Fix powman_test so it runs on Arm and RISC-V.

1) Use the Machine Timer, not the cycle counter
2) Use the hal::arch module to control interrupts
3) Write a MachineExternal interrupt handler which asks Xh3irq which interrupt to run next, and then runs it.

Note: we lose the macros that do that static-mut hack for us. Maybe we can add that back in later.

Author: thejpster

rp235x-hal-examples/riscv_examples.txt

@@ -17,6 +17,7 @@ pio_dma
 pio_proc_blink
 pio_side_set
 pio_synchronized
+powman_test
 pwm_blink
 pwm_blink_embedded_hal_1
 rom_funcs

rp235x-hal-examples/rp235x_riscv.x

@@ -80,6 +80,51 @@ PROVIDE(__pre_init = default_pre_init);
 /* A PAC/HAL defined routine that should initialize custom interrupt controller if needed. */
 PROVIDE(_setup_interrupts = default_setup_interrupts);
 
+PROVIDE(TIMER0_IRQ_0 = DefaultIrqHandler);
+PROVIDE(TIMER0_IRQ_1 = DefaultIrqHandler);
+PROVIDE(TIMER0_IRQ_2 = DefaultIrqHandler);
+PROVIDE(TIMER0_IRQ_3 = DefaultIrqHandler);
+PROVIDE(TIMER1_IRQ_0 = DefaultIrqHandler);
+PROVIDE(TIMER1_IRQ_1 = DefaultIrqHandler);
+PROVIDE(TIMER1_IRQ_2 = DefaultIrqHandler);
+PROVIDE(TIMER1_IRQ_3 = DefaultIrqHandler);
+PROVIDE(PWM_IRQ_WRAP_0 = DefaultIrqHandler);
+PROVIDE(PWM_IRQ_WRAP_1 = DefaultIrqHandler);
+PROVIDE(DMA_IRQ_0 = DefaultIrqHandler);
+PROVIDE(DMA_IRQ_1 = DefaultIrqHandler);
+PROVIDE(DMA_IRQ_2 = DefaultIrqHandler);
+PROVIDE(DMA_IRQ_3 = DefaultIrqHandler);
+PROVIDE(USBCTRL_IRQ = DefaultIrqHandler);
+PROVIDE(PIO0_IRQ_0 = DefaultIrqHandler);
+PROVIDE(PIO0_IRQ_1 = DefaultIrqHandler);
+PROVIDE(PIO1_IRQ_0 = DefaultIrqHandler);
+PROVIDE(PIO1_IRQ_1 = DefaultIrqHandler);
+PROVIDE(PIO2_IRQ_0 = DefaultIrqHandler);
+PROVIDE(PIO2_IRQ_1 = DefaultIrqHandler);
+PROVIDE(IO_IRQ_BANK0 = DefaultIrqHandler);
+PROVIDE(IO_IRQ_BANK0_NS = DefaultIrqHandler);
+PROVIDE(IO_IRQ_QSPI = DefaultIrqHandler);
+PROVIDE(IO_IRQ_QSPI_NS = DefaultIrqHandler);
+PROVIDE(SIO_IRQ_FIFO = DefaultIrqHandler);
+PROVIDE(SIO_IRQ_BELL = DefaultIrqHandler);
+PROVIDE(SIO_IRQ_FIFO_NS = DefaultIrqHandler);
+PROVIDE(SIO_IRQ_BELL_NS = DefaultIrqHandler);
+PROVIDE(SIO_IRQ_MTIMECMP = DefaultIrqHandler);
+PROVIDE(CLOCKS_IRQ = DefaultIrqHandler);
+PROVIDE(SPI0_IRQ = DefaultIrqHandler);
+PROVIDE(SPI1_IRQ = DefaultIrqHandler);
+PROVIDE(UART0_IRQ = DefaultIrqHandler);
+PROVIDE(UART1_IRQ = DefaultIrqHandler);
+PROVIDE(ADC_IRQ_FIFO = DefaultIrqHandler);
+PROVIDE(I2C0_IRQ = DefaultIrqHandler);
+PROVIDE(I2C1_IRQ = DefaultIrqHandler);
+PROVIDE(OTP_IRQ = DefaultIrqHandler);
+PROVIDE(TRNG_IRQ = DefaultIrqHandler);
+PROVIDE(PLL_SYS_IRQ = DefaultIrqHandler);
+PROVIDE(PLL_USB_IRQ = DefaultIrqHandler);
+PROVIDE(POWMAN_IRQ_POW = DefaultIrqHandler);
+PROVIDE(POWMAN_IRQ_TIMER = DefaultIrqHandler);
+
 /* # Multi-processing hook function
    fn _mp_hook() -> bool;
 

