From 8e15f36baada85345f8356ffcc8f8d48612a0c5e Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Wed, 24 Feb 2021 16:58:29 -0600
Subject: [PATCH 01/21] pulseio (pulsein) for RP2040

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 231 ++++++++++++++++++
 .../raspberrypi/common-hal/pulseio/PulseIn.h  |  53 ++++
 .../raspberrypi/common-hal/pulseio/PulseOut.c |  97 ++++++++
 .../raspberrypi/common-hal/pulseio/PulseOut.h |  44 ++++
 .../raspberrypi/common-hal/pulseio/__init__.c |   1 +
 .../common-hal/rp2pio/StateMachine.c          |   2 +
 .../common-hal/rp2pio/StateMachine.h          |   2 +
 ports/raspberrypi/mpconfigport.mk             |   2 +-
 8 files changed, 431 insertions(+), 1 deletion(-)
 create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseIn.c
 create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseIn.h
 create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseOut.c
 create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseOut.h
 create mode 100644 ports/raspberrypi/common-hal/pulseio/__init__.c

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
new file mode 100644
index 0000000000..c642561c89
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -0,0 +1,231 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017-2018 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 "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
+#include "src/rp2_common/hardware_irq/include/hardware/irq.h"
+
+#include <stdint.h>
+
+#include "background.h"
+#include "mpconfigport.h"
+#include "py/gc.h"
+#include "py/runtime.h"
+#include "shared-bindings/microcontroller/__init__.h"
+#include "shared-bindings/pulseio/PulseIn.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "supervisor/shared/translate.h"
+#include "bindings/rp2pio/StateMachine.h"
+#include "common-hal/pulseio/PulseIn.h"
+
+pulseio_pulsein_obj_t* save_self;
+
+#define NO_PIN 0xff
+
+const uint16_t pulsein_program[] = {
+//   set    pindirs, 0 ; For input
+    0xe080,
+//   wait   0 pin, 0   ; Wait for first low to start
+    0x2020,
+//   irq wait 0        ; set IRQ 0 and wait
+    0xc020,
+//   .bitloop
+//   in    pins, 1 [1] ; sample every 3 cycles (2 instructions, 1 delay)
+    0x4101,
+//   jmp bitloop
+    0x0003,
+};
+
+void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
+        const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) {
+
+    self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false);
+    if (self->buffer == NULL) {
+        mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"), maxlen * sizeof(uint16_t));
+    }
+    self->pin = pin->number;
+    self->maxlen = maxlen;
+    self->idle_state = idle_state;
+    self->start = 0;
+    self->len = 0;
+    save_self = self;
+
+    // Set everything up.
+    rp2pio_statemachine_obj_t state_machine;
+
+    bool ok = rp2pio_statemachine_construct(&state_machine,
+        pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]),
+        125000 * 4,
+        NULL, 0,
+        NULL, 0,
+        pin, 1,
+        NULL, 0,
+        NULL, 0,
+        1 << self->pin, false, true,
+        false, 8, false, // TX, unused
+        true, 32, true, // RX iauto-push every 32 bits
+        false); // claim pins
+    self->pio = state_machine.pio;
+    self->sm = state_machine.state_machine;
+    self->sm_cfg = state_machine.sm_config;
+    self->offset = state_machine.offset;
+    if ( self->pio == pio0 ) {
+       self->pio_interrupt = PIO0_IRQ_0;
+    } else {
+       self->pio_interrupt = PIO1_IRQ_0;
+    }
+
+    pio_sm_set_in_pins(self->pio,self->sm,pin->number);
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
+    irq_set_enabled(self->pio_interrupt, true);
+    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
+    hw_set_bits(&self->pio->inte0, 1u << (self->sm+8));
+    pio_sm_set_enabled(self->pio, self->sm, true);
+
+}
+
+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;
+    }
+    irq_set_enabled(self->pio_interrupt, false);
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_unclaim (self->pio, self->sm);
