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[3/3] Timer abstraction: cleanup, simplification, and documentation (#1630)

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* Add a new `timg_timer1` symbol to `esp-metadata` definitions

* Make `Timer::load_value` fallible (when the value is too large)

* Clean up, simplify, and document the `timer` module and its submodules

* Fix various issues

* Update the timeout value verification for `SYSTIMER`

* Clippy

* Introduce new `PERIOD_MASK` constant for validating timeout values
This commit is contained in:
Jesse Braham 2024-05-28 14:12:06 +00:00 committed by GitHub
parent 7c25750e3a
commit 8aee84f842
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
11 changed files with 302 additions and 269 deletions
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24
esp-hal/src/embassy/time_driver_systimer.rs
View File

@ -5,7 +5,11 @@ use super::AlarmState;
use crate::{
clock::Clocks,
peripherals,
timer::systimer::{Alarm, SystemTimer, Target},
prelude::*,
timer::{
systimer::{Alarm, SystemTimer, Target},
Timer as _,
},
};
pub const ALARM_COUNT: usize = 3;
@ -43,9 +47,9 @@ impl EmbassyTimer {
pub(super) fn on_alarm_allocated(&self, n: usize) {
match n {
0 => self.alarm0.enable_interrupt_internal(true),
1 => self.alarm1.enable_interrupt_internal(true),
2 => self.alarm2.enable_interrupt_internal(true),
0 => self.alarm0.enable_interrupt(true),
1 => self.alarm1.enable_interrupt(true),
2 => self.alarm2.enable_interrupt(true),
_ => {}
}
}
@ -126,18 +130,18 @@ impl EmbassyTimer {
fn clear_interrupt(&self, id: usize) {
match id {
0 => self.alarm0.clear_interrupt_internal(),
1 => self.alarm1.clear_interrupt_internal(),
2 => self.alarm2.clear_interrupt_internal(),
0 => self.alarm0.clear_interrupt(),
1 => self.alarm1.clear_interrupt(),
2 => self.alarm2.clear_interrupt(),
_ => {}
}
}
fn arm(&self, id: usize, timestamp: u64) {
match id {
0 => self.alarm0.set_target_internal(timestamp),
1 => self.alarm1.set_target_internal(timestamp),
2 => self.alarm2.set_target_internal(timestamp),
0 => self.alarm0.load_value(timestamp.micros()).unwrap(),
1 => self.alarm1.load_value(timestamp.micros()).unwrap(),
2 => self.alarm2.load_value(timestamp.micros()).unwrap(),
_ => {}
}
}

4
esp-hal/src/embassy/time_driver_timg.rs
View File

@ -43,14 +43,14 @@ impl EmbassyTimer {
pub(super) fn on_alarm_allocated(&self, _n: usize) {}
fn on_interrupt<Timer: Instance>(&self, id: u8, mut timer: Timer) {
fn on_interrupt<Timer: Instance>(&self, id: u8, timer: Timer) {
critical_section::with(|cs| {
timer.clear_interrupt();
self.trigger_alarm(id as usize, cs);
});
}
pub fn init(clocks: &Clocks, mut timer: TimerType) {
pub fn init(clocks: &Clocks, timer: TimerType) {
// set divider to get a 1mhz clock. APB (80mhz) / 80 = 1mhz...
timer.timer0.set_divider(clocks.apb_clock.to_MHz() as u16);
timer.timer0.set_counter_active(true);

54
esp-hal/src/timer/mod.rs
View File

@ -1,4 +1,34 @@
//! General-purpose timers.
//! # General-purpose Timers
//!
//! The [OneShotTimer] and [PeriodicTimer] types can be backed by any hardware
//! peripheral which implements the [Timer] trait.
//!
//! ## Usage
//!
//! ### Examples
//!
//! #### One-shot Timer
//!
//! ```no_run
//! let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks, None);
//! let one_shot = OneShotTimer::new(timg0.timer0);
//!
//! one_shot.delay_millis(500);
//! ```
//!
//! #### Periodic Timer
//!
//! ```no_run
//! let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks, None);
//! let periodic = PeriodicTimer::new(timg0.timer0);
//!
//! periodic.start(1.secs());
//! loop {
//! nb::block!(periodic.wait());
//! }
//! ```
#![deny(missing_docs)]
use fugit::{ExtU64, Instant, MicrosDurationU64};
@ -17,6 +47,8 @@ pub enum Error {
TimerInactive,
/// The alarm is not currently active.
AlarmInactive,
/// The provided timeout is too large.
InvalidTimeout,
}
/// Functionality provided by any timer peripheral.
@ -37,7 +69,7 @@ pub trait Timer: crate::private::Sealed {
fn now(&self) -> Instant<u64, 1, 1_000_000>;
/// Load a target value into the timer.
fn load_value(&self, value: MicrosDurationU64);
fn load_value(&self, value: MicrosDurationU64) -> Result<(), Error>;
/// Enable auto reload of the loaded value.
fn enable_auto_reload(&self, auto_reload: bool);
@ -51,7 +83,8 @@ pub trait Timer: crate::private::Sealed {
/// Has the timer triggered?
fn is_interrupt_set(&self) -> bool;
/// FIXME: This is (hopefully?) temporary...
// NOTE: This is an unfortunate implementation detail of `TIMGx`
#[doc(hidden)]
fn set_alarm_active(&self, state: bool);
}
@ -93,7 +126,7 @@ where
self.inner.reset();
self.inner.enable_auto_reload(false);
self.inner.load_value(us);
self.inner.load_value(us).unwrap();
self.inner.start();
while !self.inner.is_interrupt_set() {
@ -132,9 +165,8 @@ impl<T> embedded_hal::delay::DelayNs for OneShotTimer<T>
where
T: Timer,
{
#[allow(clippy::useless_conversion)]
fn delay_ns(&mut self, ns: u32) {
self.delay_nanos(ns.into());
self.delay_nanos(ns);
}
}
@ -153,7 +185,7 @@ where
}
/// Start a new count down.
pub fn start(&mut self, timeout: MicrosDurationU64) {
pub fn start(&mut self, timeout: MicrosDurationU64) -> Result<(), Error> {
if self.inner.is_running() {
self.inner.stop();
}
@ -162,15 +194,17 @@ where
self.inner.reset();
self.inner.enable_auto_reload(true);
self.inner.load_value(timeout);
self.inner.load_value(timeout)?;
self.inner.start();
Ok(())
}
/// "Wait" until the count down finishes without blocking.
pub fn wait(&mut self) -> nb::Result<(), void::Void> {
if self.inner.is_interrupt_set() {
self.inner.clear_interrupt();
self.inner.set_alarm_active(true); // FIXME: Remove if/when able
self.inner.set_alarm_active(true);
Ok(())
} else {
@ -201,7 +235,7 @@ where
where
Time: Into<Self::Time>,
{
self.start(timeout.into());
self.start(timeout.into()).unwrap();
}
fn wait(&mut self) -> nb::Result<(), void::Void> {

