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all: add compiler support for interrupts

Browse Source 
This commit lets the compiler know about interrupts and allows
optimizations to be performed based on that: interrupts are eliminated
when they appear to be unused in a program. This is done with a new
pseudo-call (runtime/interrupt.New) that is treated specially by the
compiler.
This commit is contained in:
Ayke van Laethem
2019-12-15 14:16:22 +01:00
committed by Ron Evans
parent 3729fcfa9e
commit a5ed993f8d
36 changed files with 766 additions and 199 deletions
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src/machine/board_arduino_nano33_baremetal.go
+7 -11
View File
@@ -2,7 +2,10 @@
package machine
import "device/sam"
import (
"device/sam"
"runtime/interrupt"
)
// UART1 on the Arduino Nano 33 connects to the onboard NINA-W102 WiFi chip.
var (
@@ -13,11 +16,6 @@ var (
}
)
//go:export SERCOM3_IRQHandler
func handleUART1() {
defaultUART1Handler()
}
// UART2 on the Arduino Nano 33 connects to the normal TX/RX pins.
var (
UART2 = UART{
@@ -27,11 +25,9 @@ var (
}
)
//go:export SERCOM5_IRQHandler
func handleUART2() {
// should reset IRQ
UART2.Receive(byte((UART2.Bus.DATA.Get() & 0xFF)))
UART2.Bus.INTFLAG.SetBits(sam.SERCOM_USART_INTFLAG_RXC)
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM3, UART1.handleInterrupt)
UART2.Interrupt = interrupt.New(sam.IRQ_SERCOM5, UART2.handleInterrupt)
}
// I2C on the Arduino Nano 33.
src/machine/board_bluepill.go
+6 -5
View File
@@ -2,7 +2,10 @@
package machine
import "device/stm32"
import (
"device/stm32"
"runtime/interrupt"
)
// https://wiki.stm32duino.com/index.php?title=File:Bluepillpinout.gif
const (
@@ -61,14 +64,12 @@ var (
UART0 = UART{
Buffer: NewRingBuffer(),
Bus: stm32.USART1,
IRQVal: stm32.IRQ_USART1,
}
UART1 = &UART0
)
//go:export USART1_IRQHandler
func handleUART1() {
UART1.Receive(byte((UART1.Bus.DR.Get() & 0xFF)))
func init() {
UART0.Interrupt = interrupt.New(stm32.IRQ_USART1, UART0.handleInterrupt)
}
// SPI pins
src/machine/board_circuitplay_express_baremetal.go
+6 -4
View File
@@ -2,7 +2,10 @@
package machine
import "device/sam"
import (
"device/sam"
"runtime/interrupt"
)
// UART1 on the Circuit Playground Express.
var (
@@ -13,9 +16,8 @@ var (
}
)
//go:export SERCOM1_IRQHandler
func handleUART1() {
defaultUART1Handler()
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM4, UART1.handleInterrupt)
}
// I2C on the Circuit Playground Express.
