t Delay) {
// Wraparound of tick is taken care of by 2's complement arithmetic.
while (uwTick - start < Delay) {
// Enter sleep mode, waiting for (at least) the SysTick interrupt.
+ mp_handle_pending();
#if MICROPY_PY_THREAD
if (pyb_thread_enabled) {
pyb_thread_yield();
diff --git a/stmhal/timer.c b/stmhal/timer.c
index 494045c28..7f0a70c5e 100644
--- a/stmhal/timer.c
+++ b/stmhal/timer.c
@@ -1363,6 +1363,7 @@ STATIC void timer_handle_irq_channel(pyb_timer_obj_t *tim, uint8_t channel, mp_o
// execute callback if it's set
if (callback != mp_const_none) {
+ mp_sched_lock();
// When executing code within a handler we must lock the GC to prevent
// any memory allocations. We must also catch any exceptions.
gc_lock();
@@ -1382,6 +1383,7 @@ STATIC void timer_handle_irq_channel(pyb_timer_obj_t *tim, uint8_t channel, mp_o
mp_obj_print_exception(&mp_plat_print, (mp_obj_t)nlr.ret_val);
}
gc_unlock();
+ mp_sched_unlock();
}
}
}
--
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