circuitpython/ports/atmel-samd/common-hal/pulseio/PulseIn.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include "common-hal/pulseio/PulseIn.h"
#include <stdint.h>
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#include "atmel_start_pins.h"
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#include "hal/include/hal_gpio.h"
#include "mpconfigport.h"
#include "py/gc.h"
#include "py/runtime.h"
#include "samd21_pins.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/pulseio/PulseIn.h"
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#ifdef SAMD21
#include "hpl/gclk/hpl_gclk_base.h"
#endif
#include "tick.h"
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static pulseio_pulsein_obj_t *active_pulseins[EIC_EXTINT_NUM];
static uint64_t last_ms[EIC_EXTINT_NUM];
static uint16_t last_us[EIC_EXTINT_NUM];
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bool eic_get_enable(void) {
#ifdef SAMD51
return EIC->CTRLA.bit.ENABLE;
#endif
#ifdef SAMD21
return EIC->CTRL.bit.ENABLE;
#endif
}
void eic_set_enable(bool value) {
#ifdef SAMD51
EIC->CTRLA.bit.ENABLE = value;
while (EIC->SYNCBUSY.bit.ENABLE != 0) {}
// This won't actually block long enough in Rev A of SAMD51 and will miss edges in the first
// three cycles of the peripheral clock. See the errata for details. It shouldn't impact us.
#endif
#ifdef SAMD21
EIC->CTRL.bit.ENABLE = value;
while (EIC->STATUS.bit.SYNCBUSY != 0) {}
#endif
}
void eic_reset(void) {
#ifdef SAMD51
EIC->CTRLA.bit.SWRST = true;
while (EIC->SYNCBUSY.bit.SWRST != 0) {}
// This won't actually block long enough in Rev A of SAMD51 and will miss edges in the first
// three cycles of the peripheral clock. See the errata for details. It shouldn't impact us.
#endif
#ifdef SAMD21
EIC->CTRL.bit.SWRST = true;
while (EIC->STATUS.bit.SYNCBUSY != 0) {}
#endif
}
void pulsein_reset(void) {
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for (int i = 0; i < EIC_EXTINT_NUM; i++) {
active_pulseins[i] = NULL;
last_ms[i] = 0;
last_us[i] = 0;
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#ifdef SAMD51
NVIC_DisableIRQ(EIC_0_IRQn + i);
NVIC_ClearPendingIRQ(EIC_0_IRQn + i);
#endif
}
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eic_reset();
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#ifdef SAMD21
NVIC_DisableIRQ(EIC_IRQn);
NVIC_ClearPendingIRQ(EIC_IRQn);
#endif
}
static void pulsein_set_config(pulseio_pulsein_obj_t* self, bool first_edge) {
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uint8_t sense_setting = EIC_CONFIG_FILTEN0;
if (!first_edge) {
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sense_setting |= EIC_CONFIG_SENSE0_BOTH_Val;
} else if (self->idle_state) {
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sense_setting |= EIC_CONFIG_SENSE0_FALL_Val;
} else {
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sense_setting |= EIC_CONFIG_SENSE0_RISE_Val;
}
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eic_set_enable(false);
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uint8_t config_index = self->channel / 8;
uint8_t position = (self->channel % 8) * 4;
uint32_t masked_value = EIC->CONFIG[config_index].reg & ~(0xf << position);
EIC->CONFIG[config_index].reg = masked_value | (sense_setting << position);
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eic_set_enable(true);
}
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static void pulsein_interrupt_handler(uint8_t channel) {
// Grab the current time first.
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uint32_t current_us;
uint64_t current_ms;
current_tick(&current_ms, &current_us);
// current_tick gives us the remaining us until the next tick but we want the number since the
// last ms.
