387 lines
10 KiB
C++
387 lines
10 KiB
C++
/****************************************************************************************************************************
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RPi_Pico_ISR_Timer.cpp
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For RP2040-based boards such as RASPBERRY_PI_PICO, ADAFRUIT_FEATHER_RP2040 and GENERIC_RP2040.
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Written by Khoi Hoang
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Built by Khoi Hoang https://github.com/khoih-prog/RPI_PICO_TimerInterrupt
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Licensed under MIT license
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The RPI_PICO system timer peripheral provides a global microsecond timebase for the system, and generates
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interrupts based on this timebase. It supports the following features:
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• A single 64-bit counter, incrementing once per microsecond
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• This counter can be read from a pair of latching registers, for race-free reads over a 32-bit bus.
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• Four alarms: match on the lower 32 bits of counter, IRQ on match: TIMER_IRQ_0-TIMER_IRQ_3
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Now even you use all these new 16 ISR-based timers,with their maximum interval practically unlimited (limited only by
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unsigned long miliseconds), you just consume only one RPI_PICO timer and avoid conflicting with other cores' tasks.
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The accuracy is nearly perfect compared to software timers. The most important feature is they're ISR-based timers
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Therefore, their executions are not blocked by bad-behaving functions / tasks.
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This important feature is absolutely necessary for mission-critical tasks.
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Based on SimpleTimer - A timer library for Arduino.
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Author: mromani@ottotecnica.com
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Copyright (c) 2010 OTTOTECNICA Italy
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Based on BlynkTimer.h
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Author: Volodymyr Shymanskyy
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Version: 1.1.1
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Version Modified By Date Comments
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------- ----------- ---------- -----------
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1.0.0 K Hoang 11/05/2021 Initial coding to support RP2040-based boards such as RASPBERRY_PI_PICO. etc.
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1.0.1 K Hoang 18/05/2021 Update README and Packages' Patches to match core arduino-pico core v1.4.0
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1.1.0 K Hoang 10/00/2021 Add support to new boards using the arduino-pico core
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1.1.1 K Hoang 22/10/2021 Fix platform in library.json for PIO
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*****************************************************************************************************************************/
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#include <string.h>
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#include "RPi_Pico_ISR_Timer.h"
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RPI_PICO_ISR_Timer::RPI_PICO_ISR_Timer()
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: numTimers (-1)
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{
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}
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void RPI_PICO_ISR_Timer::init()
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{
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unsigned long current_millis = millis(); //elapsed();
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for (uint8_t i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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memset((void*) &timer[i], 0, sizeof (timer_t));
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timer[i].prev_millis = current_millis;
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}
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numTimers = 0;
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}
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void RPI_PICO_ISR_Timer::run()
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{
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uint8_t i;
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unsigned long current_millis;
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// get current time
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current_millis = millis(); //elapsed();
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during ISR
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rp2040.idleOtherCore();
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for (i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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timer[i].toBeCalled = RPI_PICO_DEFCALL_DONTRUN;
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// no callback == no timer, i.e. jump over empty slots
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if (timer[i].callback != NULL)
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{
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// is it time to process this timer ?
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// see http://arduino.cc/forum/index.php/topic,124048.msg932592.html#msg932592
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if ((current_millis - timer[i].prev_millis) >= timer[i].delay)
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{
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unsigned long skipTimes = (current_millis - timer[i].prev_millis) / timer[i].delay;
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// update time
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timer[i].prev_millis += timer[i].delay * skipTimes;
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// check if the timer callback has to be executed
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if (timer[i].enabled)
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{
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// "run forever" timers must always be executed
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if (timer[i].maxNumRuns == RPI_PICO_RUN_FOREVER)
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{
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timer[i].toBeCalled = RPI_PICO_DEFCALL_RUNONLY;
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}
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// other timers get executed the specified number of times
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else if (timer[i].numRuns < timer[i].maxNumRuns)
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{
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timer[i].toBeCalled = RPI_PICO_DEFCALL_RUNONLY;
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timer[i].numRuns++;
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// after the last run, delete the timer
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if (timer[i].numRuns >= timer[i].maxNumRuns)
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{
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timer[i].toBeCalled = RPI_PICO_DEFCALL_RUNANDDEL;
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}
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}
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}
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}
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}
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}
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for (i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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if (timer[i].toBeCalled == RPI_PICO_DEFCALL_DONTRUN)
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continue;
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if (timer[i].hasParam)
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(*(timer_callback_p)timer[i].callback)(timer[i].param);
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else
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(*(timer_callback)timer[i].callback)();
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if (timer[i].toBeCalled == RPI_PICO_DEFCALL_RUNANDDEL)
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deleteTimer(i);
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}
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during ISR
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rp2040.resumeOtherCore();
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}
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// find the first available slot
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// return -1 if none found
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int RPI_PICO_ISR_Timer::findFirstFreeSlot()
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{
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// all slots are used
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if (numTimers >= RPI_PICO_MAX_TIMERS)
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{
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return -1;
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}
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// return the first slot with no callback (i.e. free)
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for (uint8_t i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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if (timer[i].callback == NULL)
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{
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return i;
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}
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}
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// no free slots found
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return -1;
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}
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int RPI_PICO_ISR_Timer::setupTimer(unsigned long d, void* f, void* p, bool h, unsigned n)
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{
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int freeTimer;
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if (numTimers < 0)
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{
