Feature/rp235x (#970)

* Add support for RP235x (Raspberry Pico 2)

The xtask build system has not been updated therefor the
components need to be build through Cargo

* Remove unnecessary thumbv8mainhf-backend definition

* Remove unnecessary thumbv8m.main-none-eabihf target

* Update CHANGELOG

* Remove default feature rp235x from rtic-monotonics

* Remove features from rp235x-pac dependency in rtic-monotonics for rp235x

rtic-monotonics/CHANGELOG.md

@@ -7,6 +7,10 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top!
 
 ## Unreleased
 
+### Added
+
+- RP235x support
+
 ## v2.0.2 - 2024-07-05
 
 ### Fixed

rtic-monotonics/Cargo.toml

@@ -20,6 +20,7 @@ repository = "https://github.com/rtic-rs/rtic"
 features = [
     "cortex-m-systick",
     "rp2040",
+    "rp235x",
     "nrf52840",
     "imxrt_gpt1",
     "imxrt_gpt2",
@@ -44,6 +45,9 @@ critical-section = { version = "1", optional = true }
 # RP2040
 rp2040-pac = { version = "0.6", optional = true }
 
+# RP235x
+rp235x-pac = { version = "0.1.0", optional = true }
+
 # nRF52
 nrf52805-pac = { version = "0.12.2", optional = true }
 nrf52810-pac = { version = "0.12.2", optional = true }
@@ -80,6 +84,9 @@ systick-64bit = []
 # Timer peripheral on the RP2040
 rp2040 = ["dep:cortex-m", "dep:rp2040-pac"]
 
+# Timer peripheral on the RP235x
+rp235x = ["dep:cortex-m", "dep:rp235x-pac"]
+
 # nRF Timers and RTC
 nrf52805 = ["dep:cortex-m", "dep:nrf52805-pac", "dep:critical-section"]
 nrf52810 = ["dep:cortex-m", "dep:nrf52810-pac", "dep:critical-section"]

rtic-monotonics/src/lib.rs

@@ -45,6 +45,9 @@ pub mod systick;
 #[cfg(feature = "rp2040")]
 pub mod rp2040;
 
+#[cfg(feature = "rp235x")]
+pub mod rp235x;
+
 #[cfg(feature = "imxrt")]
 pub mod imxrt;
 
@@ -71,6 +74,7 @@ pub(crate) const fn cortex_logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
 }
 
 #[cfg(any(
+    feature = "rp235x",
     feature = "rp2040",
     feature = "nrf52805",
     feature = "nrf52810",