170
esp-hal/src/timer/systimer.rs
View File

@ -1,33 +1,42 @@
//! # System Timer peripheral driver
//! # System Timer (SYSTIMER)
//!
//! The System Timer is a
#![cfg_attr(esp32s2, doc = "`64-bit`")]
#![cfg_attr(not(esp32s2), doc = "`54-bit`")]
//! timer with three comparators capable of raising an alarm interupt on each.
#![cfg_attr(esp32s2, doc = "64-bit")]
#![cfg_attr(not(esp32s2), doc = "52-bit")]
//! timer which can be used, for example, to generate tick interrupts for an
//! operating system, or simply as a general-purpose timer.
//!
//! To obtain the current timer value, call [`SystemTimer::now`].
//! The timer consists of two counters, `UNIT0` and `UNIT1`. The counter values
//! can be monitored by 3 comparators, `COMP0`, `COMP1`, and `COMP2`.
//!
//! [`Alarm`]'s can be configured into two different modes:
//! [Alarm]s can be configured in two modes: [Target] (one-shot) and [Periodic].
//!
//! - [`Target`], for one-shot timer behaviour.
//! - [`Periodic`], for alarm triggers at a repeated interval.
//! ## Usage
//!
//! ### Examples
//!
//! #### General-purpose Timer
//!
//! ## Example
//! ```no_run
//! let peripherals = Peripherals::take();
//!
//! let systimer = SystemTimer::new(peripherals.SYSTIMER);
//! println!("SYSTIMER Current value = {}", SystemTimer::now());
//!
//! let mut alarm0 = systimer.alarm0;
//! // Block for a second
//! alarm0.wait_until(SystemTimer::now().wrapping_add(SystemTimer::TICKS_PER_SECOND));
//! // Get the current timestamp, in microseconds:
//! let now = systimer.now();
//!
//! // Wait for timeout:
//! systimer.load_value(1.secs());
//! systimer.start();
//!
//! while !systimer.is_interrupt_set() {
//! // Wait
//! }
//! ```
use core::marker::PhantomData;
use fugit::{Instant, MicrosDurationU32, MicrosDurationU64};
use super::{Error, Timer as _};
use crate::{
interrupt::{self, InterruptHandler},
peripheral::Peripheral,
@ -41,18 +50,18 @@ use crate::{
Mode,
};
/// The SystemTimer
/// System Timer driver.
pub struct SystemTimer<'d, DM>
where
DM: Mode,
{
_phantom: PhantomData<&'d ()>,
/// Alarm 0.
pub alarm0: Alarm<Target, DM, 0>,
/// Alarm 1.
pub alarm1: Alarm<Target, DM, 1>,
/// Alarm 2.
pub alarm2: Alarm<Target, DM, 2>,
_phantom: PhantomData<&'d ()>,
}
impl<'d> SystemTimer<'d, Blocking> {
@ -62,11 +71,15 @@ impl<'d> SystemTimer<'d, Blocking> {
pub const BIT_MASK: u64 = u64::MAX;
/// The ticks per second the underlying peripheral uses.
pub const TICKS_PER_SECOND: u64 = 80_000_000;
// Bitmask to be applied to the raw period register value.
const PERIOD_MASK: u64 = 0x1FFF_FFFF;
} else {
/// Bitmask to be applied to the raw register value.
pub const BIT_MASK: u64 = 0xF_FFFF_FFFF_FFFF;
/// The ticks per second the underlying peripheral uses.
pub const TICKS_PER_SECOND: u64 = 16_000_000;
// Bitmask to be applied to the raw period register value.
const PERIOD_MASK: u64 = 0x3FF_FFFF;
}
}
@ -76,14 +89,14 @@ impl<'d> SystemTimer<'d, Blocking> {
etm::enable_etm();
Self {
_phantom: PhantomData,
alarm0: Alarm::new(),
alarm1: Alarm::new(),
alarm2: Alarm::new(),
_phantom: PhantomData,
}
}
/// Get the current count of unit 0 in the system timer.
/// Get the current count of Unit 0 in the System Timer.
pub fn now() -> u64 {
// This should be safe to access from multiple contexts
// worst case scenario the second accessor ends up reading
@ -136,7 +149,6 @@ impl<T, DM, const CHANNEL: u8> Alarm<T, DM, CHANNEL>
where
DM: Mode,
{
// private constructor
fn new() -> Self {
Self { _pd: PhantomData }
}
@ -178,36 +190,6 @@ where
tconf.modify(|_r, w| w.work_en().set_bit());
}
}
pub(crate) fn enable_interrupt_internal(&self, val: bool) {
let systimer = unsafe { &*SYSTIMER::ptr() };
systimer.int_ena().modify(|_, w| w.target(CHANNEL).bit(val));
}
pub(crate) fn clear_interrupt_internal(&self) {
let systimer = unsafe { &*SYSTIMER::ptr() };
systimer
.int_clr()
.write(|w| w.target(CHANNEL).clear_bit_by_one());
}
pub(crate) fn set_target_internal(&self, timestamp: u64) {
self.configure(|tconf, target| unsafe {
tconf.write(|w| w.period_mode().clear_bit()); // target mode
target.hi().write(|w| w.hi().bits((timestamp >> 32) as u32));
target
.lo()
.write(|w| w.lo().set((timestamp & 0xFFFF_FFFF) as u32));
})
}
pub(crate) fn set_period_internal(&self, ticks: u32) {
self.configure(|tconf, target| {
tconf.write(|w| unsafe { w.period_mode().set_bit().period().bits(ticks) });
target.hi().write(|w| w.hi().set(0));
target.lo().write(|w| w.lo().set(0));
});
}
}
impl<T, const CHANNEL: u8> Alarm<T, Blocking, CHANNEL> {
@ -238,16 +220,6 @@ impl<T, const CHANNEL: u8> Alarm<T, Blocking, CHANNEL> {
_ => unreachable!(),
}
}
/// Enable the interrupt for this alarm.