rp235x-hal-examples/src/bin/powman_test.rs

@@ -13,9 +13,6 @@ use rp235x_hal::{
     uart::{DataBits, StopBits, UartConfig, UartPeripheral},
 };
 
-use cortex_m_rt::exception;
-use pac::interrupt;
-
 // Some traits we need
 use core::fmt::Write;
 use hal::fugit::RateExtU32;
@@ -67,7 +64,7 @@ impl GlobalUart {
 
 /// Entry point to our bare-metal application.
 ///
-/// The `#[hal::entry]` macro ensures the Cortex-M start-up code calls this function
+/// The `#[hal::entry]` macro ensures the start-up code calls this function
 /// as soon as all global variables and the spinlock are initialised.
 ///
 /// The function configures the rp235x peripherals, then writes to the UART in
@@ -76,11 +73,6 @@ impl GlobalUart {
 fn main() -> ! {
     // Grab our singleton objects
     let mut pac = pac::Peripherals::take().unwrap();
-    let mut cp = cortex_m::Peripherals::take().unwrap();
-
-    // Enable the cycle counter
-    cp.DCB.enable_trace();
-    cp.DWT.enable_cycle_counter();
 
     // Set up the watchdog driver - needed by the clock setup code
     let mut watchdog = hal::Watchdog::new(pac.WATCHDOG);
@@ -99,6 +91,8 @@ fn main() -> ! {
 
     // The single-cycle I/O block controls our GPIO pins
     let sio = hal::Sio::new(pac.SIO);
+    let mut mtimer = sio.machine_timer;
+    mtimer.set_enabled(true);
 
     // Set the pins to their default state
     let pins = gpio::Pins::new(
@@ -131,29 +125,30 @@ fn main() -> ! {
     _ = writeln!(&GLOBAL_UART, "AOT time: 0x{:016x}", powman.aot_get_time());
 
     unsafe {
-        cortex_m::peripheral::NVIC::unmask(pac::Interrupt::POWMAN_IRQ_TIMER);
+        hal::arch::interrupt_unmask(pac::Interrupt::POWMAN_IRQ_TIMER);
+        hal::arch::interrupt_enable();
     }
 
     _ = writeln!(&GLOBAL_UART, "Starting AOT...");
     powman.aot_start();
     // we don't know what oscillator we're on, so give it time to start whatever it is
-    cortex_m::asm::delay(150_000);
+    hal::arch::delay(150_000);
     print_aot_status(&mut powman);
     rollover_test(&mut powman);
-    loop_test(&mut powman);
+    loop_test(&mut powman, &mtimer);
     alarm_test(&mut powman);
 
     let source = AotClockSource::Xosc(FractionalFrequency::from_hz(12_000_000));
     _ = writeln!(&GLOBAL_UART, "Switching AOT to {}", source);
     powman.aot_set_clock(source).expect("selecting XOSC");
     print_aot_status(&mut powman);
-    loop_test(&mut powman);
+    loop_test(&mut powman, &mtimer);
 
     let source = AotClockSource::Lposc(FractionalFrequency::from_hz(32768));
     _ = writeln!(&GLOBAL_UART, "Switching AOT to {}", source);
     powman.aot_set_clock(source).expect("selecting LPOSC");
     print_aot_status(&mut powman);
-    loop_test(&mut powman);
+    loop_test(&mut powman, &mtimer);
 
