中断、定时器

中断和定时器是CPU必不可少的部分，详细的介绍这里不过多赘述，我们直接看一下代码。定时器的代码主要结合C去讲解，这样比较清楚。

MicroPython

中断

from machine import Pin

p2 = Pin(2, Pin.IN, Pin.PULL_UP)
p2.irq(lambda pin: print("IRQ with flags:", pin.irq().flags()),
Pin.IRQ_FALLING)

C/C++

定时器功能也很基础,而且只有一个,主要功能如下:

64位计数器 (频率固定1MHz,所以要好几千年才能溢出)
4个闹钟 (闹钟是只匹配低32B,最大间隔4295秒)
寄存器自带映射,所以多个处理器同时访问也不用考虑竞争问题(无需考虑竞争问题)

其中ALARM功能只会发起一次中断,中断发生后就会清除ARMED位,所有函数都有他的毫秒版本和微秒版本。

#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/util/queue.h"

bool timer_callback(repeating_timer_t *rt);

queue_t sample_fifo;

// using struct as an example, but primitive types can be used too
typedef struct element {
    uint value;
} element_t;

const int FIFO_LENGTH = 32;

int main() {
    stdio_init_all();

    int hz = 25;

    queue_init(&sample_fifo, sizeof(element_t), FIFO_LENGTH);

    repeating_timer_t timer;

    // negative timeout means exact delay (rather than delay between callbacks)
    if (!add_repeating_timer_us(-1000000 / hz, timer_callback, NULL, &timer)) {
        printf("Failed to add timer\n");
        return 1;
    }

    // read some blocking

    for (int i = 0; i < 10; i++) {
        element_t element;
        queue_remove_blocking(&sample_fifo, &element);
        printf("Got %d: %d\n", i, element.value);
    }

    // now retrieve all that are available periodically (simulate polling)
    for (int i = 0; i < 10; i++) {
        int count = queue_get_level(&sample_fifo);
        if (count) {
            printf("Getting %d, %d:\n", i, count);
            for (; count > 0; count--) {
                element_t element;
                queue_remove_blocking(&sample_fifo, &element);
                printf("  got %d\n", element.value);
            }
        }
        sleep_us(5000000 / hz); // sleep for 5 times the sampling period
    }

    cancel_repeating_timer(&timer);

    // drain any remaining
    element_t element;
    while (queue_try_remove(&sample_fifo, &element)) {
        printf("Got remaining %d\n", element.value);
    }

    queue_free(&sample_fifo);
    printf("Done\n");
}

bool timer_callback(repeating_timer_t *rt) {
    static int v = 100;
    element_t element = {
            .value = v
    };
    v += 100;

    if (!queue_try_add(&sample_fifo, &element)) {
        printf("FIFO was full\n");
    }
    return true; // keep repeating
}

CMakeLists.txt:

if (NOT PICO_TIME_NO_ALARM_SUPPORT)
    add_executable(periodic_sampler
            periodic_sampler.c
            )

    # Pull in our (to be renamed) simple get you started dependencies
    target_link_libraries(periodic_sampler pico_stdlib)

    # create map/bin/hex file etc.
    pico_add_extra_outputs(periodic_sampler)

    # add url via pico_set_program_url
    example_auto_set_url(periodic_sampler)
endif()

lowlevel:

#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/timer.h"
#include "hardware/irq.h"

/// \tag::get_time[]
// Simplest form of getting 64 bit time from the timer.
// It isn't safe when called from 2 cores because of the latching
// so isn't implemented this way in the sdk
static uint64_t get_time(void) {
    // Reading low latches the high value
    uint32_t lo = timer_hw->timelr;
    uint32_t hi = timer_hw->timehr;
    return ((uint64_t) hi << 32u) | lo;
}
/// \end::get_time[]

/// \tag::alarm_standalone[]
// Use alarm 0
#define ALARM_NUM 0
#define ALARM_IRQ TIMER_IRQ_0

// Alarm interrupt handler
static volatile bool alarm_fired;

static void alarm_irq(void) {
    // Clear the alarm irq
    hw_clear_bits(&timer_hw->intr, 1u << ALARM_NUM);

    // Assume alarm 0 has fired
    printf("Alarm IRQ fired\n");
    alarm_fired = true;
}

static void alarm_in_us(uint32_t delay_us) {
    // Enable the interrupt for our alarm (the timer outputs 4 alarm irqs)
    hw_set_bits(&timer_hw->inte, 1u << ALARM_NUM);
    // Set irq handler for alarm irq
    irq_set_exclusive_handler(ALARM_IRQ, alarm_irq);
    // Enable the alarm irq
    irq_set_enabled(ALARM_IRQ, true);
    // Enable interrupt in block and at processor

    // Alarm is only 32 bits so if trying to delay more
    // than that need to be careful and keep track of the upper
    // bits
    uint64_t target = timer_hw->timerawl + delay_us;

    // Write the lower 32 bits of the target time to the alarm which
    // will arm it
    timer_hw->alarm[ALARM_NUM] = (uint32_t) target;
}

int main() {
    stdio_init_all();
    printf("Timer lowlevel!\n");

    // Set alarm every 2 seconds
    while (1) {
        alarm_fired = false;
        alarm_in_us(1000000 * 2);
        // Wait for alarm to fire
        while (!alarm_fired);
    }
}

CMakeLists.txt:

if (PICO_ON_DEVICE)
    add_executable(timer_lowlevel
            timer_lowlevel.c)

    # Disable SDK alarm support for this lowlevel example
    set(PICO_TIME_DEFAULT_ALARM_POOL_DISABLED 1)

    target_link_libraries(timer_lowlevel pico_stdlib)

    # create map/bin/hex file etc.
    pico_add_extra_outputs(timer_lowlevel)

    # add url via pico_set_program_url
    example_auto_set_url(timer_lowlevel)
endif ()

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MicroPython

C/C++

UART