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Merged
merged 2 commits into from
Jun 5, 2025
Merged

ports/esp32: Fix crash and improve timer interrupt allocation #17265

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bf90930
esp32/machine_timer: Do not free interrupt from ISR.
DvdGiessen Apr 22, 2025
2c2f0b2
esp32: Re-use allocated timer interrupts and simplify UART timer code.
DvdGiessen Apr 22, 2025
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46 changes: 32 additions & 14 deletions ports/esp32/machine_timer.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,12 +50,13 @@
const mp_obj_type_t machine_timer_type;

static mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
static mp_obj_t machine_timer_deinit(mp_obj_t self_in);

void machine_timer_deinit_all(void) {
// Disable, deallocate and remove all timers from list
machine_timer_obj_t **t = &MP_STATE_PORT(machine_timer_obj_head);
while (*t != NULL) {
machine_timer_disable(*t);
machine_timer_deinit(*t);
machine_timer_obj_t *next = (*t)->next;
m_del_obj(machine_timer_obj_t, *t);
*t = next;
Expand Down Expand Up @@ -96,6 +97,7 @@ machine_timer_obj_t *machine_timer_create(mp_uint_t timer) {
self = mp_obj_malloc(machine_timer_obj_t, &machine_timer_type);
self->group = group;
self->index = index;
self->handle = NULL;

// Add the timer to the linked-list of timers
self->next = MP_STATE_PORT(machine_timer_obj_head);
Expand Down Expand Up @@ -131,9 +133,8 @@ void machine_timer_disable(machine_timer_obj_t *self) {
}

if (self->handle) {
// Free the interrupt handler.
esp_intr_free(self->handle);
self->handle = NULL;
// Disable the interrupt
ESP_ERROR_CHECK(esp_intr_disable(self->handle));
}

// We let the disabled timer stay in the list, as it might be
Expand All @@ -150,12 +151,16 @@ static void machine_timer_isr(void *self_in) {
if (self->repeat) {
timer_ll_enable_alarm(self->hal_context.dev, self->index, true);
}
mp_sched_schedule(self->callback, self);
mp_hal_wake_main_task_from_isr();
self->handler(self);
}
}

void machine_timer_enable(machine_timer_obj_t *self, void (*timer_isr)) {
static void machine_timer_isr_handler(machine_timer_obj_t *self) {
mp_sched_schedule(self->callback, self);
mp_hal_wake_main_task_from_isr();
}

void machine_timer_enable(machine_timer_obj_t *self) {
// Initialise the timer.
timer_hal_init(&self->hal_context, self->group, self->index);
timer_ll_enable_counter(self->hal_context.dev, self->index, false);
Expand All @@ -167,10 +172,17 @@ void machine_timer_enable(machine_timer_obj_t *self, void (*timer_isr)) {
// Allocate and enable the alarm interrupt.
timer_ll_enable_intr(self->hal_context.dev, TIMER_LL_EVENT_ALARM(self->index), false);
timer_ll_clear_intr_status(self->hal_context.dev, TIMER_LL_EVENT_ALARM(self->index));
ESP_ERROR_CHECK(
esp_intr_alloc(timer_group_periph_signals.groups[self->group].timer_irq_id[self->index],
TIMER_FLAGS, timer_isr, self, &self->handle)
);
if (self->handle) {
ESP_ERROR_CHECK(esp_intr_enable(self->handle));
} else {
ESP_ERROR_CHECK(esp_intr_alloc(
timer_group_periph_signals.groups[self->group].timer_irq_id[self->index],
TIMER_FLAGS,
machine_timer_isr,
self,
&self->handle
));
}
timer_ll_enable_intr(self->hal_context.dev, TIMER_LL_EVENT_ALARM(self->index), true);