src/machine/board_feather-m0.go
+6 -4
View File
@@ -2,7 +2,10 @@
package machine
import "device/sam"
import (
"device/sam"
"runtime/interrupt"
)
// used to reset into bootloader
const RESET_MAGIC_VALUE = 0xf01669ef
@@ -60,9 +63,8 @@ var (
}
)
//go:export SERCOM1_IRQHandler
func handleUART1() {
defaultUART1Handler()
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM1, UART1.handleInterrupt)
}
// I2C pins
src/machine/board_itsybitsy-m0.go
+3 -3
View File
@@ -4,6 +4,7 @@ package machine
import (
"device/sam"
"runtime/interrupt"
)
// used to reset into bootloader
@@ -62,9 +63,8 @@ var (
}
)
//go:export SERCOM1_IRQHandler
func handleUART1() {
defaultUART1Handler()
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM1, UART1.handleInterrupt)
}
// I2C pins
src/machine/board_nucleof103rb.go
+6 -5
View File
@@ -2,7 +2,10 @@
package machine
import "device/stm32"
import (
"device/stm32"
"runtime/interrupt"
)
const (
PA0 = portA + 0
@@ -100,14 +103,12 @@ var (
UART0 = UART{
Buffer: NewRingBuffer(),
Bus: stm32.USART2,
IRQVal: stm32.IRQ_USART2,
}
UART2 = &UART0
)
//go:export USART2_IRQHandler
func handleUART2() {
UART2.Receive(byte((UART2.Bus.DR.Get() & 0xFF)))
func init() {
UART0.Interrupt = interrupt.New(stm32.IRQ_USART2, UART0.handleInterrupt)
}
// SPI pins
src/machine/board_trinket.go
+6 -4
View File
@@ -2,7 +2,10 @@
package machine
import "device/sam"
import (
"device/sam"
"runtime/interrupt"
)
// used to reset into bootloader
const RESET_MAGIC_VALUE = 0xf01669ef
@@ -51,9 +54,8 @@ var (
}
)
//go:export SERCOM1_IRQHandler
func handleUART1() {
defaultUART1Handler()
func init() {
UART1.Interrupt = interrupt.New(sam.IRQ_SERCOM0, UART1.handleInterrupt)
}
// SPI pins
src/machine/machine_atmega.go
+13 -12
View File
@@ -4,6 +4,7 @@ package machine
import (
"device/avr"
"runtime/interrupt"
"runtime/volatile"
)
@@ -232,6 +233,18 @@ func (uart UART) Configure(config UARTConfig) {
config.BaudRate = 9600
}
// Register the UART interrupt.
interrupt.New(avr.IRQ_USART_RX, func(intr interrupt.Interrupt) {
// Read register to clear it.
data := avr.UDR0.Get()
// Ensure no error.
if !avr.UCSR0A.HasBits(avr.UCSR0A_FE0 | avr.UCSR0A_DOR0 | avr.UCSR0A_UPE0) {
// Put data from UDR register into buffer.
UART0.Receive(byte(data))
}
})
// Set baud rate based on prescale formula from
// https://www.microchip.com/webdoc/AVRLibcReferenceManual/FAQ_1faq_wrong_baud_rate.html
// ((F_CPU + UART_BAUD_RATE * 8L) / (UART_BAUD_RATE * 16L) - 1)
@@ -254,15 +267,3 @@ func (uart UART) WriteByte(c byte) error {
avr.UDR0.Set(c) // send char
return nil
}
//go:interrupt USART_RX_vect
func handleUSART_RX() {
// Read register to clear it.
data := avr.UDR0.Get()
// Ensure no error.
if !avr.UCSR0A.HasBits(avr.UCSR0A_FE0 | avr.UCSR0A_DOR0 | avr.UCSR0A_UPE0) {
// Put data from UDR register into buffer.
UART0.Receive(byte(data))
}
}
src/machine/machine_atsamd21.go
+14 -14
View File
@@ -11,6 +11,7 @@ import (
"device/arm"
"device/sam"
"errors"
"runtime/interrupt"
"unsafe"
)
@@ -292,9 +293,10 @@ func waitADCSync() {
// UART on the SAMD21.
type UART struct {
Buffer *RingBuffer
Bus *sam.SERCOM_USART_Type
SERCOM uint8
Buffer *RingBuffer
Bus *sam.SERCOM_USART_Type
SERCOM uint8
Interrupt interrupt.Interrupt
}
var (
@@ -401,10 +403,7 @@ func (uart UART) Configure(config UARTConfig) error {
uart.Bus.INTENSET.Set(sam.SERCOM_USART_INTENSET_RXC)
// Enable RX IRQ.