pub fn enable_interrupt(&mut self, val: bool) {
self.enable_interrupt_internal(val);
}
/// Enable the interrupt pending status for this alarm.
pub fn clear_interrupt(&mut self) {
self.clear_interrupt_internal();
}
}
impl<DM, const CHANNEL: u8> Alarm<Target, DM, CHANNEL>
@ -256,13 +228,20 @@ where
{
/// Set the target value of this [Alarm]
pub fn set_target(&mut self, timestamp: u64) {
self.set_target_internal(timestamp);
self.configure(|tconf, target| unsafe {
tconf.write(|w| w.period_mode().clear_bit()); // target mode
target.hi().write(|w| w.hi().bits((timestamp >> 32) as u32));
target
.lo()
.write(|w| w.lo().set((timestamp & 0xFFFF_FFFF) as u32));
});
}
/// Block waiting until the timer reaches the `timestamp`
pub fn wait_until(&mut self, timestamp: u64) {
self.clear_interrupt_internal();
self.clear_interrupt();
self.set_target(timestamp);
let r = unsafe { &*crate::peripherals::SYSTIMER::PTR }.int_raw();
loop {
if r.read().target(CHANNEL).bit_is_set() {
@ -286,7 +265,11 @@ where
let us = period.ticks();
let ticks = us * (SystemTimer::TICKS_PER_SECOND / 1_000_000) as u32;
self.set_period_internal(ticks);
self.configure(|tconf, target| {
tconf.write(|w| unsafe { w.period_mode().set_bit().period().bits(ticks) });
target.hi().write(|w| w.hi().set(0));
target.lo().write(|w| w.lo().set(0));
});
}
/// Converts this [Alarm] into [Target] mode
@ -350,12 +333,9 @@ where
let systimer = unsafe { &*SYSTIMER::PTR };
#[cfg(esp32s2)]
match CHANNEL {
0 => systimer.target0_conf().modify(|_, w| w.work_en().set_bit()),
1 => systimer.target1_conf().modify(|_, w| w.work_en().set_bit()),
2 => systimer.target2_conf().modify(|_, w| w.work_en().set_bit()),
_ => unreachable!(),
}
systimer
.target_conf(CHANNEL as usize)
.modify(|_, w| w.work_en().set_bit());
#[cfg(not(esp32s2))]
systimer.conf().modify(|_, w| match CHANNEL {
@ -370,18 +350,9 @@ where
let systimer = unsafe { &*SYSTIMER::PTR };
#[cfg(esp32s2)]
match CHANNEL {
0 => systimer
.target0_conf()
.modify(|_, w| w.work_en().clear_bit()),
1 => systimer
.target1_conf()
.modify(|_, w| w.work_en().clear_bit()),
2 => systimer
.target2_conf()
.modify(|_, w| w.work_en().clear_bit()),
_ => unreachable!(),
}
systimer
.target_conf(CHANNEL as usize)
.modify(|_, w| w.work_en().clear_bit());
#[cfg(not(esp32s2))]
systimer.conf().modify(|_, w| match CHANNEL {
@ -416,11 +387,12 @@ where
let systimer = unsafe { &*SYSTIMER::PTR };
#[cfg(esp32s2)]
match CHANNEL {
0 => systimer.target0_conf().read().work_en().bit_is_set(),
1 => systimer.target1_conf().read().work_en().bit_is_set(),
2 => systimer.target2_conf().read().work_en().bit_is_set(),
_ => unreachable!(),
{
systimer
.target_conf(CHANNEL as usize)
.read()
.work_en()
.bit_is_set()
}
#[cfg(not(esp32s2))]
@ -452,8 +424,7 @@ where
Instant::<u64, 1, 1_000_000>::from_ticks(us)
}
#[allow(clippy::unnecessary_cast)]
fn load_value(&self, value: MicrosDurationU64) {
fn load_value(&self, value: MicrosDurationU64) -> Result<(), Error> {
let systimer = unsafe { &*SYSTIMER::PTR };
let auto_reload = systimer
@ -463,11 +434,18 @@ where
.bit_is_set();
let us = value.ticks();
let ticks = us * (SystemTimer::TICKS_PER_SECOND / 1_000_000) as u64;
let ticks = us * (SystemTimer::TICKS_PER_SECOND / 1_000_000);
if auto_reload {
// Period mode
// The `SYSTIMER_TARGETx_PERIOD` field is 26-bits wide (or
// 29-bits on the ESP32-S2), so we must ensure that the provided
// value is not too wide:
if (ticks & !SystemTimer::PERIOD_MASK) != 0 {
return Err(Error::InvalidTimeout);
}
systimer
.target_conf(CHANNEL as usize)
.modify(|_, w| unsafe { w.period().bits(ticks as u32) });
@ -493,6 +471,14 @@ where
// Wait for value registers to update
}
// The counters/comparators are 52-bits wide (except on ESP32-S2,
// which is 64-bits), so we must ensure that the provided value
// is not too wide:
#[cfg(not(esp32s2))]
if (ticks & !SystemTimer::BIT_MASK) != 0 {
return Err(Error::InvalidTimeout);
}
let hi = systimer.unit0_value().hi().read().bits();
let lo = systimer.unit0_value().lo().read().bits();
@ -513,6 +499,8 @@ where
.comp_load(CHANNEL as usize)
.write(|w| w.load().set_bit());
}
Ok(())
}
fn enable_auto_reload(&self, auto_reload: bool) {
@ -571,7 +559,7 @@ mod asynch {
impl<'a, const N: u8> AlarmFuture<'a, N> {
pub(crate) fn new(alarm: &'a Alarm<Periodic, crate::Async, N>) -> Self {
alarm.clear_interrupt_internal();
alarm.clear_interrupt();
let (interrupt, handler) = match N {
0 => (Interrupt::SYSTIMER_TARGET0, target0_handler),
@ -584,7 +572,7 @@ mod asynch {
interrupt::enable(interrupt, handler.priority()).unwrap();
}
alarm.enable_interrupt_internal(true);
alarm.enable_interrupt(true);
Self {
phantom: PhantomData,

