mirror of https://github.com/midilab/uClock
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98 lines
3.4 KiB
98 lines
3.4 KiB
#include <Arduino.h>
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#include "pico/sync.h"
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#define MULTICORE
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#ifdef MULTICORE
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// use interrupt version -- works for 2 cores ie can run loop1() and loop() simultaneously as well as the clock callback?
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// RPi-specific timer
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struct repeating_timer timer;
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#define ATOMIC(X) { uint32_t __interrupt_mask = save_and_disable_interrupts(); X; restore_interrupts(__interrupt_mask); }
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// forward declaration of uClockHandler
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void uClockHandler();
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// ISR handler -- called when tick happens
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bool handlerISR(repeating_timer *timer)
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{
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uClockHandler();
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return true;
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}
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void initTimer(uint32_t init_clock)
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{
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// set up RPi interrupt timer
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// todo: actually should be -init_clock so that timer is set to start init_clock us after last tick, instead of init_clock us after finished processing last tick!
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add_repeating_timer_us(init_clock, &handlerISR, NULL, &timer);
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}
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void setTimer(uint32_t us_interval) {
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cancel_repeating_timer(&timer);
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// todo: actually should be -us_interval so that timer is set to start init_clock us after last tick, instead of init_clock us after finished processing last tick!
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add_repeating_timer_us(us_interval, &handlerISR, NULL, &timer);
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}
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#else
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// use FreeRTOS scheduling/mutex version -- doesn't work (task starts but does not run) if using loop1() ie core 2
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#include "FreeRTOS.h"
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#include <task.h>
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#include <semphr.h>
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// RPi-specific timer
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struct repeating_timer timer;
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// FreeRTOS main clock task size in bytes
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#define CLOCK_STACK_SIZE 5*1024 // adjust for your needs, a sequencer with heavy serial handling should be large in size
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TaskHandle_t taskHandle;
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// mutex to protect the shared resource
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SemaphoreHandle_t _mutex;
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// mutex control for task
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#define ATOMIC(X) xSemaphoreTake(_mutex, portMAX_DELAY); X; xSemaphoreGive(_mutex);
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// forward declaration of uClockHandler
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void uClockHandler();
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// ISR handler -- called when tick happens
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bool handlerISR(repeating_timer *timer)
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{
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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// Send a notification to task1
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vTaskNotifyGiveFromISR(taskHandle, &xHigherPriorityTaskWoken);
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portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
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return true;
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}
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// task for user clock process
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void clockTask(void *pvParameters)
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{
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while (1) {
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// wait for a notification from ISR
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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uClockHandler();
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}
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}
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void initTimer(uint32_t init_clock)
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{
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// initialize the mutex for shared resource access
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_mutex = xSemaphoreCreateMutex();
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// create the clockTask
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xTaskCreate(clockTask, "clockTask", CLOCK_STACK_SIZE, NULL, 1, &taskHandle);
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// set up RPi interrupt timer
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// todo: actually should be -init_clock so that timer is set to start init_clock us after last tick, instead of init_clock us after finished processing last tick!
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add_repeating_timer_us(init_clock, &handlerISR, NULL, &timer);
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}
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void setTimer(uint32_t us_interval) {
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cancel_repeating_timer(&timer);
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// todo: actually should be -us_interval so that timer is set to start init_clock us after last tick, instead of init_clock us after finished processing last tick!
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add_repeating_timer_us(us_interval, &handlerISR, NULL, &timer);
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}
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#endif |