rtic-monotonics/src/rp235x.rs

@@ -0,0 +1,170 @@
+//! [`Monotonic`](rtic_time::Monotonic) implementation for RP235x's Timer peripheral
+//!
+//!
+//! Always runs at a fixed rate of 1 MHz.
+//!
+//! # Example
+//!
+//! ```
+//! use rtic_monotonics::rp235x::prelude::*;
+//!
+//! rp235x_timer_monotonic!(Mono);
+//!
+//! fn init() {
+//!     # // This is normally provided by the selected PAC
+//!     # let timer = unsafe { core::mem::transmute(()) };
+//!     # let mut resets = unsafe { core::mem::transmute(()) };
+//!     #
+//!     // Start the monotonic
+//!     Mono::start(timer, &mut resets);
+//! }
+//!
+//! async fn usage() {
+//!     loop {
+//!          // Use the monotonic
+//!          let timestamp = Mono::now();
+//!          Mono::delay(100.millis()).await;
+//!     }
+//! }
+//! ```
+
+/// Common definitions and traits for using the RP235x timer monotonic
+pub mod prelude {
+    pub use crate::rp235x_timer_monotonic;
+
+    pub use crate::Monotonic;
+
+    pub use fugit::{self, ExtU64, ExtU64Ceil};
+}
+
+use crate::TimerQueueBackend;
+use cortex_m::peripheral::NVIC;
+use rp235x_pac::Interrupt;
+pub use rp235x_pac::{timer0, RESETS, TIMER0};
+use rtic_time::timer_queue::TimerQueue;
+
+/// Timer implementing [`TimerQueueBackend`].
+pub struct TimerBackend;
+
+impl TimerBackend {
+    /// Starts the monotonic timer.
+    ///
+    /// **Do not use this function directly.**
+    ///
+    /// Use the prelude macros instead.
+    pub fn _start(timer: TIMER0, resets: &RESETS) {
+        resets.reset().modify(|_, w| w.timer0().clear_bit());
+        while resets.reset_done().read().timer0().bit_is_clear() {}
+        timer.inte().modify(|_, w| w.alarm_0().bit(true));
+
+        TIMER_QUEUE.initialize(Self {});
+
+        unsafe {
+            crate::set_monotonic_prio(rp235x_pac::NVIC_PRIO_BITS, Interrupt::TIMER0_IRQ_0);
+            NVIC::unmask(Interrupt::TIMER0_IRQ_0);
+        }
+    }
+
+    fn timer() -> &'static timer0::RegisterBlock {
+        unsafe { &*TIMER0::ptr() }
+    }
+}
+
+static TIMER_QUEUE: TimerQueue<TimerBackend> = TimerQueue::new();
+
+impl TimerQueueBackend for TimerBackend {
+    type Ticks = u64;
+
+    fn now() -> Self::Ticks {
+        let timer = Self::timer();
+
+        let mut hi0 = timer.timerawh().read().bits();
+        loop {
+            let low = timer.timerawl().read().bits();
+            let hi1 = timer.timerawh().read().bits();
+            if hi0 == hi1 {
+                break ((u64::from(hi0) << 32) | u64::from(low));
+            }
+            hi0 = hi1;
+        }
+    }
+
+    fn set_compare(instant: Self::Ticks) {
+        let now = Self::now();
+
+        const MAX: u64 = u32::MAX as u64;
+
+        // Since the timer may or may not overflow based on the requested compare val, we check
+        // how many ticks are left.
+        // `wrapping_sub` takes care of the u64 integer overflow special case.
+        let val = if instant.wrapping_sub(now) <= MAX {
+            instant & MAX
+        } else {
+            0
+        };
+
+        Self::timer()
+            .alarm0()
+            .write(|w| unsafe { w.bits(val as u32) });
+    }
+
+    fn clear_compare_flag() {
+        Self::timer().intr().modify(|_, w| w.alarm_0().bit(true));
+    }
+
+    fn pend_interrupt() {
+        NVIC::pend(Interrupt::TIMER0_IRQ_0);
+    }
+
+    fn timer_queue() -> &'static TimerQueue<Self> {
+        &TIMER_QUEUE
+    }
+}
+
+/// Create an RP235x timer based monotonic and register the necessary interrupt for it.
+///
+/// See [`crate::rp235x`] for more details.
+///
+/// # Arguments
+///
+/// * `name` - The name that the monotonic type will have.
+#[macro_export]
+macro_rules! rp235x_timer_monotonic {
+    ($name:ident) => {
+        /// A `Monotonic` based on the RP235x Timer peripheral.
+        pub struct $name;
+
+        impl $name {
+            /// Starts the `Monotonic`.
+            ///
+            /// This method must be called only once.
+            pub fn start(timer: $crate::rp235x::TIMER0, resets: &$crate::rp235x::RESETS) {
+                #[no_mangle]
+                #[allow(non_snake_case)]
+                unsafe extern "C" fn TIMER0_IRQ_0() {
+                    use $crate::TimerQueueBackend;
+                    $crate::rp235x::TimerBackend::timer_queue().on_monotonic_interrupt();
+                }
+
+                $crate::rp235x::TimerBackend::_start(timer, resets);
+            }
+        }
+
+        impl $crate::TimerQueueBasedMonotonic for $name {
+            type Backend = $crate::rp235x::TimerBackend;
+            type Instant = $crate::fugit::Instant<
+                <Self::Backend as $crate::TimerQueueBackend>::Ticks,
+                1,
+                1_000_000,
+            >;
+            type Duration = $crate::fugit::Duration<
+                <Self::Backend as $crate::TimerQueueBackend>::Ticks,
+                1,
+                1_000_000,
+            >;
+        }
+
+        $crate::rtic_time::impl_embedded_hal_delay_fugit!($name);
+        $crate::rtic_time::impl_embedded_hal_async_delay_fugit!($name);
+    };
+}