Support SysTimer as timebase on ESP32-S2

2025-09-30 22:01:11 +00:00 · 2023-09-28 09:47:44 +02:00 · 2023-09-28 09:47:44 +02:00 · 5365031d9d
commit 5365031d9d
parent c6af8ba88b
21 changed files with 94 additions and 18 deletions
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -409,6 +409,11 @@ jobs:
          cd esp32s2-hal/
          cargo +esp check --example=embassy_hello_world --features=embassy,embassy-time-timg0,embassy-executor-thread
          cargo +esp check --example=embassy_multiprio --features=embassy,embassy-time-timg0,embassy-executor-interrupt
+      - name: check esp32s2-hal (embassy, systick)
+        run: |
+          cd esp32s2-hal/
+          cargo +esp check --example=embassy_hello_world --features=embassy,embassy-time-systick,embassy-executor-thread
+          cargo +esp check --example=embassy_multiprio --features=embassy,embassy-time-systick,embassy-executor-interrupt
      - name: check esp32s2-hal (embassy, timg0, async)
        run: |
          cd esp32s2-hal/
@ -420,6 +425,13 @@ jobs:
          cargo +esp check --example=embassy_i2s_sound --features=embassy,embassy-time-timg0,async,embassy-executor-thread
          cargo +esp check --example=embassy_rmt_rx --features=embassy,embassy-time-timg0,async,embassy-executor-thread --release
          cargo +esp check --example=embassy_rmt_tx --features=embassy,embassy-time-timg0,async,embassy-executor-thread
+      - name: check esp32s2-hal (embassy, systick, async)
+        run: |
+          cd esp32s2-hal/
+          cargo +esp check --example=embassy_wait --features=embassy,embassy-time-systick,async,embassy-executor-thread
+          cargo +esp check --example=embassy_spi --features=embassy,embassy-time-systick,async,embassy-executor-thread
+          cargo +esp check --example=embassy_serial --features=embassy,embassy-time-systick,async,embassy-executor-thread
+          cargo +esp check --example=embassy_i2c --features=embassy,embassy-time-systick,async,embassy-executor-thread
      - name: check esp32s2-hal (embassy, log/defmt)
        run: |
          cd esp32s2-hal/
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

 ### Added

+- Added `embassy-time-systick` to ESP32-S2 (#827)
 - Implement enabling/disabling BLE clock on ESP32-C6 (#784)
 - Async support for RMT (#787)
 - Implement `defmt::Format` for more types (#786)
--- a/esp-hal-common/Cargo.toml
+++ b/esp-hal-common/Cargo.toml
@ -38,7 +38,7 @@ embedded-hal-async = { version = "=1.0.0-rc.1", optional = true }
 embedded-io-async  = { version = "0.5.0", optional = true }
 embassy-executor   = { version = "0.3.0", features = ["integrated-timers"], optional = true }
 embassy-sync       = { version = "0.3.0", optional = true }
-embassy-time       = { version = "0.1.3", features = ["nightly"], optional = true }
+embassy-time       = { version = "0.1.4", features = ["nightly"], optional = true }
 embassy-futures    = { version = "0.1.0", optional = true }

 # RISC-V
--- a/esp32-hal/Cargo.toml
+++ b/esp32-hal/Cargo.toml
@ -26,7 +26,7 @@ categories = [

 [dependencies]
 esp-hal-common = { version = "0.12.0", features = ["esp32"],   path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }

 [dev-dependencies]
 aes                = "0.8.3"
--- a/esp32c2-hal/Cargo.toml
+++ b/esp32c2-hal/Cargo.toml
@ -26,7 +26,7 @@ categories = [

 [dependencies]
 esp-hal-common = { version = "0.12.0", features = ["esp32c2"], path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }

 [dev-dependencies]
 critical-section   = "1.1.2"
--- a/esp32c3-hal/Cargo.toml
+++ b/esp32c3-hal/Cargo.toml
@ -27,7 +27,7 @@ categories = [
 [dependencies]
 cfg-if         = "1.0.0"
 esp-hal-common = { version = "0.12.0", features = ["esp32c3"], path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }

 [dev-dependencies]
 aes                = "0.8.3"
--- a/esp32c6-hal/Cargo.toml
+++ b/esp32c6-hal/Cargo.toml
@ -27,7 +27,7 @@ categories = [

 [dependencies]
 esp-hal-common = { version = "0.12.0", features = ["esp32c6"], path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }

 [dev-dependencies]
 aes                = "0.8.3"
--- a/esp32h2-hal/Cargo.toml
+++ b/esp32h2-hal/Cargo.toml
@ -27,7 +27,7 @@ categories = [

 [dependencies]
 esp-hal-common = { version = "0.12.0", features = ["esp32h2"], path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }

 [dev-dependencies]
 aes                = "0.8.3"
--- a/esp32s2-hal/Cargo.toml
+++ b/esp32s2-hal/Cargo.toml
@ -26,7 +26,7 @@ categories = [

 [dependencies]
 esp-hal-common               = { version = "0.12.0", features = ["esp32s2"], path = "../esp-hal-common" }
-embassy-time                 = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time                 = { version = "0.1.4",  features = ["nightly"], optional = true }
 xtensa-atomic-emulation-trap = "0.4.0"