+    m_free(self->buffer);
+    self->pin = NO_PIN;
+}
+
+void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
+    pio_sm_set_enabled(self->pio, self->sm, false);
+}
+
+void common_hal_pulseio_pulsein_interrupt() {
+
+    pulseio_pulsein_obj_t* self = save_self;
+// clear interrupt
+    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
+    self->pio->irq = 1u << self->sm;
+    irq_clear(self->pio_interrupt);
+    pio_sm_clear_fifos(self->pio,self->sm);
+    bool last_level = true;
+    uint level_count = 0;
+    uint16_t result = 0;
+    uint16_t buf_index = 0;
+    while ( buf_index < self->maxlen ) {
+       uint32_t rxfifo = 0;
+       rxfifo = pio_sm_get_blocking(self->pio, self->sm);
+       // translate from fifo to buffer
+       for (uint i = 0; i < 32; i++) {
+       bool level = (rxfifo & (1 << i)) >> i;
+       if (level == last_level ) {
+            level_count ++;
+        } else {
+           result = level_count * 6;
+           last_level = level;
+           level_count = 1;
+           // ignore pulses that are too long and too short
+           if (result < 10000 && result > 10) {
+            self->buffer[buf_index] = result;
+            buf_index++;
+            self->len++;
+            }
+           }
+         }
+         // check for a pulse thats too long (20ms)
+            if ( level_count > 3000 ) {
+               break;
+            }
+    }
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_init(self->pio, self->sm, self->offset, &self->sm_cfg);
+    pio_sm_restart(self->pio,self->sm);
+    pio_sm_set_enabled(self->pio, self->sm, true);
+    irq_set_enabled(self->pio_interrupt, true);
+}
+void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
+        uint16_t trigger_duration) {
+    // Send the trigger pulse.
+    if (trigger_duration > 0) {
+        gpio_set_function(self->pin ,GPIO_FUNC_SIO);
+        gpio_set_dir(self->pin,true);
+        gpio_put(self->pin, false);
+        common_hal_mcu_delay_us((uint32_t)trigger_duration);
+        gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
+    }
+
+    // Reconfigure the pin for PIO
+   common_hal_mcu_delay_us(100);
+    gpio_set_function(self->pin, GPIO_FUNC_PIO0);
+    pio_sm_set_enabled(self->pio, self->sm, true);
+    pio_sm_exec(self->pio,self->sm,0x20a0);
+}
+
+void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
+    self->start = 0;
+    self->len = 0;
+}
+
+uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
+    if (self->len == 0) {
+        mp_raise_IndexError_varg(translate("pop from empty %q"), MP_QSTR_PulseIn);
+    }
+    uint16_t value = self->buffer[self->start];
+    self->start = (self->start + 1) % self->maxlen;
+    self->len--;
+    if (self->len == 0 ) {
+    // reset buffer pointer
+         self->start = 0;
+    }
+    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;
+}
+
+bool common_hal_pulseio_pulsein_get_paused(pulseio_pulsein_obj_t* self) {
+    return true;
+}
+
+uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
+        int16_t index) {
+    if (index < 0) {
+        index += self->len;
+    }
+    if (index < 0 || index >= self->len) {
+        mp_raise_IndexError_varg(translate("%q index out of range"), MP_QSTR_PulseIn);
+    }
+    uint16_t value = self->buffer[(self->start + index) % self->maxlen];
+    return value;
+}
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
new file mode 100644
index 0000000000..35f7309eef
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -0,0 +1,53 @@
+/*
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
+#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
+
+#include "common-hal/microcontroller/Pin.h"
+#include "src/rp2_common/hardware_pio/include/hardware/pio.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t pin;
+    uint16_t* buffer;
+    uint16_t maxlen;
+    bool idle_state;
+    volatile uint16_t start;
+    volatile uint16_t len;
+    pio_sm_config sm_cfg;
+    PIO pio;
+    uint8_t sm;
+    uint8_t offset;