// IRQ lines are in the same order as SERCOM instance numbers on SAMD21
// chips, so the IRQ number can be trivially determined from the SERCOM
// number.
arm.EnableIRQ(sam.IRQ_SERCOM0 + uint32(uart.SERCOM))
uart.Interrupt.Enable()
return nil
}
@@ -432,11 +431,12 @@ func (uart UART) WriteByte(c byte) error {
return nil
}
// defaultUART1Handler handles the UART1 IRQ.
func defaultUART1Handler() {
// handleInterrupt should be called from the appropriate interrupt handler for
// this UART instance.
func (uart *UART) handleInterrupt(interrupt.Interrupt) {
// should reset IRQ
UART1.Receive(byte((UART1.Bus.DATA.Get() & 0xFF)))
UART1.Bus.INTFLAG.SetBits(sam.SERCOM_USART_INTFLAG_RXC)
uart.Receive(byte((uart.Bus.DATA.Get() & 0xFF)))
uart.Bus.INTFLAG.SetBits(sam.SERCOM_USART_INTFLAG_RXC)
}
// I2C on the SAMD21.
@@ -1368,7 +1368,8 @@ func (usbcdc USBCDC) Configure(config UARTConfig) {
sam.USB_DEVICE.CTRLA.SetBits(sam.USB_DEVICE_CTRLA_ENABLE)
// enable IRQ
arm.EnableIRQ(sam.IRQ_USB)
intr := interrupt.New(sam.IRQ_USB, handleUSB)
intr.Enable()
}
func handlePadCalibration() {
@@ -1414,8 +1415,7 @@ func handlePadCalibration() {
sam.USB_DEVICE.PADCAL.SetBits(calibTrim << sam.USB_DEVICE_PADCAL_TRIM_Pos)
}
//go:export USB_IRQHandler
func handleUSB() {
func handleUSB(intr interrupt.Interrupt) {
// reset all interrupt flags
flags := sam.USB_DEVICE.INTFLAG.Get()
sam.USB_DEVICE.INTFLAG.Set(flags)
src/machine/machine_atsamd51.go
+7 -26
View File
@@ -11,6 +11,7 @@ import (
"device/arm"
"device/sam"
"errors"
"runtime/interrupt"
"unsafe"
)
@@ -1547,11 +1548,11 @@ func (usbcdc USBCDC) Configure(config UARTConfig) {
// enable USB
sam.USB_DEVICE.CTRLA.SetBits(sam.USB_DEVICE_CTRLA_ENABLE)
// enable IRQ
arm.EnableIRQ(sam.IRQ_USB_OTHER)
arm.EnableIRQ(sam.IRQ_USB_SOF_HSOF)
arm.EnableIRQ(sam.IRQ_USB_TRCPT0)
arm.EnableIRQ(sam.IRQ_USB_TRCPT1)
// enable IRQ at highest priority
interrupt.New(sam.IRQ_USB_OTHER, handleUSBIRQ).Enable()
interrupt.New(sam.IRQ_USB_SOF_HSOF, handleUSBIRQ).Enable()
interrupt.New(sam.IRQ_USB_TRCPT0, handleUSBIRQ).Enable()
interrupt.New(sam.IRQ_USB_TRCPT1, handleUSBIRQ).Enable()
}
func handlePadCalibration() {
@@ -1597,27 +1598,7 @@ func handlePadCalibration() {
sam.USB_DEVICE.PADCAL.SetBits(calibTrim << sam.USB_DEVICE_PADCAL_TRIM_Pos)
}
//go:export USB_OTHER_IRQHandler
func handleUSBOther() {
handleUSBIRQ()
}
//go:export USB_SOF_HSOF_IRQHandler
func handleUSBSOFHSOF() {
handleUSBIRQ()
}
//go:export USB_TRCPT0_IRQHandler
func handleUSBTRCPT0() {
handleUSBIRQ()
}
//go:export USB_TRCPT1_IRQHandler
func handleUSBTRCPT1() {
handleUSBIRQ()
}
func handleUSBIRQ() {
func handleUSBIRQ(interrupt.Interrupt) {
// reset all interrupt flags
flags := sam.USB_DEVICE.INTFLAG.Get()
sam.USB_DEVICE.INTFLAG.Set(flags)
src/machine/machine_nrf.go
+5 -4
View File
@@ -3,9 +3,9 @@
package machine
import (
"device/arm"
"device/nrf"
"errors"
"runtime/interrupt"
)
var (
@@ -88,8 +88,9 @@ func (uart UART) Configure(config UARTConfig) {
nrf.UART0.INTENSET.Set(nrf.UART_INTENSET_RXDRDY_Msk)
// Enable RX IRQ.