305
esp-hal/src/timer/timg.rs
View File

@ -1,39 +1,53 @@
//! # General-purpose timers
//! # Timer Group (TIMG)
//!
//! ## Overview
//! The `general-purpose timer` peripheral consists of a timer group, which can
//! have up to two timers (depending on the chip) and a watchdog timer. The
//! timer group allows for the management of multiple timers and synchronization
//! between them.
//! The Timer Group (TIMG) peripherals contain one or more general-purpose
//! timers, plus one or more watchdog timers.
//!
//! This peripheral can be used to perform a variety of
//! tasks, such as triggering an interrupt after a particular interval
//! (periodically and aperiodically), precisely time an interval, act as a
//! hardware clock and so on.
//! The general-purpose timers are based on a 16-bit pre-scaler and a 54-bit
//! auto-reload-capable up-down counter. The timers have configurable alarms,
//! which are triggered when the internal counter of the timers reaches a
//! specific target value. The timers are clocked using the APB clock source.
//!
//! Each timer group consists of two general purpose timers and one Main System
//! Watchdog Timer(MSWDT). All general purpose timers are based on 16-bit
//! prescalers and 54-bit auto-reload-capable up-down counters.
//! Typically, a general-purpose timer can be used in scenarios such as:
//!
//! The driver uses APB as it's clock source.
//! - Generate period alarms; trigger events periodically
//! - Generate one-shot alarms; trigger events once
//! - Free-running; fetching a high-resolution timestamp on demand
//!
//! ## Example
//! ## Usage
//!
//! ### Examples
//!
//! #### General-purpose Timer
//!
//! ```no_run
//! let mut rtc = Rtc::new(peripherals.LPWR, None);
//! let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks);
//! let timer0 = timg0.timer0;
//!
//! // Create timer groups
//! let timer_group0 = TimerGroup::new(peripherals.TIMG0, &clocks);
//! // Get watchdog timers of timer groups
//! let mut wdt0 = timer_group0.wdt;
//! let timer_group1 = TimerGroup::new(peripherals.TIMG1, &clocks);
//! let mut wdt1 = timer_group1.wdt;
//! // Get the current timestamp, in microseconds:
//! let now = timer0.now();
//!
//! // Disable watchdog timers
//! rtc.swd.disable();
//! rtc.rwdt.disable();
//! wdt0.disable();
//! wdt1.disable();
//! // Wait for timeout:
//! timer0.load_value(1.secs());
//! timer0.start();
//!
//! while !timer0.is_interrupt_set() {
//! // Wait
//! }
//! ```
//!
//! #### Watchdog Timer
//!
//! ```no_run
//! let timg0 = TimerGroup::new(peripherals.TIMG0, &clocks);
//! let mut wdt = timg0.wdt;
//!
//! wdt.set_timeout(5_000.millis());
//! wdt.enable();
//!
//! loop {
//! wdt.feed();
//! }
//! ```
use core::{
@ -43,64 +57,78 @@ use core::{
use fugit::{HertzU32, Instant, MicrosDurationU64};
use super::Error;
#[cfg(timg1)]
use crate::peripherals::TIMG1;
#[cfg(any(esp32c6, esp32h2))]
use crate::soc::constants::TIMG_DEFAULT_CLK_SRC;
use crate::{
clock::Clocks,
interrupt::InterruptHandler,
interrupt::{self, InterruptHandler},
peripheral::{Peripheral, PeripheralRef},
peripherals::{timg0::RegisterBlock, TIMG0},
peripherals::{timg0::RegisterBlock, Interrupt, TIMG0},
private::Sealed,
system::{Peripheral as PeripheralEnable, PeripheralClockControl},
Async,
Blocking,
Mode,
};
/// Interrupts which can be registered in [crate::Blocking] mode
/// Interrupts which can be registered in [Blocking] mode
#[derive(Debug, Default)]
pub struct TimerInterrupts {
/// T0 Interrupt for [`Timer0`]
pub timer0_t0: Option<InterruptHandler>,
/// T1 Interrupt for [`Timer0`]
pub timer0_t1: Option<InterruptHandler>,
/// WDT Interrupt for [`Timer0`]
pub timer0_wdt: Option<InterruptHandler>,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
/// T0 Interrupt for [`Timer1`]
#[cfg(timg_timer1)]
pub timer1_t0: Option<InterruptHandler>,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
/// T1 Interrupt for [`Timer1`]
#[cfg(timg_timer1)]
pub timer1_t1: Option<InterruptHandler>,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
/// WDT Interrupt for [`Timer1`]
#[cfg(timg_timer1)]
pub timer1_wdt: Option<InterruptHandler>,
}
// A timergroup consisting of up to 2 timers (chip dependent) and a watchdog
// timer
/// A timer group consisting of up to 2 timers (chip dependent) and a watchdog
/// timer.
pub struct TimerGroup<'d, T, DM>
where
T: TimerGroupInstance,
DM: Mode,
{