+    uint16_t pio_interrupt;
+} pulseio_pulsein_obj_t;
+
+void pulsein_reset(void);
+void common_hal_pulseio_pulsein_interrupt();
+
+#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.c b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
new file mode 100644
index 0000000000..57c516afd0
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
@@ -0,0 +1,97 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * SPDX-FileCopyrightText: Copyright (c) 2016 Damien P. George
+ *
+ * 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/PulseOut.h"
+
+#include <stdint.h>
+
+#include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
+
+#include "mpconfigport.h"
+#include "py/gc.h"
+#include "py/runtime.h"
+#include "shared-bindings/pulseio/PulseOut.h"
+#include "supervisor/shared/translate.h"
+
+static uint8_t refcount = 0;
+
+
+static uint16_t *pulse_buffer = NULL;
+static volatile uint16_t pulse_index = 0;
+static uint16_t pulse_length;
+static volatile uint32_t current_compare = 0;
+
+void pulse_finish(void) {
+    pulse_index++;
+
+    // Always turn it off.
+    if (pulse_index >= pulse_length) {
+        return;
+    }
+    current_compare = (current_compare + pulse_buffer[pulse_index] * 3 / 4) & 0xffff;
+}
+
+void pulseout_reset() {
+    refcount = 0;
+}
+
+void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self,
+                                            const pwmio_pwmout_obj_t* carrier,
+                                            const mcu_pin_obj_t* pin,
+                                            uint32_t frequency,
+                                            uint16_t duty_cycle) {
+    if (!carrier || pin || frequency) {
+        mp_raise_NotImplementedError(translate("Port does not accept pins or frequency. Construct and pass a PWMOut Carrier instead"));
+    }
+
+    refcount++;
+
+    self->pin = carrier->pin->number;
+
+}
+
+bool common_hal_pulseio_pulseout_deinited(pulseio_pulseout_obj_t* self) {
+    return self->pin == NO_PIN;
+}
+
+void common_hal_pulseio_pulseout_deinit(pulseio_pulseout_obj_t* self) {
+    if (common_hal_pulseio_pulseout_deinited(self)) {
+        return;
+    }
+
+
+    refcount--;
+    self->pin = NO_PIN;
+}
+
+void common_hal_pulseio_pulseout_send(pulseio_pulseout_obj_t* self, uint16_t* pulses, uint16_t length) {
+    pulse_buffer = pulses;
+    pulse_index = 0;
+    pulse_length = length;
+
+    current_compare = pulses[0] * 3 / 4;
+
+}
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.h b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
new file mode 100644
index 0000000000..e3f17e2d66
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
@@ -0,0 +1,44 @@
+/*
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H
+#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H
+
+#include "common-hal/microcontroller/Pin.h"
+
+#include "py/obj.h"
+
+#define NO_PIN 0xff
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t pin;
+} pulseio_pulseout_obj_t;
+
+void pulseout_reset(void);
+void pulseout_interrupt_handler(uint8_t index);
+
+#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H
diff --git a/ports/raspberrypi/common-hal/pulseio/__init__.c b/ports/raspberrypi/common-hal/pulseio/__init__.c
new file mode 100644
index 0000000000..2bee925bc7
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/__init__.c
@@ -0,0 +1 @@
+// No pulseio module functions.
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
index 90c48130e1..da85748a9d 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
@@ -193,6 +193,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     if (program_offset == 32) {
         program_offset = pio_add_program(self->pio, &program_struct);
     }
+    self->offset = program_offset;
     _current_program_id[pio_index][state_machine] = program_id;
     _current_program_len[pio_index][state_machine] = program_len;
     _current_program_offset[pio_index][state_machine] = program_offset;
@@ -262,6 +263,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     self->in_shift_right = in_shift_right;
 