arm.SetPriority(nrf.IRQ_UART0, 0xc0) // low priority
arm.EnableIRQ(nrf.IRQ_UART0)
intr := interrupt.New(nrf.IRQ_UART0, UART0.handleInterrupt)
intr.SetPriority(0xc0) // low priority
intr.Enable()
}
// SetBaudRate sets the communication speed for the UART.
@@ -116,7 +117,7 @@ func (uart UART) WriteByte(c byte) error {
return nil
}
func (uart UART) handleInterrupt() {
func (uart *UART) handleInterrupt(interrupt.Interrupt) {
if nrf.UART0.EVENTS_RXDRDY.Get() != 0 {
uart.Receive(byte(nrf.UART0.RXD.Get()))
nrf.UART0.EVENTS_RXDRDY.Set(0x0)
src/machine/machine_nrf51.go
-5
View File
@@ -20,11 +20,6 @@ func (uart UART) setPins(tx, rx Pin) {
nrf.UART0.PSELRXD.Set(uint32(rx))
}
//go:export UART0_IRQHandler
func handleUART0() {
UART0.handleInterrupt()
}
func (i2c I2C) setPins(scl, sda Pin) {
i2c.Bus.PSELSCL.Set(uint32(scl))
i2c.Bus.PSELSDA.Set(uint32(sda))
src/machine/machine_nrf52.go
-5
View File
@@ -21,11 +21,6 @@ func (uart UART) setPins(tx, rx Pin) {
nrf.UART0.PSELRXD.Set(uint32(rx))
}
//go:export UARTE0_UART0_IRQHandler
func handleUART0() {
UART0.handleInterrupt()
}
func (i2c I2C) setPins(scl, sda Pin) {
i2c.Bus.PSELSCL.Set(uint32(scl))
i2c.Bus.PSELSDA.Set(uint32(sda))
src/machine/machine_nrf52840.go
-5
View File
@@ -77,11 +77,6 @@ func (uart UART) setPins(tx, rx Pin) {
nrf.UART0.PSEL.RXD.Set(uint32(rx))
}
//go:export UARTE0_UART0_IRQHandler
func handleUART0() {
UART0.handleInterrupt()
}
func (i2c I2C) setPins(scl, sda Pin) {
i2c.Bus.PSEL.SCL.Set(uint32(scl))
i2c.Bus.PSEL.SDA.Set(uint32(sda))
src/machine/machine_stm32f103xx.go
+12 -6
View File
@@ -5,9 +5,9 @@ package machine
// Peripheral abstraction layer for the stm32.
import (
"device/arm"
"device/stm32"
"errors"
"runtime/interrupt"
)
func CPUFrequency() uint32 {
@@ -111,9 +111,9 @@ func (p Pin) Get() bool {
// UART
type UART struct {
Buffer *RingBuffer
Bus *stm32.USART_Type
IRQVal uint32
Buffer *RingBuffer
Bus *stm32.USART_Type
Interrupt interrupt.Interrupt
}
// Configure the UART.