     _ = writeln!(&GLOBAL_UART, "Rebooting now");
 
@@ -202,7 +197,7 @@ fn rollover_test(powman: &mut Powman) {
 }
 
 /// In this function, we see how long it takes to pass a certain number of ticks.
-fn loop_test(powman: &mut Powman) {
+fn loop_test(powman: &mut Powman, mtimer: &hal::sio::MachineTimer) {
     let start_loop = 0;
     let end_loop = 2_000; // 2 seconds
     _ = writeln!(
@@ -214,24 +209,24 @@ fn loop_test(powman: &mut Powman) {
     powman.aot_set_time(start_loop);
     powman.aot_start();
 
-    let start_clocks = cortex_m::peripheral::DWT::cycle_count();
+    let start_clocks = mtimer.read();
     loop {
         let now = powman.aot_get_time();
         if now == end_loop {
             break;
         }
     }
-    let end_clocks = cortex_m::peripheral::DWT::cycle_count();
-    // Compare our AOT against our CPU clock speed
-    let delta_clocks = end_clocks.wrapping_sub(start_clocks) as u64;
+    let end_clocks = mtimer.read();
+    // Compare our AOT against our Machine Timer
+    let delta_clocks = end_clocks.wrapping_sub(start_clocks);
     let delta_ticks = end_loop - start_loop;
     let cycles_per_tick = delta_clocks / delta_ticks;
-    // Assume we're running at 150 MHz
-    let ms_per_tick = (cycles_per_tick as f32 * 1000.0) / 150_000_000.0;
+    // Assume we're running at 1 MHz MTimer
+    let ms_per_tick = (cycles_per_tick as f32 * 1000.0) / 1_000_000.0;
     let percent = ((ms_per_tick - 1.0) / 1.0) * 100.0;
     _ = writeln!(
         &GLOBAL_UART,
-        "Loop complete ... {delta_ticks} ticks in {delta_clocks} CPU clock cycles = {cycles_per_tick} cycles/tick ~= {ms_per_tick} ms/tick ({percent:.3}%)",
+        "Loop complete ... {delta_ticks} ticks in {delta_clocks} MTimer cycles = {cycles_per_tick} cycles/tick ~= {ms_per_tick} ms/tick ({percent:.3}%)",
     )
     ;
 }
@@ -258,8 +253,9 @@ fn alarm_test(powman: &mut Powman) {
         &GLOBAL_UART,
         "Sleeping until alarm (* = wakeup, ! = POWMAN interrupt)...",
     );
+
     while !powman.aot_alarm_ringing() {
-        cortex_m::asm::wfe();
+        hal::arch::wfe();
         _ = write!(&GLOBAL_UART, "*",);
     }
 
@@ -278,25 +274,12 @@ fn alarm_test(powman: &mut Powman) {
     _ = writeln!(&GLOBAL_UART, "Alarm cleared OK");
 }
 
-#[interrupt]
+#[no_mangle]
 #[allow(non_snake_case)]
 fn POWMAN_IRQ_TIMER() {
     Powman::static_aot_alarm_interrupt_disable();
     _ = write!(&GLOBAL_UART, "!");
-    cortex_m::asm::sev();
-}
-
-#[exception]
-unsafe fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
-    let _ = writeln!(&GLOBAL_UART, "HARD FAULT:\n{:#?}", ef);
-
-    hal::reboot::reboot(
-        hal::reboot::RebootKind::BootSel {
-            msd_disabled: false,
-            picoboot_disabled: false,
-        },
-        hal::reboot::RebootArch::Normal,
-    );
+    hal::arch::sev();
 }
 
 #[panic_handler]