nrf/soft_timer: Bring in soft timer and penbdsv.

Signed-off-by: Andrew Leech <andrew.leech@planetinnovation.com.au>

ports/nrf/Makefile

@@ -191,6 +191,7 @@ SRC_SHARED_C += $(addprefix shared/,\
 	libc/string0.c \
 	readline/readline.c \
 	runtime/pyexec.c \
+	runtime/softtimer.c \
 	runtime/sys_stdio_mphal.c \
 	runtime/interrupt_char.c \
 	tinyusb/mp_cdc_common.c \
@@ -208,13 +209,13 @@ endif
 SRC_NRFX += $(addprefix lib/nrfx/drivers/src/,\
 	prs/nrfx_prs.c \
 	nrfx_uart.c \
-        nrfx_uarte.c \
+	nrfx_uarte.c \
 	nrfx_adc.c \
 	nrfx_saadc.c \
 	nrfx_temp.c \
 	nrfx_rng.c \
 	nrfx_twi.c \
-        nrfx_twim.c \
+	nrfx_twim.c \
 	nrfx_spi.c \
 	nrfx_spim.c \
 	nrfx_rtc.c \
@@ -229,6 +230,7 @@ SRC_NRFX += $(addprefix lib/nrfx/drivers/src/,\
 SRC_C += \
 	main.c \
 	mphalport.c \
+	pendsv.c \
 	help.c \
 	gccollect.c \
 	pin_named_pins.c \

ports/nrf/main.c

@@ -40,6 +40,7 @@
 #include "py/compile.h"
 #include "extmod/modmachine.h"
 #include "shared/runtime/pyexec.h"
+#include "shared/runtime/softtimer.h"
 #include "readline.h"
 #include "gccollect.h"
 #include "modmachine.h"
@@ -54,6 +55,7 @@
 #include "adc.h"
 #include "rtcounter.h"
 #include "mphalport.h"
+#include "pendsv.h"
 
 #if MICROPY_PY_BLUETOOTH
 #include "extmod/modbluetooth.h"
@@ -123,6 +125,8 @@ void NORETURN _start(void) {
 
 soft_reset:
 
+    pendsv_init();
+
     #if MICROPY_PY_TIME_TICKS
     rtc1_init_time_ticks();
     #endif
@@ -309,6 +313,7 @@ soft_reset:
     mp_bluetooth_deinit();
     #endif
 
+    soft_timer_deinit();
     mp_deinit();
 
     printf("MPY: soft reboot\n");

ports/nrf/mpconfigport.h

@@ -155,7 +155,6 @@
 #define MICROPY_USE_INTERNAL_ERRNO  (1)
 #if MICROPY_HW_USB_CDC_1200BPS_TOUCH
 #define MICROPY_HW_ENABLE_USBDEV    (1)
-#define MICROPY_ENABLE_SCHEDULER    (1)
 #define MICROPY_SCHEDULER_STATIC_NODES (1)
 #endif
 #define MICROPY_PY_FUNCTION_ATTRS   (1)
@@ -180,9 +179,8 @@
 #define MICROPY_PY_MACHINE_BOOTLOADER (1)
 #define MICROPY_PY_MACHINE_PULSE    (0)
 #define MICROPY_PY_MACHINE_SOFTI2C  (MICROPY_PY_MACHINE_I2C)
-#ifndef MICROPY_ENABLE_SCHEDULER
-#define MICROPY_ENABLE_SCHEDULER    (1)
-#endif
+#define MICROPY_ENABLE_SCHEDULER     (1)
+#define MICROPY_SCHEDULER_STATIC_NODES    (1)
 
 #ifndef MICROPY_HW_LED_COUNT
 #define MICROPY_HW_LED_COUNT        (0)
@@ -391,6 +389,13 @@ static inline mp_uint_t disable_irq(void) {
 
 #endif
 
+#define MICROPY_SOFT_TIMER_TICKS_MS uwTick
+
+// Additional entries for use with pendsv_schedule_dispatch.
+#ifndef MICROPY_BOARD_PENDSV_ENTRIES
+#define MICROPY_BOARD_PENDSV_ENTRIES
+#endif
+
 #ifndef MICROPY_BOARD_STARTUP
 #define MICROPY_BOARD_STARTUP()
 #endif

ports/nrf/mphalport.c

@@ -34,12 +34,25 @@
 #include "uart.h"
 #include "nrfx_errors.h"
 #include "nrfx_config.h"
+#include "pendsv.h"
+#include "shared/runtime/softtimer.h"
 
 #if MICROPY_PY_TIME_TICKS
 #include "nrfx_rtc.h"
 #include "nrf_clock.h"
 #endif
 
+volatile uint32_t uwTick = 0;
+
+void SysTick_Handler(void) {
+    uint32_t next_tick = uwTick + 1;
+    uwTick = next_tick;
+
+    if (soft_timer_next == next_tick) {
+        pendsv_schedule_dispatch(PENDSV_DISPATCH_SOFT_TIMER, soft_timer_handler);
+    }
+}
+
 #if MICROPY_PY_TIME_TICKS
 