_timer_group: PeripheralRef<'d, T>,
/// Timer 0
pub timer0: Timer<Timer0<T>, DM>,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
/// Timer 1
#[cfg(timg_timer1)]
pub timer1: Timer<Timer1<T>, DM>,
/// Watchdog timer
pub wdt: Wdt<T, DM>,
}
#[doc(hidden)]
pub trait TimerGroupInstance {
fn id() -> u8;
fn register_block() -> *const RegisterBlock;
fn configure_src_clk();
fn configure_wdt_src_clk();
fn id() -> u8;
}
impl TimerGroupInstance for TIMG0 {
fn id() -> u8 {
0
}
#[inline(always)]
fn register_block() -> *const RegisterBlock {
crate::peripherals::TIMG0::PTR
TIMG0::PTR
}
#[inline(always)]
#[cfg(any(esp32c6, esp32h2))]
fn configure_src_clk() {
@ -108,6 +136,7 @@ impl TimerGroupInstance for TIMG0 {
.timergroup0_timer_clk_conf()
.modify(|_, w| unsafe { w.tg0_timer_clk_sel().bits(TIMG_DEFAULT_CLK_SRC) });
}
#[inline(always)]
#[cfg(any(esp32c2, esp32c3, esp32s2, esp32s3))]
fn configure_src_clk() {
@ -118,11 +147,13 @@ impl TimerGroupInstance for TIMG0 {
.modify(|_, w| w.use_xtal().clear_bit())
};
}
#[inline(always)]
#[cfg(esp32)]
fn configure_src_clk() {
// ESP32 has only APB clock source, do nothing
}
#[inline(always)]
#[cfg(any(esp32c2, esp32c3))]
fn configure_wdt_src_clk() {
@ -132,6 +163,7 @@ impl TimerGroupInstance for TIMG0 {
.modify(|_, w| w.wdt_use_xtal().clear_bit())
};
}
#[inline(always)]
#[cfg(any(esp32c6, esp32h2))]
fn configure_wdt_src_clk() {
@ -139,6 +171,7 @@ impl TimerGroupInstance for TIMG0 {
.timergroup0_wdt_clk_conf()
.modify(|_, w| unsafe { w.tg0_wdt_clk_sel().bits(1) });
}
#[inline(always)]
#[cfg(any(esp32, esp32s2, esp32s3))]
fn configure_wdt_src_clk() {
@ -151,10 +184,12 @@ impl TimerGroupInstance for TIMG1 {
fn id() -> u8 {
1
}
#[inline(always)]
fn register_block() -> *const RegisterBlock {
crate::peripherals::TIMG1::PTR
TIMG1::PTR
}
#[inline(always)]
#[cfg(any(esp32c6, esp32h2))]
fn configure_src_clk() {
@ -162,6 +197,7 @@ impl TimerGroupInstance for TIMG1 {
.timergroup1_timer_clk_conf()
.modify(|_, w| unsafe { w.tg1_timer_clk_sel().bits(TIMG_DEFAULT_CLK_SRC) });
}
#[inline(always)]
#[cfg(any(esp32s2, esp32s3))]
fn configure_src_clk() {
@ -172,12 +208,14 @@ impl TimerGroupInstance for TIMG1 {
.modify(|_, w| w.use_xtal().clear_bit())
};
}
#[inline(always)]
#[cfg(any(esp32, esp32c2, esp32c3))]
fn configure_src_clk() {
// ESP32 has only APB clock source, do nothing
// ESP32-C2 and ESP32-C3 don't have t1config only t0config, do nothing
}
#[inline(always)]
#[cfg(any(esp32c6, esp32h2))]
fn configure_wdt_src_clk() {
@ -185,6 +223,7 @@ impl TimerGroupInstance for TIMG1 {
.timergroup1_wdt_clk_conf()
.modify(|_, w| unsafe { w.tg1_wdt_clk_sel().bits(1) });
}
#[inline(always)]
#[cfg(any(esp32, esp32s2, esp32s3, esp32c2, esp32c3))]
fn configure_wdt_src_clk() {
@ -197,12 +236,13 @@ impl<'d, T> TimerGroup<'d, T, Blocking>
where
T: TimerGroupInstance,
{
/// Construct a new instance of [`TimerGroup`] in blocking mode
pub fn new(
timer_group: impl Peripheral<P = T> + 'd,
_timer_group: impl Peripheral<P = T> + 'd,
clocks: &Clocks,
isr: Option<TimerInterrupts>,
) -> Self {
crate::into_ref!(timer_group);
crate::into_ref!(_timer_group);
T::configure_src_clk();
@ -217,7 +257,7 @@ where
clocks.pll_48m_clock,
);
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
let timer1 = Timer::new(
Timer1 {
phantom: PhantomData,
@ -228,98 +268,56 @@ where
if let Some(isr) = isr {
if let Some(handler) = isr.timer0_t0 {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG0_T0_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG0_T0_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG0_T0_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG0_T0_LEVEL, handler.priority()).unwrap();
}
}
#[cfg(any(esp32, esp32s2, esp32s3))]
if let Some(handler) = isr.timer0_t1 {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG0_T1_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG0_T1_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG0_T1_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG0_T1_LEVEL, handler.priority()).unwrap();
}
}
if let Some(handler) = isr.timer0_wdt {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG0_WDT_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG0_WDT_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG0_WDT_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG0_WDT_LEVEL, handler.priority()).unwrap();
}
}
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
{