current_us = 1000 - current_us;
pulseio_pulsein_obj_t* self = active_pulseins[channel];
if (self->first_edge) {
self->first_edge = false;
pulsein_set_config(self, false);
} else {
uint32_t ms_diff = current_ms - last_ms[self->channel];
uint16_t us_diff = current_us - last_us[self->channel];
uint32_t total_diff = us_diff;
if (last_us[self->channel] > current_us) {
total_diff = 1000 + current_us - last_us[self->channel];
if (ms_diff > 1) {
total_diff += (ms_diff - 1) * 1000;
}
} else {
total_diff += ms_diff * 1000;
}
uint16_t duration = 0xffff;
if (total_diff < duration) {
duration = total_diff;
}
uint16_t i = (self->start + self->len) % self->maxlen;
self->buffer[i] = duration;
if (self->len < self->maxlen) {
self->len++;
} else {
self->start++;
}
}
last_ms[self->channel] = current_ms;
last_us[self->channel] = current_us;
}
void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) {
if (!pin->has_extint) {
mp_raise_RuntimeError("No hardware support on pin");
}
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uint32_t mask = 1 << pin->extint_channel;
if (active_pulseins[pin->extint_channel] != NULL ||
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(eic_get_enable() == 1 &&
#ifdef SAMD51
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((EIC->INTENSET.bit.EXTINT & mask) != 0 ||
(EIC->EVCTRL.bit.EXTINTEO & mask) != 0))) {
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#endif
#ifdef SAMD21
((EIC->INTENSET.vec.EXTINT & mask) != 0 ||
(EIC->EVCTRL.vec.EXTINTEO & mask) != 0))) {
#endif
mp_raise_RuntimeError("EXTINT channel already in use");
}
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self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false);
if (self->buffer == NULL) {
mp_raise_msg_varg(&mp_type_MemoryError, "Failed to allocate RX buffer of %d bytes", maxlen * sizeof(uint16_t));
}
self->channel = pin->extint_channel;
self->pin = pin->pin;
self->maxlen = maxlen;
self->idle_state = idle_state;
self->start = 0;
self->len = 0;
self->first_edge = true;
active_pulseins[pin->extint_channel] = self;
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// Check to see if the EIC is enabled and start it up if its not.'
// SAMD51 EIC can only be clocked up to 100mhz so we use the 48mhz clock.
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if (eic_get_enable() == 0) {
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#ifdef SAMD51
MCLK->APBAMASK.bit.EIC_ = true;
hri_gclk_write_PCHCTRL_reg(GCLK, EIC_GCLK_ID,
GCLK_PCHCTRL_GEN_GCLK1_Val | (1 << GCLK_PCHCTRL_CHEN_Pos));
#endif
#ifdef SAMD21
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PM->APBAMASK.bit.EIC_ = true;
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_gclk_enable_channel(EIC_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK0_Val);
#endif
#ifdef SAMD21
NVIC_DisableIRQ(EIC_IRQn);
NVIC_ClearPendingIRQ(EIC_IRQn);
NVIC_EnableIRQ(EIC_IRQn);
#endif
}
gpio_set_pin_function(pin->pin, GPIO_PIN_FUNCTION_A);
#ifdef SAMD51
NVIC_DisableIRQ(EIC_0_IRQn + self->channel);
NVIC_ClearPendingIRQ(EIC_0_IRQn + self->channel);
NVIC_EnableIRQ(EIC_0_IRQn + self->channel);
#endif
// Set config will enable the EIC.
pulsein_set_config(self, true);
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EIC->INTENSET.reg = mask << EIC_INTENSET_EXTINT_Pos;
}
bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
return self->pin == NO_PIN;
}
void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
if (common_hal_pulseio_pulsein_deinited(self)) {
return;
}
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uint32_t mask = 1 << self->channel;
EIC->INTENCLR.reg = mask << EIC_INTENSET_EXTINT_Pos;
#ifdef SAMD51
NVIC_DisableIRQ(EIC_0_IRQn + self->channel);
NVIC_ClearPendingIRQ(EIC_0_IRQn + self->channel);
#endif
active_pulseins[self->channel] = NULL;
reset_pin(self->pin);
self->pin = NO_PIN;
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bool all_null = true;
for (uint8_t i = 0; all_null && i < 16; i++) {
all_null = all_null && active_pulseins[i] == NULL;
}
#ifdef SAMD21
if (all_null && EIC->INTENSET.reg == 0) {
NVIC_DisableIRQ(EIC_IRQn);
NVIC_ClearPendingIRQ(EIC_IRQn);
}
#endif
// Test if all channels are null and deinit everything if they are.
