wip

Author: dhalbert

ports/atmel-samd/common-hal/busio/SPI.c

@@ -194,14 +194,14 @@ void common_hal_busio_spi_deinit(busio_spi_obj_t *self) {
     }
     allow_reset_sercom(self->spi_desc.dev.prvt);
 
-    // Mark as deinit early in case we are used in an interrupt.
-    common_hal_busio_spi_mark_deinit(self);
-
     spi_m_sync_disable(&self->spi_desc);
     spi_m_sync_deinit(&self->spi_desc);
     reset_pin_number(self->clock_pin);
     reset_pin_number(self->MOSI_pin);
     reset_pin_number(self->MISO_pin);
+
+    // This smashes self->clock_pin, so don't do it before resetting the pin above.
+    common_hal_busio_spi_mark_deinit(self);
 }
 
 bool common_hal_busio_spi_configure(busio_spi_obj_t *self,

ports/espressif/background.c

@@ -13,8 +13,8 @@
 #include "freertos/task.h"
 
 void port_background_tick(void) {
-    // Zero delay in case FreeRTOS wants to switch to something else.
-    vTaskDelay(0);
+    // Yield with zero delay in case FreeRTOS wants to switch to something else.
+    port_task_yield();
 }
 
 void port_background_task(void) {

ports/espressif/supervisor/port.c

@@ -404,8 +404,8 @@ void reset_port(void) {
     watchdog_reset();
     #endif
 
-    // Yield so the idle task can run and do any IDF cleanup needed.
-    port_yield();
+    // Yield so the idle task, at priority 0, can run and do any IDF cleanup needed.
+    port_task_sleep_ms(4);
 }
 
 void reset_to_bootloader(void) {
@@ -483,8 +483,13 @@ void port_wake_main_task_from_isr(void) {
     }
 }
 
-void port_yield(void) {
-    vTaskDelay(4);
+// Yield to other tasks at the same priority.
+void port_task_yield(void) {
+    vTaskDelay(0);
+}
+
+void port_task_sleep_ms(uint32_t msecs) {
+    vTaskDelay(pdMS_TO_TICKS(msecs));
 }
 
 void sleep_timer_cb(void *arg) {

ports/espressif/supervisor/usb.c

@@ -56,7 +56,8 @@ static void usb_device_task(void *param) {
             tud_task();
             tud_cdc_write_flush();
         }
-        vTaskDelay(1);
+        // Yield with zero delay to switch to any other tasks at same priority.
+        port_task_yield();
     }
 }
 #endif // CIRCUITPY_USB_DEVICE
@@ -112,7 +113,7 @@ void init_usb_hardware(void) {
         "usbd",
         USBD_STACK_SIZE,
         NULL,
-        5,
+        1,
         usb_device_stack,
         &usb_device_taskdef,
         xPortGetCoreID());

ports/raspberrypi/supervisor/port.c

@@ -600,7 +600,7 @@ __attribute__((used)) void __not_in_flash_func(isr_hardfault)(void) {
     }
 }
 
-void port_yield(void) {
+void port_task_yield(void) {
     #if CIRCUITPY_CYW43
     cyw43_arch_poll();
     #endif

ports/renode/supervisor/port.c

@@ -210,7 +210,7 @@ __attribute__((used)) void HardFault_Handler(void) {
     }
 }
 
-void port_yield(void) {
+void port_task_yield(void) {
 }
 
 void port_boot_info(void) {

ports/zephyr-cp/supervisor/port.c

@@ -65,14 +65,18 @@ void port_wake_main_task_from_isr(void) {
     k_event_set(&main_needed, 1);
 }
 
-void port_yield(void) {
+void port_task_yield(void) {
     k_yield();
     // Make sure time advances in the simulator.
     #if defined(CONFIG_ARCH_POSIX)
     k_busy_wait(100);
     #endif
 }
 
+void port_task_sleep_ms(uint32_t msecs) {
+    k_msleep(msecs));
+}
+
 void port_boot_info(void) {
 }
 

supervisor/port.h

@@ -92,9 +92,17 @@ void port_wake_main_task(void);
 void port_wake_main_task_from_isr(void);
 
 // Some ports may use real RTOS tasks besides the background task framework of
-// CircuitPython. Calling this will yield to other tasks and then return to the
-// CircuitPython task when others are done.
-void port_yield(void);
+// CircuitPython. Calling this will yield to other tasks at the same priority level
+// (or higher priority level if pre-emption is not immediate in the RTOS)
+// and then return to the CircuitPython task when others are done.
+// Note that this does NOT yield to lower priority tasks. Use port_task_sleep_ms() instead.
+void port_task_yield(void);
+
+// On ports using real RTOS tasks, yield to other tasks for at least msecs.
+// This will allow lower priority tasks to run.
+// On non-RTOS implementations, this just sleeps for msecs and will run CircuitPython
+// background tasks.
+void port_task_sleep_ms(uint32_t msecs);
 
 // Some ports want to add information to boot_out.txt.
 // A default weak implementation is provided that does nothing.

supervisor/shared/background_callback.c

@@ -63,7 +63,7 @@ void PLACE_IN_ITCM(background_callback_run_all)(void) {
     if (!background_callback_pending()) {
         // TEMPORARY to fix #10822
         #ifdef __ZEPHYR__
-        port_yield();
+        port_task_yield();
         #endif
         return;
     }
@@ -93,7 +93,7 @@ void PLACE_IN_ITCM(background_callback_run_all)(void) {
     CALLBACK_CRITICAL_END;
     // TEMPORARY to fix #10822
     #ifdef __ZEPHYR__
-    port_yield();
+    port_task_yield();
     #endif
 }
 

supervisor/shared/port.c

@@ -8,6 +8,7 @@
 
 #include <string.h>
 
+#include "py/mphal.h"
 #include "py/runtime.h"
 #include "py/gc.h"
 
@@ -26,7 +27,11 @@ MP_WEAK void port_wake_main_task(void) {
 MP_WEAK void port_wake_main_task_from_isr(void) {
 }
 
-MP_WEAK void port_yield(void) {
+MP_WEAK void port_task_yield(void) {
+}
+
+MP_WEAK void port_task_sleep_ms(uint32_t msecs) {
+    mp_hal_delay_ms(msecs);
 }
 
 MP_WEAK void port_boot_info(void) {