if let Some(handler) = isr.timer1_t0 {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG1_T0_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG1_T0_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG1_T0_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG1_T0_LEVEL, handler.priority()).unwrap();
}
}
#[cfg(any(esp32, esp32s2, esp32s3))]
if let Some(handler) = isr.timer1_t1 {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG1_T1_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG1_T1_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG1_T1_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG1_T1_LEVEL, handler.priority()).unwrap();
}
}
if let Some(handler) = isr.timer1_wdt {
unsafe {
crate::interrupt::bind_interrupt(
crate::peripherals::Interrupt::TG1_WDT_LEVEL,
handler.handler(),
);
crate::interrupt::enable(
crate::peripherals::Interrupt::TG1_WDT_LEVEL,
handler.priority(),
)
.unwrap();
interrupt::bind_interrupt(Interrupt::TG1_WDT_LEVEL, handler.handler());
interrupt::enable(Interrupt::TG1_WDT_LEVEL, handler.priority()).unwrap();
}
}
}
}
Self {
_timer_group: timer_group,
_timer_group,
timer0,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
timer1,
wdt: Wdt::new(),
}
@ -330,8 +328,9 @@ impl<'d, T> TimerGroup<'d, T, Async>
where
T: TimerGroupInstance,
{
pub fn new_async(timer_group: impl Peripheral<P = T> + 'd, clocks: &Clocks) -> Self {
crate::into_ref!(timer_group);
/// Construct a new instance of [`TimerGroup`] in asynchronous mode
pub fn new_async(_timer_group: impl Peripheral<P = T> + 'd, clocks: &Clocks) -> Self {
crate::into_ref!(_timer_group);
T::configure_src_clk();
@ -346,7 +345,7 @@ where
clocks.pll_48m_clock,
);
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
let timer1 = Timer::new(
Timer1 {
phantom: PhantomData,
@ -355,16 +354,16 @@ where
);
Self {
_timer_group: timer_group,
_timer_group,
timer0,
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
timer1,
wdt: Wdt::new(),
}
}
}
/// General-purpose Timer driver
/// General-purpose timer.
pub struct Timer<T, DM>
where
DM: Mode,
@ -379,7 +378,7 @@ where
T: Instance,
DM: Mode,
{
/// Create a new timer instance.
/// Construct a new instance of [`Timer`]
pub fn new(timg: T, apb_clk_freq: HertzU32) -> Self {
timg.enable_peripheral();
timg.set_counter_active(true);
@ -391,23 +390,6 @@ where
}
}
/// Start the timer with the given time period.
pub fn start(&mut self, timeout: MicrosDurationU64) {
self.timg.set_counter_active(false);
self.timg.set_alarm_active(false);
self.timg.reset_counter();
// TODO: can we cache the divider (only get it on initialization)?
let ticks = timeout_to_ticks(timeout, self.apb_clk_freq, self.timg.divider());
self.timg.load_alarm_value(ticks);
self.timg.set_counter_decrementing(false);
self.timg.set_auto_reload(true);
self.timg.set_counter_active(true);
self.timg.set_alarm_active(true);
}
/// Check if the timer has elapsed
pub fn has_elapsed(&mut self) -> bool {
if !self.timg.is_counter_active() {
@ -452,7 +434,7 @@ where
}
}
impl<T, DM> crate::private::Sealed for Timer<T, DM>
impl<T, DM> Sealed for Timer<T, DM>
where
T: Instance,
DM: Mode,
@ -514,17 +496,24 @@ where
Instant::<u64, 1, 1_000_000>::from_ticks(micros)
}
fn load_value(&self, value: MicrosDurationU64) {
fn load_value(&self, value: MicrosDurationU64) -> Result<(), Error> {
let ticks = timeout_to_ticks(value, self.apb_clk_freq, self.timg.divider());
let value = ticks & 0x3F_FFFF_FFFF_FFFF;
let high = (value >> 32) as u32;
let low = (value & 0xFFFF_FFFF) as u32;
// The counter is 54-bits wide, so we must ensure that the provided
// value is not too wide:
if (ticks & !0x3F_FFFF_FFFF_FFFF) != 0 {
return Err(Error::InvalidTimeout);
}
let high = (ticks >> 32) as u32;
let low = (ticks & 0xFFFF_FFFF) as u32;
let t = self.register_block().t(self.timer_number().into());
t.alarmlo().write(|w| unsafe { w.alarm_lo().bits(low) });
t.alarmhi().write(|w| unsafe { w.alarm_hi().bits(high) });
Ok(())
}
fn enable_auto_reload(&self, auto_reload: bool) {
@ -562,8 +551,8 @@ where
}
}
/// Timer peripheral instance.
pub trait Instance: crate::private::Sealed + Enable {
#[doc(hidden)]
pub trait Instance: Sealed + Enable {
fn register_block(&self) -> &RegisterBlock;
fn timer_number(&self) -> u8;
@ -599,20 +588,24 @@ pub trait Instance: crate::private::Sealed + Enable {
fn is_interrupt_set(&self) -> bool;
}
pub trait Enable: crate::private::Sealed {
#[doc(hidden)]
pub trait Enable: Sealed {
