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pulsein compiles but doesn't work

This commit is contained in:
Scott Shawcroft 2018-02-14 16:59:04 -08:00
parent c7af17525b
commit 07230f2637
2 changed files with 207 additions and 66 deletions
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270
ports/atmel-samd/common-hal/pulseio/PulseIn.c
View File

@ -28,6 +28,7 @@
#include <stdint.h>
#include "atmel_start_pins.h"
#include "hal/include/hal_gpio.h"
#include "mpconfigport.h"
@ -45,84 +46,94 @@ static uint16_t last_us[EIC_EXTINT_NUM];
void pulsein_reset(void) {
for (int i = 0; i < EIC_EXTINT_NUM; i++) {
if (active_pulseins[i] != NULL) {
//extint_chan_disable_callback(i, EXTINT_CALLBACK_TYPE_DETECT);
}
active_pulseins[i] = NULL;
last_ms[i] = 0;
last_us[i] = 0;
#ifdef SAMD51
NVIC_DisableIRQ(EIC_0_IRQn + i);
NVIC_ClearPendingIRQ(EIC_0_IRQn + i);
#endif
}
EIC->CTRLA.bit.SWRST = true;
while (EIC->SYNCBUSY.bit.SWRST != 0) {}
#ifdef SAMD21
NVIC_DisableIRQ(EIC_IRQn);
NVIC_ClearPendingIRQ(EIC_IRQn);
#endif
}
static void pulsein_set_config(pulseio_pulsein_obj_t* self, bool first_edge) {
// struct extint_chan_conf config;
// extint_chan_get_config_defaults(&config);
// config.gpio_pin = self->pin;
// config.gpio_pin_pull = EXTINT_PULL_NONE;
// config.filter_input_signal = true;
uint8_t sense_setting = EIC_CONFIG_FILTEN0;
if (!first_edge) {
//config.detection_criteria = EXTINT_DETECT_BOTH;
sense_setting |= EIC_CONFIG_SENSE0_BOTH_Val;
} else if (self->idle_state) {
//config.detection_criteria = EXTINT_DETECT_FALLING;
sense_setting |= EIC_CONFIG_SENSE0_FALL_Val;
} else {
//config.detection_criteria = EXTINT_DETECT_RISING;
sense_setting |= EIC_CONFIG_SENSE0_RISE_Val;
}
//extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
//extint_chan_set_config(self->channel, &config);
// Clear any interrupts that may have triggered without notifying the CPU.
EIC->INTFLAG.reg |= (1UL << self->channel);
//extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
EIC->CTRLA.bit.ENABLE = false;
while (EIC->SYNCBUSY.bit.ENABLE != 0) {}
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);
EIC->CTRLA.bit.ENABLE = true;
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.
}
//static void pulsein_callback(void) {
static void pulsein_interrupt_handler(uint8_t channel) {
// Grab the current time first.
//uint16_t current_us = tc_get_count_value(&ms_timer);
// Add the overflow flag to account for tick interrupts that are blocked by
// this interrupt.
//uint64_t current_ms = ticks_ms + TC5->COUNT16.INTFLAG.bit.OVF;
//pulseio_pulsein_obj_t* self = active_pulseins[extint_get_current_channel()];
//current_us = current_us * 1000 / self->ticks_per_ms;
// 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;
// }
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");
}
// TODO(tannewt): Switch to checking actual extint peripheral state when other
// classes use extints.
if (active_pulseins[pin->extint_channel] != NULL) {
uint32_t mask = 1 << pin->extint_channel;
if (active_pulseins[pin->extint_channel] != NULL ||
(EIC->CTRLA.bit.ENABLE == 1 &&
((EIC->INTENSET.bit.EXTINT & mask) != 0 ||
(EIC->EVCTRL.bit.EXTINTEO & mask) != 0))) {
mp_raise_RuntimeError("EXTINT channel already in use");
}
@ -140,12 +151,39 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
active_pulseins[pin->extint_channel] = self;
// 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.
if (EIC->CTRLA.bit.ENABLE == 0) {
#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
PM->APBAMASK.bit.EIC = true;
_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);
//extint_register_callback(
// pulsein_callback,
// self->channel,
// EXTINT_CALLBACK_TYPE_DETECT);
//extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
EIC->INTENSET.reg = mask << EIC_INTENSET_EXTINT_Pos;
}
bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@ -156,14 +194,44 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
if (common_hal_pulseio_pulsein_deinited(self)) {
return;
}
//extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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;
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) {
EIC->CTRLA.bit.ENABLE = 0;
#ifdef SAMD51
MCLK->APBAMASK.bit.EIC_ = false;
hri_gclk_write_PCHCTRL_reg(GCLK, EIC_GCLK_ID, 0);
#endif
#ifdef SAMD21
PM->APBAMASK.bit.EIC = false;
_gclk_disable_channel(EIC_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK0_Val);
#endif
}
}
void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
//extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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,
@ -184,6 +252,12 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
last_ms[self->channel] = 0;
last_us[self->channel] = 0;
self->first_edge = true;
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);
}
@ -229,3 +303,69 @@ uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
common_hal_mcu_enable_interrupts();
return value;
}
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++) {
if ((EIC->INTFLAG.bit.EXTINT & (1 << i)) == 1) {
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

3
ports/atmel-samd/supervisor/port.c
View File

@ -46,6 +46,7 @@
#include "common-hal/analogio/AnalogIn.h"
#include "common-hal/analogio/AnalogOut.h"
#include "common-hal/microcontroller/Pin.h"
#include "common-hal/pulseio/PulseIn.h"
#include "common-hal/pulseio/PulseOut.h"
#include "common-hal/pulseio/PWMOut.h"
#include "tick.h"
@ -206,8 +207,8 @@ void reset_port(void) {
// audioout_reset();
// touchin_reset();
// pdmin_reset();
// pulsein_reset();
// #endif
pulsein_reset();
pulseout_reset();
pwmout_reset();