@@ -155,8 +155,8 @@ func (uart UART) Configure(config UARTConfig) {
uart.Bus.CR1.Set(stm32.USART_CR1_TE | stm32.USART_CR1_RE | stm32.USART_CR1_RXNEIE | stm32.USART_CR1_UE)
// Enable RX IRQ
arm.SetPriority(uart.IRQVal, 0xc0)
arm.EnableIRQ(uart.IRQVal)
uart.Interrupt.SetPriority(0xc0)
uart.Interrupt.Enable()
}
// SetBaudRate sets the communication speed for the UART.
@@ -182,6 +182,12 @@ func (uart UART) WriteByte(c byte) error {
return nil
}
// handleInterrupt should be called from the appropriate interrupt handler for
// this UART instance.
func (uart *UART) handleInterrupt(interrupt.Interrupt) {
uart.Receive(byte((uart.Bus.DR.Get() & 0xFF)))
}
// SPI on the STM32.
type SPI struct {
Bus *stm32.SPI_Type
src/machine/machine_stm32f407.go
+6 -8
View File
@@ -5,8 +5,8 @@ package machine
// Peripheral abstraction layer for the stm32.
import (
"device/arm"
"device/stm32"
"runtime/interrupt"
)
func CPUFrequency() uint32 {
@@ -203,8 +203,11 @@ func (uart UART) Configure(config UARTConfig) {
stm32.USART2.CR1.Set(stm32.USART_CR1_TE | stm32.USART_CR1_RE | stm32.USART_CR1_RXNEIE | stm32.USART_CR1_UE)
// Enable RX IRQ.
arm.SetPriority(stm32.IRQ_USART2, 0xc0)
arm.EnableIRQ(stm32.IRQ_USART2)
intr := interrupt.New(stm32.IRQ_USART2, func(interrupt.Interrupt) {
UART1.Receive(byte((stm32.USART2.DR.Get() & 0xFF)))
})
intr.SetPriority(0xc0)
intr.Enable()
}
// WriteByte writes a byte of data to the UART.
@@ -215,8 +218,3 @@ func (uart UART) WriteByte(c byte) error {
}
return nil
}
//go:export USART2_IRQHandler
func handleUSART2() {
UART1.Receive(byte((stm32.USART2.DR.Get() & 0xFF)))
}
src/runtime/interrupt/interrupt.go
+38
View File
@@ -0,0 +1,38 @@
// Package interrupt provides access to hardware interrupts. It provides a way
// to define interrupts and to enable/disable them.
package interrupt
// Interrupt provides direct access to hardware interrupts. You can configure
// this interrupt through this interface.
//
// Do not use the zero value of an Interrupt object. Instead, call New to obtain
// an interrupt handle.
type Interrupt struct {
// Make this number unexported so it cannot be set directly. This provides
// some encapsulation.
num int
}
// New is a compiler intrinsic that creates a new Interrupt object. You may call
// it only once, and must pass constant parameters to it. That means that the
// interrupt ID must be a Go constant and that the handler must be a simple
// function: closures are not supported.
func New(id int, handler func(Interrupt)) Interrupt
// Register is used to declare an interrupt. You should not normally call this
// function: it is only for telling the compiler about the mapping between an
// interrupt number and the interrupt handler name.
func Register(id int, handlerName string) int
// handle is used internally, between IR generation and interrupt lowering. The
// frontend will create runtime/interrupt.handle objects, cast them to an int,
// and use that in an Interrupt object. That way the compiler will be able to
// optimize away all interrupt handles that are never used in a program.
// This system only works when interrupts need to be enabled before use and this
// is done only through calling Enable() on this object. If interrups cannot
// individually be enabled/disabled, the compiler should create a pseudo-call
// (like runtime/interrupt.use()) that keeps the interrupt alive.
type handle struct {
handler func(Interrupt)
Interrupt
}
src/runtime/interrupt/interrupt_cortexm.go
+23
View File
@@ -0,0 +1,23 @@
// +build cortexm
package interrupt
import (
"device/arm"
)
// Enable enables this interrupt. Right after calling this function, the
// interrupt may be invoked if it was already pending.
func (irq Interrupt) Enable() {
arm.EnableIRQ(uint32(irq.num))
}
// SetPriority sets the interrupt priority for this interrupt. A lower number
// means a higher priority. Additionally, most hardware doesn't implement all
// priority bits (only the uppoer bits).