fn enable_peripheral(&self);
}
/// A timer within a Timer Group.
pub struct TimerX<TG, const T: u8 = 0> {
phantom: PhantomData<TG>,
}
/// Timer 0 in the Timer Group.
pub type Timer0<TG> = TimerX<TG, 0>;
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
/// Timer 1 in the Timer Group.
#[cfg(timg_timer1)]
pub type Timer1<TG> = TimerX<TG, 1>;
impl<TG, const T: u8> crate::private::Sealed for TimerX<TG, T> {}
impl<TG, const T: u8> Sealed for TimerX<TG, T> {}
impl<TG, const T: u8> TimerX<TG, T>
where
@ -648,7 +641,6 @@ where
let t = unsafe { Self::t() };
t.loadlo().write(|w| unsafe { w.load_lo().bits(0) });
t.loadhi().write(|w| unsafe { w.load_hi().bits(0) });
t.load().write(|w| unsafe { w.load().bits(1) });
@ -774,7 +766,7 @@ where
}
}
#[cfg(not(any(esp32c2, esp32c3, esp32c6, esp32h2)))]
#[cfg(timg_timer1)]
impl<TG> Enable for Timer1<TG>
where
TG: TimerGroupInstance,
@ -815,7 +807,7 @@ where
#[cfg(feature = "embedded-hal-02")]
impl<T, DM> embedded_hal_02::timer::CountDown for Timer<T, DM>
where
T: Instance,
T: Instance + super::Timer,
DM: Mode,
{
type Time = MicrosDurationU64;
@ -824,7 +816,8 @@ where
where
Time: Into<Self::Time>,
{
(*self).start(timeout.into())
self.timg.load_value(timeout.into()).unwrap();
self.timg.start();
}
fn wait(&mut self) -> nb::Result<(), void::Void> {
@ -839,7 +832,7 @@ where
#[cfg(feature = "embedded-hal-02")]
impl<T, DM> embedded_hal_02::timer::Cancel for Timer<T, DM>
where
T: Instance,
T: Instance + super::Timer,
DM: Mode,
{
type Error = super::Error;
@ -860,7 +853,7 @@ where
#[cfg(feature = "embedded-hal-02")]
impl<T, DM> embedded_hal_02::timer::Periodic for Timer<T, DM>
where
T: Instance,
T: Instance + super::Timer,
DM: Mode,
{
}
@ -876,10 +869,10 @@ where
TG: TimerGroupInstance,
DM: Mode,
{
/// Create a new watchdog timer instance
/// Construct a new instance of [`Wdt`]
pub fn new() -> Self {
#[cfg(lp_wdt)]
PeripheralClockControl::enable(crate::system::Peripheral::Wdt);
PeripheralClockControl::enable(PeripheralEnable::Wdt);
TG::configure_wdt_src_clk();
@ -927,6 +920,7 @@ where
.write(|w| unsafe { w.wdt_wkey().bits(0u32) });
}
/// Feed the watchdog timer
pub fn feed(&mut self) {
let reg_block = unsafe { &*TG::register_block() };
@ -941,6 +935,7 @@ where
.write(|w| unsafe { w.wdt_wkey().bits(0u32) });
}
/// Set the timeout, in microseconds, of the watchdog timer
pub fn set_timeout(&mut self, timeout: MicrosDurationU64) {
let timeout_raw = (timeout.to_nanos() * 10 / 125) as u32;
@ -1036,18 +1031,18 @@ where
}
}
/// Event Task Matrix
#[cfg(soc_etm)]
pub mod etm {
use super::*;
use crate::{
etm::{EtmEvent, EtmTask},
private::Sealed,
};
use crate::etm::{EtmEvent, EtmTask};
/// Event Task Matrix event for a timer.
pub struct TimerEtmEvent {
id: u8,
}
/// Event Task Matrix task for a timer.
pub struct TimerEtmTask {
id: u8,
}
@ -1068,17 +1063,28 @@ pub mod etm {
impl Sealed for TimerEtmTask {}
/// General purpose timer ETM events
/// General purpose timer ETM events.
pub trait TimerEtmEvents<TG> {
/// ETM event triggered on alarm
fn on_alarm(&self) -> TimerEtmEvent;
}
/// General purpose timer ETM tasks
pub trait TimerEtmTasks<TG> {
/// ETM task to start the counter
fn cnt_start(&self) -> TimerEtmTask;
/// ETM task to start the alarm
fn cnt_stop(&self) -> TimerEtmTask;
/// ETM task to stop the counter
fn cnt_reload(&self) -> TimerEtmTask;
/// ETM task to reload the counter
fn cnt_cap(&self) -> TimerEtmTask;
/// ETM task to load the counter with the value stored when the last
/// `now()` was called
fn alarm_start(&self) -> TimerEtmTask;
}
@ -1086,7 +1092,6 @@ pub mod etm {
where
TG: TimerGroupInstance,
{
/// ETM event triggered on alarm
fn on_alarm(&self) -> TimerEtmEvent {
TimerEtmEvent { id: 48 + TG::id() }
}
@ -1096,28 +1101,22 @@ pub mod etm {
where
TG: TimerGroupInstance,
{
/// ETM task to start the counter
fn cnt_start(&self) -> TimerEtmTask {
TimerEtmTask { id: 88 + TG::id() }
}
/// ETM task to start the alarm
fn alarm_start(&self) -> TimerEtmTask {
TimerEtmTask { id: 90 + TG::id() }
}
/// ETM task to stop the counter
fn cnt_stop(&self) -> TimerEtmTask {
TimerEtmTask { id: 92 + TG::id() }
}
/// ETM task to reload the counter
fn cnt_reload(&self) -> TimerEtmTask {
TimerEtmTask { id: 94 + TG::id() }
}
/// ETM task to load the counter with the value stored when the last
/// `now()` was called
fn cnt_cap(&self) -> TimerEtmTask {
TimerEtmTask { id: 96 + TG::id() }
}

