Merge pull request #1814 from openmv/audio_modules_sched

ports/All: Use static scheduler nodes for Audio modules.
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Ibrahim Abdelkader 2023-04-07 12:22:24 +02:00 committed by GitHub
commit afb26ddf72
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4 changed files with 40 additions and 58 deletions

@ -1 +1 @@
Subproject commit c8ea7e65af10ddbe44d416fc2714057107906105
Subproject commit fe89f40ff3726f4168eae70bf1a591198de2fbbe

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@ -14,7 +14,6 @@
#include "py/nlr.h"
#include "py/mphal.h"
#include "py/binary.h"
#include "pendsv.h"
#include "runtime.h"
#include "py_audio.h"
@ -27,25 +26,24 @@
#include "hal/nrf_gpio.h"
#if MICROPY_PY_AUDIO
#define PDM_DEFAULT_GAIN 20
#define PDM_IRQ_PRIORITY 7
#define PDM_BUFFER_SIZE (256)
#define PDM_DEFAULT_GAIN (20)
#define PDM_IRQ_PRIORITY (7)
#define PDM_BUFFER_SIZE (256)
#define NRF_PDM_FREQ_1280K (nrf_pdm_freq_t)(0x0A000000UL) ///< PDM_CLK= 1.280 MHz (32 MHz / 25) => Fs= 20000 Hz
#define NRF_PDM_FREQ_2000K (nrf_pdm_freq_t)(0x10000000UL) ///< PDM_CLK= 2.000 MHz (32 MHz / 16) => Fs= 31250 Hz
#define NRF_PDM_FREQ_2667K (nrf_pdm_freq_t)(0x15000000UL) ///< PDM_CLK= 2.667 MHz (32 MHz / 12) => Fs= 41667 Hz
#define NRF_PDM_FREQ_3200K (nrf_pdm_freq_t)(0x19000000UL) ///< PDM_CLK= 3.200 MHz (32 MHz / 10) => Fs= 50000 Hz
#define NRF_PDM_FREQ_4000K (nrf_pdm_freq_t)(0x20000000UL) ///< PDM_CLK= 4.000 MHz (32 MHz / 8) => Fs= 62500 Hz
#define RAISE_OS_EXCEPTION(msg) mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT(msg))
#define NRF_PDM_FREQ_1280K (nrf_pdm_freq_t)(0x0A000000UL) // PDM_CLK= 1.280 MHz (32 MHz / 25) => Fs= 20000 Hz
#define NRF_PDM_FREQ_2000K (nrf_pdm_freq_t)(0x10000000UL) // PDM_CLK= 2.000 MHz (32 MHz / 16) => Fs= 31250 Hz
#define NRF_PDM_FREQ_2667K (nrf_pdm_freq_t)(0x15000000UL) // PDM_CLK= 2.667 MHz (32 MHz / 12) => Fs= 41667 Hz
#define NRF_PDM_FREQ_3200K (nrf_pdm_freq_t)(0x19000000UL) // PDM_CLK= 3.200 MHz (32 MHz / 10) => Fs= 50000 Hz
#define NRF_PDM_FREQ_4000K (nrf_pdm_freq_t)(0x20000000UL) // PDM_CLK= 4.000 MHz (32 MHz / 8) => Fs= 62500 Hz
#define RAISE_OS_EXCEPTION(msg) mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT(msg))
static mp_obj_array_t *g_pcmbuf = NULL;
static mp_obj_t g_audio_callback = mp_const_none;
static uint32_t g_channels = 1;
static uint32_t g_buf_index = 0;
static int16_t PDM_BUFFERS[2][PDM_BUFFER_SIZE];
// Pendsv dispatch callback.
static void audio_pendsv_callback(void);
static mp_sched_node_t audio_task_sched_node;
static void audio_task_callback(mp_sched_node_t *node);
static void nrfx_pdm_event_handler(nrfx_pdm_evt_t const *evt)
{
@ -59,7 +57,7 @@ static void nrfx_pdm_event_handler(nrfx_pdm_evt_t const *evt)
}
if (evt->buffer_released && g_audio_callback != mp_const_none) {
g_buf_index = (evt->buffer_released == PDM_BUFFERS[0]) ? 0 : 1;
pendsv_schedule_dispatch(PENDSV_DISPATCH_AUDIO, audio_pendsv_callback);
mp_sched_schedule_node(&audio_task_sched_node, audio_task_callback);
}
} else {
// TODO
@ -143,7 +141,7 @@ void py_audio_deinit()
g_audio_callback = mp_const_none;
}
static void audio_pendsv_callback(void)
static void audio_task_callback(mp_sched_node_t *node)
{
memcpy(g_pcmbuf->items, PDM_BUFFERS[g_buf_index], PDM_BUFFER_SIZE * sizeof(int16_t));
// Call user callback