//
// Examples: 0xff (lowest priority), 0xc0 (low priority), 0x00 (highest possible
// priority).
func (irq Interrupt) SetPriority(priority uint8) {
arm.SetPriority(uint32(irq.num), uint32(priority))
}
src/runtime/runtime_atsamd21.go
+9 -10
View File
@@ -6,6 +6,7 @@ import (
"device/arm"
"device/sam"
"machine"
"runtime/interrupt"
"runtime/volatile"
"unsafe"
)
@@ -214,8 +215,14 @@ func initRTC() {
sam.RTC_MODE0.CTRL.SetBits(sam.RTC_MODE0_CTRL_ENABLE)
waitForSync()
arm.SetPriority(sam.IRQ_RTC, 0xc0)
arm.EnableIRQ(sam.IRQ_RTC)
intr := interrupt.New(sam.IRQ_RTC, func(intr interrupt.Interrupt) {
// disable IRQ for CMP0 compare
sam.RTC_MODE0.INTFLAG.Set(sam.RTC_MODE0_INTENSET_CMP0)
timerWakeup.Set(1)
})
intr.SetPriority(0xc0)
intr.Enable()
}
func waitForSync() {
@@ -286,14 +293,6 @@ func timerSleep(ticks uint32) {
}
}
//go:export RTC_IRQHandler
func handleRTC() {
// disable IRQ for CMP0 compare
sam.RTC_MODE0.INTFLAG.Set(sam.RTC_MODE0_INTENSET_CMP0)
timerWakeup.Set(1)
}
func initUSBClock() {
// Turn on clock for USB
sam.PM.APBBMASK.SetBits(sam.PM_APBBMASK_USB_)
src/runtime/runtime_atsamd51.go
+9 -10
View File
@@ -6,6 +6,7 @@ import (
"device/arm"
"device/sam"
"machine"
"runtime/interrupt"
"runtime/volatile"
)
@@ -202,8 +203,14 @@ func initRTC() {
for sam.RTC_MODE0.SYNCBUSY.HasBits(sam.RTC_MODE0_SYNCBUSY_ENABLE) {
}
arm.SetPriority(sam.IRQ_RTC, 0xc0)
arm.EnableIRQ(sam.IRQ_RTC)
irq := interrupt.New(sam.IRQ_RTC, func(interrupt.Interrupt) {
// disable IRQ for CMP0 compare
sam.RTC_MODE0.INTFLAG.SetBits(sam.RTC_MODE0_INTENSET_CMP0)
timerWakeup.Set(1)
})
irq.SetPriority(0xc0)
irq.Enable()
}
func waitForSync() {
@@ -271,14 +278,6 @@ func timerSleep(ticks uint32) {
}
}
//go:export RTC_IRQHandler
func handleRTC() {
// disable IRQ for CMP0 compare
sam.RTC_MODE0.INTFLAG.SetBits(sam.RTC_MODE0_INTENSET_CMP0)
timerWakeup.Set(1)
}
func initUSBClock() {
// Turn on clock(s) for USB
//MCLK->APBBMASK.reg |= MCLK_APBBMASK_USB;
src/runtime/runtime_nrf.go
+8 -9
View File
@@ -6,6 +6,7 @@ import (
"device/arm"
"device/nrf"
"machine"
"runtime/interrupt"
"runtime/volatile"
)
@@ -43,8 +44,13 @@ func initLFCLK() {
func initRTC() {
nrf.RTC1.TASKS_START.Set(1)
arm.SetPriority(nrf.IRQ_RTC1, 0xc0) // low priority
arm.EnableIRQ(nrf.IRQ_RTC1)
intr := interrupt.New(nrf.IRQ_RTC1, func(intr interrupt.Interrupt) {
nrf.RTC1.INTENCLR.Set(nrf.RTC_INTENSET_COMPARE0)