 [dev-dependencies]
@ -66,10 +66,7 @@ vectored  = ["esp-hal-common/vectored"]

 # Embassy support
 embassy = ["esp-hal-common/embassy"]
-# FIXME:
-# - add 80_000_000 support to embassy time
-# - Fix https://github.com/esp-rs/esp-hal/issues/253
-# embassy-time-systick = ["esp-hal-common/embassy-time-systick", "embassy-time/tick-hz-1_000_000"] 
+embassy-time-systick       = ["esp-hal-common/embassy-time-systick", "embassy-time/tick-hz-80_000_000"] 
 embassy-time-timg0         = ["esp-hal-common/embassy-time-timg0", "embassy-time/tick-hz-1_000_000"]
 embassy-executor-interrupt = ["esp-hal-common/embassy-executor-interrupt"]
 embassy-executor-thread    = ["esp-hal-common/embassy-executor-thread"]
--- a/esp32s2-hal/examples/embassy_hello_world.rs
+++ b/esp32s2-hal/examples/embassy_hello_world.rs
@ -33,6 +33,12 @@ async fn main(spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_i2c.rs
+++ b/esp32s2-hal/examples/embassy_i2c.rs
@ -34,6 +34,12 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_i2s_read.rs
+++ b/esp32s2-hal/examples/embassy_i2s_read.rs
@ -23,7 +23,6 @@ use esp32s2_hal::{
    pdma::Dma,
    peripherals::Peripherals,
    prelude::*,
-    timer::TimerGroup,
    IO,
 };
 use esp_backtrace as _;
@ -38,8 +37,17 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

-    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
-    embassy::init(&clocks, timer_group0.timer0);
+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
+    #[cfg(feature = "embassy-time-timg0")]
+    {
+        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
+        embassy::init(&clocks, timer_group0.timer0);
+    }

    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);

--- a/esp32s2-hal/examples/embassy_i2s_sound.rs
+++ b/esp32s2-hal/examples/embassy_i2s_sound.rs
@ -40,7 +40,6 @@ use esp32s2_hal::{
    pdma::Dma,
    peripherals::Peripherals,
    prelude::*,
-    timer::TimerGroup,
    IO,
 };
 use esp_backtrace as _;
@ -63,8 +62,17 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

-    let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
-    embassy::init(&clocks, timer_group0.timer0);
+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
+    #[cfg(feature = "embassy-time-timg0")]
+    {
+        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
+        embassy::init(&clocks, timer_group0.timer0);
+    }

    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);

--- a/esp32s2-hal/examples/embassy_multiprio.rs
+++ b/esp32s2-hal/examples/embassy_multiprio.rs
@ -87,6 +87,12 @@ fn main() -> ! {
    // Set GPIO2 as an output, and set its state high initially.
    let io = IO::new(peripherals.GPIO, peripherals.IO_MUX);

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_rmt_rx.rs
+++ b/esp32s2-hal/examples/embassy_rmt_rx.rs
@ -46,6 +46,12 @@ async fn main(spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_rmt_tx.rs
+++ b/esp32s2-hal/examples/embassy_rmt_tx.rs
@ -29,6 +29,12 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_serial.rs
+++ b/esp32s2-hal/examples/embassy_serial.rs
@ -67,6 +67,12 @@ async fn main(spawner: Spawner) {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_spi.rs
+++ b/esp32s2-hal/examples/embassy_spi.rs
@ -39,6 +39,12 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/examples/embassy_wait.rs
+++ b/esp32s2-hal/examples/embassy_wait.rs
@ -25,6 +25,12 @@ async fn main(_spawner: Spawner) -> ! {
    let system = peripherals.SYSTEM.split();
    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();

+    #[cfg(feature = "embassy-time-systick")]
+    embassy::init(
+        &clocks,
+        esp32s2_hal::systimer::SystemTimer::new(peripherals.SYSTIMER),
+    );
+
    #[cfg(feature = "embassy-time-timg0")]
    {
        let timer_group0 = esp32s2_hal::timer::TimerGroup::new(peripherals.TIMG0, &clocks);
--- a/esp32s2-hal/src/lib.rs
+++ b/esp32s2-hal/src/lib.rs
@ -18,6 +18,8 @@
 //!   using this feature.
 //! - `embassy-executor-interrupt` - Use the interrupt-mode embassy executor
 //! - `embassy-executor-thread` - Use the thread-mode embassy executor
+//! - `embassy-time-systick` - Enable the [embassy] time driver using the
+//!   `SYSTIMER` peripheral
 //! - `embassy-time-timg0` - Enable the [embassy] time driver using the `TIMG0`
 //!   peripheral
 //! - `log` - enable log output using the `log` crate
--- a/esp32s3-hal/Cargo.toml
+++ b/esp32s3-hal/Cargo.toml
@ -26,7 +26,7 @@ categories = [

 [dependencies]
 esp-hal-common = { version = "0.12.0", features = ["esp32s3"], path = "../esp-hal-common" }
-embassy-time   = { version = "0.1.3",  features = ["nightly"], optional = true }
+embassy-time   = { version = "0.1.4",  features = ["nightly"], optional = true }
 r0             = { version = "1.0.0",  optional = true }

 [dev-dependencies]