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init();
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}
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freeTimer = findFirstFreeSlot();
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if (freeTimer < 0)
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{
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return -1;
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}
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if (f == NULL)
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{
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return -1;
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}
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timer[freeTimer].delay = d;
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timer[freeTimer].callback = f;
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timer[freeTimer].param = p;
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timer[freeTimer].hasParam = h;
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timer[freeTimer].maxNumRuns = n;
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timer[freeTimer].enabled = true;
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timer[freeTimer].prev_millis = millis();
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numTimers++;
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return freeTimer;
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}
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int RPI_PICO_ISR_Timer::setTimer(unsigned long d, timer_callback f, unsigned n)
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{
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return setupTimer(d, (void *)f, NULL, false, n);
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}
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int RPI_PICO_ISR_Timer::setTimer(unsigned long d, timer_callback_p f, void* p, unsigned n)
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{
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return setupTimer(d, (void *)f, p, true, n);
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}
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int RPI_PICO_ISR_Timer::setInterval(unsigned long d, timer_callback f)
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{
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return setupTimer(d, (void *)f, NULL, false, RPI_PICO_RUN_FOREVER);
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}
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int RPI_PICO_ISR_Timer::setInterval(unsigned long d, timer_callback_p f, void* p)
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{
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return setupTimer(d, (void *)f, p, true, RPI_PICO_RUN_FOREVER);
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}
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int RPI_PICO_ISR_Timer::setTimeout(unsigned long d, timer_callback f)
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{
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return setupTimer(d, (void *)f, NULL, false, RPI_PICO_RUN_ONCE);
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}
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int RPI_PICO_ISR_Timer::setTimeout(unsigned long d, timer_callback_p f, void* p)
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{
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return setupTimer(d, (void *)f, p, true, RPI_PICO_RUN_ONCE);
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}
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bool RPI_PICO_ISR_Timer::changeInterval(unsigned numTimer, unsigned long d)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return false;
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}
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// Updates interval of existing specified timer
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if (timer[numTimer].callback != NULL)
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{
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.idleOtherCore();
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timer[numTimer].delay = d;
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timer[numTimer].prev_millis = millis();
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.resumeOtherCore();
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return true;
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}
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// false return for non-used numTimer, no callback
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return false;
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}
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void RPI_PICO_ISR_Timer::deleteTimer(unsigned timerId)
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{
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if (timerId >= RPI_PICO_MAX_TIMERS)
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{
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return;
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}
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// nothing to delete if no timers are in use
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if (numTimers == 0)
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{
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return;
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}
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// don't decrease the number of timers if the specified slot is already empty
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if (timer[timerId].callback != NULL)
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{
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.idleOtherCore();
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memset((void*) &timer[timerId], 0, sizeof (timer_t));
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timer[timerId].prev_millis = millis();
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// update number of timers
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numTimers--;
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.resumeOtherCore();
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}
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}
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// function contributed by code@rowansimms.com
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void RPI_PICO_ISR_Timer::restartTimer(unsigned numTimer)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return;
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}
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.idleOtherCore();
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timer[numTimer].prev_millis = millis();
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.resumeOtherCore();
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}
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bool RPI_PICO_ISR_Timer::isEnabled(unsigned numTimer)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return false;
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}
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return timer[numTimer].enabled;
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}
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void RPI_PICO_ISR_Timer::enable(unsigned numTimer)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return;
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}
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timer[numTimer].enabled = true;
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}
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void RPI_PICO_ISR_Timer::disable(unsigned numTimer)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return;
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}
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timer[numTimer].enabled = false;
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}
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void RPI_PICO_ISR_Timer::enableAll()
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{
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// Enable all timers with a callback assigned (used)
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.idleOtherCore();
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for (uint8_t i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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if (timer[i].callback != NULL && timer[i].numRuns == RPI_PICO_RUN_FOREVER)
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{
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timer[i].enabled = true;
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}
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}
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.resumeOtherCore();
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}
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void RPI_PICO_ISR_Timer::disableAll()
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{
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// Disable all timers with a callback assigned (used)
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.idleOtherCore();
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for (uint8_t i = 0; i < RPI_PICO_MAX_TIMERS; i++)
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{
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if (timer[i].callback != NULL && timer[i].numRuns == RPI_PICO_RUN_FOREVER)
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{
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timer[i].enabled = false;
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}
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}
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// RPI_PICO is a multi core / multi processing chip. It is mandatory to disable task switches during modifying shared vars
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rp2040.resumeOtherCore();
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}
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void RPI_PICO_ISR_Timer::toggle(unsigned numTimer)
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{
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if (numTimer >= RPI_PICO_MAX_TIMERS)
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{
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return;
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}
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timer[numTimer].enabled = !timer[numTimer].enabled;
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}
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unsigned RPI_PICO_ISR_Timer::getNumTimers()
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{
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return numTimers;
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}
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