1
esp-metadata/devices/esp32.toml
View File

@ -59,6 +59,7 @@ symbols = [
"bt",
"wifi",
"psram",
"timg_timer1",
# ROM capabilities
"rom_crc_le",

1
esp-metadata/devices/esp32s2.toml
View File

@ -57,6 +57,7 @@ symbols = [
"wifi",
"psram",
"ulp_riscv_core",
"timg_timer1",
# ROM capabilities
"rom_crc_le",

1
esp-metadata/devices/esp32s3.toml
View File

@ -69,6 +69,7 @@ symbols = [
"wifi",
"psram",
"ulp_riscv_core",
"timg_timer1",
# ROM capabilities
"rom_crc_le",

1
esp-wifi/src/timer/riscv.rs
View File

@ -10,6 +10,7 @@ use crate::{
hal::{
interrupt::{self, TrapFrame},
peripherals::{self, Interrupt},
prelude::*,
riscv,
timer::systimer::{Alarm, Periodic, Target},
},

5
esp-wifi/src/timer/xtensa.rs
View File

@ -67,7 +67,10 @@ fn do_task_switch(context: &mut TrapFrame) {
let mut timer = TIMER1.borrow_ref_mut(cs);
let timer = unwrap!(timer.as_mut());
timer.clear_interrupt();
timer.start(TIMESLICE_FREQUENCY.into_duration());
timer
.load_value(TIMESLICE_FREQUENCY.into_duration())
.unwrap();
timer.start();
});
task_switch(context);

5
examples/src/bin/timer_interrupt.rs
View File

@ -40,7 +40,7 @@ fn main() -> ! {
let timer0 = timg0.timer0;
interrupt::enable(Interrupt::TG0_T0_LEVEL, Priority::Priority1).unwrap();
timer0.load_value(500u64.millis());
timer0.load_value(500u64.millis()).unwrap();
timer0.start();
timer0.listen();
@ -65,6 +65,7 @@ fn tg0_t0_level() {
let timer0 = timer0.as_mut().unwrap();
timer0.clear_interrupt();
timer0.start(500u64.millis());
timer0.load_value(500u64.millis()).unwrap();
timer0.start();
});
}