// Enable the alarm to trigger at the given period.
Expand Down Expand Up @@ -224,16 +236,22 @@ static mp_obj_t machine_timer_init_helper(machine_timer_obj_t *self, mp_uint_t n
}

self->repeat = args[ARG_mode].u_int;
self->handler = machine_timer_isr_handler;
self->callback = args[ARG_callback].u_obj;
self->handle = NULL;

machine_timer_enable(self, machine_timer_isr);
machine_timer_enable(self);

return mp_const_none;
}

static mp_obj_t machine_timer_deinit(mp_obj_t self_in) {
machine_timer_disable(self_in);
machine_timer_obj_t *self = self_in;

machine_timer_disable(self);
if (self->handle) {
ESP_ERROR_CHECK(esp_intr_free(self->handle));
self->handle = NULL;
}

return mp_const_none;
}
Expand Down
3 changes: 2 additions & 1 deletion ports/esp32/machine_timer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -55,12 +55,13 @@ typedef struct _machine_timer_obj_t {
mp_obj_t callback;

intr_handle_t handle;
void (*handler)(struct _machine_timer_obj_t *timer);

struct _machine_timer_obj_t *next;
} machine_timer_obj_t;

machine_timer_obj_t *machine_timer_create(mp_uint_t timer);
void machine_timer_enable(machine_timer_obj_t *self, void (*timer_isr));
void machine_timer_enable(machine_timer_obj_t *self);
void machine_timer_disable(machine_timer_obj_t *self);

#endif // MICROPY_INCLUDED_ESP32_MACHINE_TIMER_H
35 changes: 11 additions & 24 deletions ports/esp32/machine_uart.c
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Original file line number Diff line number Diff line change
Expand Up @@ -110,30 +110,19 @@ static const char *_parity_name[] = {"None", "1", "0"};
{ MP_ROM_QSTR(MP_QSTR_IRQ_RXIDLE), MP_ROM_INT(UART_IRQ_RXIDLE) }, \
{ MP_ROM_QSTR(MP_QSTR_IRQ_BREAK), MP_ROM_INT(UART_IRQ_BREAK) }, \

static void uart_timer_callback(void *self_in) {
machine_timer_obj_t *self = self_in;

uint32_t intr_status = timer_ll_get_intr_status(self->hal_context.dev);

if (intr_status & TIMER_LL_EVENT_ALARM(self->index)) {
timer_ll_clear_intr_status(self->hal_context.dev, TIMER_LL_EVENT_ALARM(self->index));
if (self->repeat) {
timer_ll_enable_alarm(self->hal_context.dev, self->index, true);
}
}

static void uart_timer_callback(machine_timer_obj_t *timer) {
// The UART object is referred here by the callback field.
machine_uart_obj_t *uart = (machine_uart_obj_t *)self->callback;
if (uart->rxidle_state == RXIDLE_ALERT) {
machine_uart_obj_t *self = (machine_uart_obj_t *)timer->callback;
if (self->rxidle_state == RXIDLE_ALERT) {
// At the first call, just switch the state
uart->rxidle_state = RXIDLE_ARMED;
} else if (uart->rxidle_state == RXIDLE_ARMED) {
self->rxidle_state = RXIDLE_ARMED;
} else if (self->rxidle_state == RXIDLE_ARMED) {
// At the second call, run the irq callback and stop the timer
uart->rxidle_state = RXIDLE_STANDBY;
uart->mp_irq_flags = UART_IRQ_RXIDLE;
mp_irq_handler(uart->mp_irq_obj);
self->rxidle_state = RXIDLE_STANDBY;
self->mp_irq_flags = UART_IRQ_RXIDLE;
mp_irq_handler(self->mp_irq_obj);
mp_hal_wake_main_task_from_isr();
machine_timer_disable(uart->rxidle_timer);
machine_timer_disable(self->rxidle_timer);
}
}

Expand All @@ -150,9 +139,7 @@ static void uart_event_task(void *self_in) {
if (self->mp_irq_trigger & UART_IRQ_RXIDLE) {
if (self->rxidle_state != RXIDLE_INACTIVE) {
if (self->rxidle_state == RXIDLE_STANDBY) {
self->rxidle_timer->repeat = true;
self->rxidle_timer->handle = NULL;
machine_timer_enable(self->rxidle_timer, uart_timer_callback);
machine_timer_enable(self->rxidle_timer);
}
}
self->rxidle_state = RXIDLE_ALERT;
Expand Down Expand Up @@ -553,11 +540,11 @@ static void uart_irq_configure_timer(machine_uart_obj_t *self, mp_uint_t trigger
}
self->rxidle_period = period;
self->rxidle_timer->period = period;
self->rxidle_timer->handler = uart_timer_callback;
// The Python callback is not used. So use this
// data field to hold a reference to the UART object.
self->rxidle_timer->callback = self;
self->rxidle_timer->repeat = true;
self->rxidle_timer->handle = NULL;
self->rxidle_state = RXIDLE_STANDBY;
}
}
Expand Down
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