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@ -15,7 +15,6 @@
#include "py/nlr.h"
#include "py/mphal.h"
#include "py/binary.h"
#include "pendsv.h"
#include "runtime.h"
#include "omv_boardconfig.h"
@ -35,11 +34,6 @@
#define PDM_DEFAULT_BUFFERS (128) // Number of PCM samples buffers.
#define PDM_BUFFER_SIZE (512)
#define PDM_TIME_CONV (0) // Enable to print average conversion time.
#ifndef MICROPY_PY_AUDIO_USE_SYNC_EVENTS
#define MICROPY_PY_AUDIO_USE_SYNC_EVENTS (1)
#endif
#define RAISE_OS_EXCEPTION(msg) mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT(msg))
typedef struct _audio_data_t {
@ -65,20 +59,19 @@ typedef struct _audio_data_t {
void (*pdm_filter_func) (uint8_t*, int16_t*, uint16_t, TPDMFilter_InitStruct*);
} audio_data_t;
static bool audio_initialized = false;
#define audio_data MP_STATE_PORT(audio_data)
#define NEXT_BUFFER(x) (((x) + 1) % (audio_data->n_buffers))
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
volatile bool audio_task_scheduled = false;
static const mp_obj_fun_builtin_fixed_t audio_task_obj;
static mp_obj_t audio_task(mp_obj_t none_in)
#else
static void audio_pendsv_callback(void)
#endif
static bool audio_initialized = false;
static mp_sched_node_t audio_task_sched_node;
static volatile bool audio_task_scheduled = false;
static bool irq_handler_installed = false;
static void audio_task_callback(mp_sched_node_t *node)
{
if (audio_data->streaming == false) {
return mp_const_none;
audio_task_scheduled = false;
return;
}
if (audio_data->head != audio_data->tail) {
@ -91,25 +84,17 @@ static void audio_pendsv_callback(void)
// Call user callback.
mp_call_function_1(audio_data->user_callback, MP_OBJ_FROM_PTR(audio_data->pcm_buffer_user));
} else if (audio_data->overflow == true && audio_data->abort_on_overflow) {
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
RAISE_OS_EXCEPTION("Audio buffer overflow.");
#endif
return mp_const_none;
}
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
if (audio_data->head != audio_data->tail) {
// Re-schedule function
audio_task_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&audio_task_obj), mp_const_none);
audio_task_scheduled = true;
mp_sched_schedule_node(&audio_task_sched_node, audio_task_callback);
} else {
audio_task_scheduled = false;
}
return mp_const_none;
#endif
}
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
STATIC MP_DEFINE_CONST_FUN_OBJ_1(audio_task_obj, audio_task);
#endif
static void dma_irq_handler()
{
@ -150,13 +135,10 @@ static void dma_irq_handler()
if (mp_obj_is_callable(audio_data->user_callback)) {
// Schedule audio callback.
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
if (audio_task_scheduled == false) {
audio_task_scheduled = mp_sched_schedule(MP_OBJ_FROM_PTR(&audio_task_obj), mp_const_none);
audio_task_scheduled = true;
mp_sched_schedule_node(&audio_task_sched_node, audio_task_callback);
}
#else
pendsv_schedule_dispatch(PENDSV_DISPATCH_AUDIO, audio_pendsv_callback);
#endif
}
}
}
@ -188,9 +170,7 @@ static mp_obj_t py_audio_init(uint n_args, const mp_obj_t *pos_args, mp_map_t *k
RAISE_OS_EXCEPTION("Invalid frequency. Expected 16KHz, 32KHz or 48KHz.");
}
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
audio_task_scheduled = false;
#endif
// The decimation factor is set to keep the PDM datarate within min/max specs for the mic:
// 16 KHz * 128 -> 2048 KHz
@ -288,7 +268,6 @@ static mp_obj_t py_audio_init(uint n_args, const mp_obj_t *pos_args, mp_map_t *k
// Clear DMA interrupts.
dma_irqn_acknowledge_channel(PDM_DMA, audio_data->dma_channel);
static bool irq_handler_installed = false;
if (!irq_handler_installed) {
irq_handler_installed = true;
// Install shared DMA IRQ handler.
@ -349,18 +328,22 @@ static mp_obj_t py_audio_stop_streaming()
if (audio_data->streaming) {
// Disable PDM and IRQ
dma_channel_abort(audio_data->dma_channel);
//irq_set_enabled(PDM_DMA_IRQ, false);
dma_irqn_set_channel_enabled(PDM_DMA, audio_data->dma_channel, false);
// Disable state machine.
pio_sm_set_enabled(PDM_PIO, PDM_SM, false);
pio_sm_clear_fifos(PDM_PIO, PDM_SM);
if (irq_handler_installed) {
irq_handler_installed = false;
irq_remove_handler(PDM_DMA_IRQ, dma_irq_handler);
}
audio_data->streaming = false;
#if MICROPY_PY_AUDIO_USE_SYNC_EVENTS
for (mp_uint_t start = mp_hal_ticks_ms();
audio_task_scheduled && (mp_hal_ticks_ms() - start) >= 1000;
audio_task_scheduled && (mp_hal_ticks_ms() - start) < 1500;
mp_hal_delay_ms(10));
#endif
#if PDM_TIME_CONV
mp_printf(&mp_plat_print, "Average conversion time:%ld us\n",
@ -427,6 +410,7 @@ void py_audio_deinit()
audio_data->overflow = false;
audio_data->abort_on_overflow = false;
audio_data->user_callback = mp_const_none;
audio_data->pcm_buffer_user = NULL;
if (audio_data->dma_channel >= 0) {
dma_channel_unclaim(audio_data->dma_channel);