 // Use RTC1 for time ticks generation (ms and us) with 32kHz tick resolution

ports/nrf/mphalport.h

@@ -54,6 +54,43 @@ void mp_hal_delay_us(mp_uint_t us);
 
 const char *nrfx_error_code_lookup(uint32_t err_code);
 
+#define MICROPY_PY_PENDSV_ENTER   uint32_t atomic_state = raise_irq_pri(IRQ_PRI_PENDSV)
+#define MICROPY_PY_PENDSV_EXIT    restore_irq_pri(atomic_state)
+
+#if defined(NRF51)
+
+static inline uint32_t raise_irq_pri(uint32_t pri) {
+    (void)pri;
+    return 0;
+}
+
+static inline void restore_irq_pri(uint32_t basepri) {
+    (void)basepri;
+}
+#define IRQ_PRI_PENDSV          ((1 << __NVIC_PRIO_BITS) - 1)
+
+#else
+#define NVIC_PRIORITYGROUP_4    ((uint32_t)0x00000003)
+#define IRQ_PRI_PENDSV          NVIC_EncodePriority(NVIC_PRIORITYGROUP_4, 7, 0)
+
+static inline uint32_t raise_irq_pri(uint32_t pri) {
+    uint32_t basepri = __get_BASEPRI();
+    // If non-zero, the processor does not process any exception with a
+    // priority value greater than or equal to BASEPRI.
+    // When writing to BASEPRI_MAX the write goes to BASEPRI only if either:
+    //   - Rn is non-zero and the current BASEPRI value is 0
+    //   - Rn is non-zero and less than the current BASEPRI value
+    pri <<= (8 - __NVIC_PRIO_BITS);
+    __ASM volatile ("msr basepri_max, %0" : : "r" (pri) : "memory");
+    return basepri;
+}
+
+// "basepri" should be the value returned from raise_irq_pri
+static inline void restore_irq_pri(uint32_t basepri) {
+    __set_BASEPRI(basepri);
+}
+#endif
+
 #define MP_HAL_PIN_FMT           "%q"
 #define mp_hal_pin_obj_t const pin_obj_t *
 #define mp_hal_get_pin_obj(o)    pin_find(o)

ports/nrf/pendsv.c

@@ -0,0 +1,70 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2013, 2014 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 <stdlib.h>
+
+#include "py/runtime.h"
+#include "shared/runtime/interrupt_char.h"
+#include "mphalport.h"
+#include "pendsv.h"
+
+#if defined(PENDSV_DISPATCH_NUM_SLOTS)
+uint32_t pendsv_dispatch_active;
+pendsv_dispatch_t pendsv_dispatch_table[PENDSV_DISPATCH_NUM_SLOTS];
+#endif
+
+void pendsv_init(void) {
+    #if defined(PENDSV_DISPATCH_NUM_SLOTS)
+    pendsv_dispatch_active = false;
+    #endif
+
+    // set PendSV interrupt at lowest priority
+    NVIC_SetPriority(PendSV_IRQn, IRQ_PRI_PENDSV);
+}
+
+#if defined(PENDSV_DISPATCH_NUM_SLOTS)
+void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f) {
+    pendsv_dispatch_table[slot] = f;
+    pendsv_dispatch_active = true;
+    SCB->ICSR = SCB_ICSR_PENDSVSET_Msk;
+}
+
+void pendsv_dispatch_handler(void) {
+    for (size_t i = 0; i < PENDSV_DISPATCH_NUM_SLOTS; ++i) {
+        if (pendsv_dispatch_table[i] != NULL) {
+            pendsv_dispatch_t f = pendsv_dispatch_table[i];
+            pendsv_dispatch_table[i] = NULL;
+            f();
+        }
+    }
+}
+
+void PendSV_Handler(void) {
+    if (pendsv_dispatch_active) {
+        pendsv_dispatch_handler();
+    }
+}
+#endif

ports/nrf/pendsv.h

@@ -0,0 +1,42 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2013, 2014 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_NRF_PENDSV_H
+#define MICROPY_INCLUDED_NRF_PENDSV_H
+
+enum {
+    PENDSV_DISPATCH_SOFT_TIMER,  // For later & for having at least one entry
+    MICROPY_BOARD_PENDSV_ENTRIES
+    PENDSV_DISPATCH_MAX
+};
+
+#define PENDSV_DISPATCH_NUM_SLOTS PENDSV_DISPATCH_MAX
+
+typedef void (*pendsv_dispatch_t)(void);
+
+void pendsv_init(void);
+void pendsv_schedule_dispatch(size_t slot, pendsv_dispatch_t f);
+
+#endif // MICROPY_INCLUDED_NRF_PENDSV_H