     sm_config_set_fifo_join(&c, join);
+    self->sm_config = c;
 
     pio_sm_init(self->pio, self->state_machine, program_offset, &c);
     pio_sm_set_enabled(self->pio, self->state_machine, true);
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
index 6b70b6b5b5..289e91b7d7 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
@@ -43,6 +43,8 @@ typedef struct {
     bool out_shift_right;
     bool in_shift_right;
     uint32_t actual_frequency;
+    pio_sm_config sm_config;
+    uint8_t offset;
 } rp2pio_statemachine_obj_t;
 
 void reset_rp2pio_statemachine(void);
diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index ab85c59f9a..6f411387f5 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -26,13 +26,13 @@ endif
 CIRCUITPY_FULL_BUILD = 1
 CIRCUITPY_BITOPS = 1
 CIRCUITPY_PWMIO = 1
+CIRCUITPY_PULSEIO = 1
 
 # Things that need to be implemented.
 CIRCUITPY_COUNTIO = 0  # Use PWM interally
 CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_NVM = 0
-CIRCUITPY_PULSEIO = 0 # Use PIO interally
 CIRCUITPY_ROTARYIO = 0 # Use PIO interally
 CIRCUITPY_WATCHDOG = 1
 

From 17ff5dcc9934e6ed442bfa4d6cac2a435093e4aa Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Wed, 24 Feb 2021 17:04:05 -0600
Subject: [PATCH 02/21] Return NotImplementedError for PulseOut

---
 ports/raspberrypi/common-hal/pulseio/PulseOut.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.c b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
index 57c516afd0..f3f7121434 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseOut.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
@@ -63,9 +63,7 @@ void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self,
                                             const mcu_pin_obj_t* pin,
                                             uint32_t frequency,
                                             uint16_t duty_cycle) {
-    if (!carrier || pin || frequency) {
-        mp_raise_NotImplementedError(translate("Port does not accept pins or frequency. Construct and pass a PWMOut Carrier instead"));
-    }
+        mp_raise_NotImplementedError(translate("Unsupported operation"));
 
     refcount++;
 

From 86e60f5f351659bfff4ff2cce37df36dc74e8352 Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Wed, 24 Feb 2021 17:26:35 -0600
Subject: [PATCH 03/21] Clean up formatting

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 36 +++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index c642561c89..bee4398a2d 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -143,25 +143,25 @@ void common_hal_pulseio_pulsein_interrupt() {
        rxfifo = pio_sm_get_blocking(self->pio, self->sm);
        // translate from fifo to buffer
        for (uint i = 0; i < 32; i++) {
-       bool level = (rxfifo & (1 << i)) >> i;
-       if (level == last_level ) {
-            level_count ++;
-        } else {
-           result = level_count * 6;
-           last_level = level;
-           level_count = 1;
+           bool level = (rxfifo & (1 << i)) >> i;
+           if (level == last_level ) {
+             level_count ++;
+           } else {
+             result = level_count * 6;
+             last_level = level;
+             level_count = 1;
            // ignore pulses that are too long and too short
-           if (result < 10000 && result > 10) {
-            self->buffer[buf_index] = result;
-            buf_index++;
-            self->len++;
-            }
+             if (result < 10000 && result > 10) {
+               self->buffer[buf_index] = result;
+               buf_index++;
+               self->len++;
+             }
            }
-         }
-         // check for a pulse thats too long (20ms)
-            if ( level_count > 3000 ) {
-               break;
-            }
+       }
+       // check for a pulse thats too long (20ms)
+       if ( level_count > 3000 ) {
+            break;
+       }
     }
     pio_sm_set_enabled(self->pio, self->sm, false);
     pio_sm_init(self->pio, self->sm, self->offset, &self->sm_cfg);
@@ -181,7 +181,7 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     }
 
     // Reconfigure the pin for PIO
-   common_hal_mcu_delay_us(100);
+    common_hal_mcu_delay_us(100);
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
     pio_sm_set_enabled(self->pio, self->sm, true);
     pio_sm_exec(self->pio,self->sm,0x20a0);

From 79429321767492c79db4c6cce45d681261d78c66 Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Fri, 26 Feb 2021 14:14:55 -0600
Subject: [PATCH 04/21] Requested changes

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 59 ++++++++++---------
 .../raspberrypi/common-hal/pulseio/PulseIn.h  |  8 +--
 .../raspberrypi/common-hal/pulseio/PulseOut.h |  2 +-
 3 files changed, 34 insertions(+), 35 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index bee4398a2d..8841cb9266 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017-2018 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2017-2021 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
@@ -45,8 +45,6 @@ pulseio_pulsein_obj_t* save_self;
 #define NO_PIN 0xff
 
 const uint16_t pulsein_program[] = {
-//   set    pindirs, 0 ; For input
-    0xe080,
 //   wait   0 pin, 0   ; Wait for first low to start
     0x2020,
 //   irq wait 0        ; set IRQ 0 and wait
@@ -55,7 +53,7 @@ const uint16_t pulsein_program[] = {
 //   in    pins, 1 [1] ; sample every 3 cycles (2 instructions, 1 delay)
     0x4101,
 //   jmp bitloop
-    0x0003,
+    0x0002,
 };
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
@@ -85,25 +83,27 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         NULL, 0,
         1 << self->pin, false, true,
         false, 8, false, // TX, unused
-        true, 32, true, // RX iauto-push every 32 bits
+        true, 32, true, // RX auto-push every 32 bits
         false); // claim pins
-    self->pio = state_machine.pio;
-    self->sm = state_machine.state_machine;
-    self->sm_cfg = state_machine.sm_config;
-    self->offset = state_machine.offset;
-    if ( self->pio == pio0 ) {
+    self->state_machine.pio = state_machine.pio;
+    self->state_machine.state_machine = state_machine.state_machine;
+    self->state_machine.sm_config = state_machine.sm_config;
+    self->state_machine.offset = state_machine.offset;
+    if ( self->state_machine.pio == pio0 ) {
        self->pio_interrupt = PIO0_IRQ_0;
     } else {
        self->pio_interrupt = PIO1_IRQ_0;
     }
 