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@ -15,7 +15,6 @@
#include "py/mphal.h"
#include "py/binary.h"
#include "systick.h"
#include "pendsv.h"
#include "runtime.h"
#include "py_audio.h"
@ -54,14 +53,15 @@ static volatile uint32_t xfer_status = 0;
static mp_obj_array_t *g_pcmbuf = NULL;
static mp_obj_t g_audio_callback = mp_const_none;
static int g_channels = AUDIO_MAX_CHANNELS;
static mp_sched_node_t audio_task_sched_node;
#define DMA_XFER_NONE (0x00U)
#define DMA_XFER_HALF (0x01U)
#define DMA_XFER_FULL (0x04U)
#define RAISE_OS_EXCEPTION(msg) mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT(msg))
// Pendsv dispatch callback.
static void audio_pendsv_callback(void);
// Scheduler callback.
static void audio_task_callback(mp_sched_node_t *node);
#if defined(AUDIO_SAI)
void AUDIO_SAI_DMA_IRQHandler(void)
@ -89,7 +89,7 @@ void HAL_DFSDM_FilterRegConvHalfCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_
xfer_status |= DMA_XFER_HALF;
SCB_InvalidateDCache_by_Addr((uint32_t *)(&PDM_BUFFER[0]), sizeof(PDM_BUFFER) / 2);
if (g_audio_callback != mp_const_none) {
pendsv_schedule_dispatch(PENDSV_DISPATCH_AUDIO, audio_pendsv_callback);
mp_sched_schedule_node(&audio_task_sched_node, audio_task_callback);
}
}
@ -102,7 +102,7 @@ void HAL_DFSDM_FilterRegConvCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filt
xfer_status |= DMA_XFER_FULL;
SCB_InvalidateDCache_by_Addr((uint32_t *)(&PDM_BUFFER[PDM_BUFFER_SIZE / 2]), sizeof(PDM_BUFFER) / 2);
if (g_audio_callback != mp_const_none) {
pendsv_schedule_dispatch(PENDSV_DISPATCH_AUDIO, audio_pendsv_callback);
mp_sched_schedule_node(&audio_task_sched_node, audio_task_callback);
}
}
@ -376,7 +376,7 @@ void py_audio_deinit()
g_audio_callback = mp_const_none;
}
static void audio_pendsv_callback(void)
static void audio_task_callback(mp_sched_node_t *node)
{
// Check for half transfer complete.
if ((xfer_status & DMA_XFER_HALF)) {