nrf.RTC1.EVENTS_COMPARE[0].Set(0)
rtc_wakeup.Set(1)
})
intr.SetPriority(0xc0) // low priority
intr.Enable()
}
func putchar(c byte) {
@@ -96,10 +102,3 @@ func rtc_sleep(ticks uint32) {
arm.Asm("wfi")
}
}
//go:export RTC1_IRQHandler
func handleRTC1() {
nrf.RTC1.INTENCLR.Set(nrf.RTC_INTENSET_COMPARE0)
nrf.RTC1.EVENTS_COMPARE[0].Set(0)
rtc_wakeup.Set(1)
}
src/runtime/runtime_stm32f103xx.go
+5 -4
View File
@@ -6,6 +6,7 @@ import (
"device/arm"
"device/stm32"
"machine"
"runtime/interrupt"
"runtime/volatile"
)
@@ -101,8 +102,9 @@ func initRTC() {
func initTIM() {
stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM3EN)
arm.SetPriority(stm32.IRQ_TIM3, 0xc3)
arm.EnableIRQ(stm32.IRQ_TIM3)
intr := interrupt.New(stm32.IRQ_TIM3, handleTIM3)
intr.SetPriority(0xc3)
intr.Enable()
}
const asyncScheduler = false
@@ -186,8 +188,7 @@ func timerSleep(ticks uint32) {
}
}
//go:export TIM3_IRQHandler
func handleTIM3() {
func handleTIM3(interrupt.Interrupt) {
if stm32.TIM3.SR.HasBits(stm32.TIM_SR_UIF) {
// Disable the timer.
stm32.TIM3.CR1.ClearBits(stm32.TIM_CR1_CEN)
src/runtime/runtime_stm32f407.go
+9 -8
View File
@@ -6,6 +6,7 @@ import (
"device/arm"
"device/stm32"
"machine"
"runtime/interrupt"
"runtime/volatile"
)
@@ -121,8 +122,9 @@ var timerWakeup volatile.Register8
func initTIM3() {
stm32.RCC.APB1ENR.SetBits(stm32.RCC_APB1ENR_TIM3EN)
arm.SetPriority(stm32.IRQ_TIM3, 0xc3)
arm.EnableIRQ(stm32.IRQ_TIM3)
intr := interrupt.New(stm32.IRQ_TIM3, handleTIM3)
intr.SetPriority(0xc3)
intr.Enable()
}
// Enable the TIM7 clock.(tick count)
@@ -139,8 +141,9 @@ func initTIM7() {
// Enable the timer.
stm32.TIM7.CR1.SetBits(stm32.TIM_CR1_CEN)
arm.SetPriority(stm32.IRQ_TIM7, 0xc1)
arm.EnableIRQ(stm32.IRQ_TIM7)
intr := interrupt.New(stm32.IRQ_TIM7, handleTIM7)
intr.SetPriority(0xc1)
intr.Enable()
}
const asyncScheduler = false
@@ -183,8 +186,7 @@ func timerSleep(ticks uint32) {
}
}
//go:export TIM3_IRQHandler
func handleTIM3() {
func handleTIM3(interrupt.Interrupt) {
if stm32.TIM3.SR.HasBits(stm32.TIM_SR_UIF) {
// Disable the timer.
stm32.TIM3.CR1.ClearBits(stm32.TIM_CR1_CEN)
@@ -197,8 +199,7 @@ func handleTIM3() {
}
}
//go:export TIM7_IRQHandler
func handleTIM7() {
func handleTIM7(interrupt.Interrupt) {
if stm32.TIM7.SR.HasBits(stm32.TIM_SR_UIF) {
// clear the update flag
stm32.TIM7.SR.ClearBits(stm32.TIM_SR_UIF)