if (all_null && EIC->EVCTRL.reg == 0 && EIC->INTENSET.reg == 0) {
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eic_set_enable(false);
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#ifdef SAMD51
MCLK->APBAMASK.bit.EIC_ = false;
hri_gclk_write_PCHCTRL_reg(GCLK, EIC_GCLK_ID, 0);
#endif
#ifdef SAMD21
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PM->APBAMASK.bit.EIC_ = false;
hri_gclk_write_CLKCTRL_reg(GCLK, GCLK_CLKCTRL_ID(EIC_GCLK_ID));
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#endif
}
}
void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
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uint32_t mask = 1 << self->channel;
EIC->INTENCLR.reg = mask << EIC_INTENSET_EXTINT_Pos;
}
void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
uint16_t trigger_duration) {
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// Make sure we're paused.
common_hal_pulseio_pulsein_pause(self);
// Send the trigger pulse.
if (trigger_duration > 0) {
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gpio_set_pin_pull_mode(self->pin, GPIO_PULL_OFF);
gpio_set_pin_direction(self->pin, GPIO_DIRECTION_OUT);
common_hal_mcu_disable_interrupts();
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gpio_set_pin_level(self->pin, !self->idle_state);
common_hal_mcu_delay_us(trigger_duration);
gpio_set_pin_level(self->pin, self->idle_state);
common_hal_mcu_enable_interrupts();
}
// Reconfigure the pin and make sure its set to detect the first edge.
last_ms[self->channel] = 0;
last_us[self->channel] = 0;
self->first_edge = true;
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gpio_set_pin_function(self->pin, GPIO_PIN_FUNCTION_A);
uint32_t mask = 1 << self->channel;
// Clear previous interrupt state and re-enable it.
EIC->INTFLAG.reg = mask << EIC_INTFLAG_EXTINT_Pos;
EIC->INTENSET.reg = mask << EIC_INTENSET_EXTINT_Pos;
pulsein_set_config(self, true);
}
void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
common_hal_mcu_disable_interrupts();
self->start = 0;
self->len = 0;
common_hal_mcu_enable_interrupts();
}
uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
if (self->len == 0) {
mp_raise_IndexError("pop from an empty PulseIn");
}
common_hal_mcu_disable_interrupts();
uint16_t value = self->buffer[self->start];
self->start = (self->start + 1) % self->maxlen;
self->len--;
common_hal_mcu_enable_interrupts();
return value;
}
uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) {
return self->maxlen;
}
uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) {
return self->len;
}
uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
int16_t index) {
common_hal_mcu_disable_interrupts();
if (index < 0) {
index += self->len;
}
if (index < 0 || index >= self->len) {
common_hal_mcu_enable_interrupts();
mp_raise_IndexError("index out of range");
}
uint16_t value = self->buffer[(self->start + index) % self->maxlen];
common_hal_mcu_enable_interrupts();
return value;
}
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void external_interrupt_handler(uint8_t channel) {
pulsein_interrupt_handler(channel);
EIC->INTFLAG.reg = (1 << channel) << EIC_INTFLAG_EXTINT_Pos;
}
#ifdef SAMD21
void EIC_Handler(void) {
for (uint8_t i = 0; i < 16; i++) {
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if ((EIC->INTFLAG.vec.EXTINT & (1 << i)) != 0) {
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external_interrupt_handler(i);
}
}
}
#endif
#ifdef SAMD51
void EIC_0_Handler(void) {
external_interrupt_handler(0);
}
void EIC_1_Handler(void) {
external_interrupt_handler(1);
}
void EIC_2_Handler(void) {
external_interrupt_handler(2);
}
void EIC_3_Handler(void) {
external_interrupt_handler(3);
}
void EIC_4_Handler(void) {
external_interrupt_handler(4);
}
void EIC_5_Handler(void) {
external_interrupt_handler(5);
}
void EIC_6_Handler(void) {
external_interrupt_handler(6);
}
void EIC_7_Handler(void) {
external_interrupt_handler(7);
}
void EIC_8_Handler(void) {
external_interrupt_handler(8);
}
void EIC_9_Handler(void) {
external_interrupt_handler(9);
}
void EIC_10_Handler(void) {
external_interrupt_handler(10);
}
void EIC_11_Handler(void) {
external_interrupt_handler(11);
}
void EIC_12_Handler(void) {
external_interrupt_handler(12);
}
void EIC_13_Handler(void) {
external_interrupt_handler(13);
}
void EIC_14_Handler(void) {
external_interrupt_handler(14);
}
void EIC_15_Handler(void) {
external_interrupt_handler(15);
}
#endif