-    pio_sm_set_in_pins(self->pio,self->sm,pin->number);
-    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_set_in_pins(self->state_machine.pio,self->state_machine.state_machine,pin->number);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
     irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
     irq_set_enabled(self->pio_interrupt, true);
-    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
-    hw_set_bits(&self->pio->inte0, 1u << (self->sm+8));
-    pio_sm_set_enabled(self->pio, self->sm, true);
+    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
+    hw_set_bits(&self->state_machine.pio->inte0, 1u << (self->state_machine.state_machine+8));
+    // exec a set pindirs to 0 for input
+    pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0xe080);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
 
 }
 
@@ -116,31 +116,31 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
         return;
     }
     irq_set_enabled(self->pio_interrupt, false);
-    pio_sm_set_enabled(self->pio, self->sm, false);
-    pio_sm_unclaim (self->pio, self->sm);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+    pio_sm_unclaim (self->state_machine.pio, self->state_machine.state_machine);
     m_free(self->buffer);
     self->pin = NO_PIN;
 }
 
 void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
-    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
 }
 
 void common_hal_pulseio_pulsein_interrupt() {
 
     pulseio_pulsein_obj_t* self = save_self;
 // clear interrupt
-    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
-    self->pio->irq = 1u << self->sm;
+    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
+    self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
     irq_clear(self->pio_interrupt);
-    pio_sm_clear_fifos(self->pio,self->sm);
+    pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
     bool last_level = true;
     uint level_count = 0;
     uint16_t result = 0;
     uint16_t buf_index = 0;
     while ( buf_index < self->maxlen ) {
        uint32_t rxfifo = 0;
-       rxfifo = pio_sm_get_blocking(self->pio, self->sm);
+       rxfifo = pio_sm_get_blocking(self->state_machine.pio, self->state_machine.state_machine);
        // translate from fifo to buffer
        for (uint i = 0; i < 32; i++) {
            bool level = (rxfifo & (1 << i)) >> i;
@@ -163,10 +163,10 @@ void common_hal_pulseio_pulsein_interrupt() {
             break;
        }
     }
-    pio_sm_set_enabled(self->pio, self->sm, false);
-    pio_sm_init(self->pio, self->sm, self->offset, &self->sm_cfg);
-    pio_sm_restart(self->pio,self->sm);
-    pio_sm_set_enabled(self->pio, self->sm, true);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+    pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
+    pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
     irq_set_enabled(self->pio_interrupt, true);
 }
 void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
@@ -175,7 +175,7 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     if (trigger_duration > 0) {
         gpio_set_function(self->pin ,GPIO_FUNC_SIO);
         gpio_set_dir(self->pin,true);
-        gpio_put(self->pin, false);
+        gpio_put(self->pin, !self->idle_state);
         common_hal_mcu_delay_us((uint32_t)trigger_duration);
         gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
     }
@@ -183,8 +183,9 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     // Reconfigure the pin for PIO
     common_hal_mcu_delay_us(100);
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
-    pio_sm_set_enabled(self->pio, self->sm, true);
-    pio_sm_exec(self->pio,self->sm,0x20a0);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+    // exec a wait for the selected pin to go high
+    pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
 }
 
 void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
index 35f7309eef..6be13ebb1c 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2017-2021 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
@@ -29,6 +29,7 @@
 
 #include "common-hal/microcontroller/Pin.h"
 #include "src/rp2_common/hardware_pio/include/hardware/pio.h"
+#include "common-hal/rp2pio/StateMachine.h"
 
 #include "py/obj.h"
 
@@ -40,10 +41,7 @@ typedef struct {
     bool idle_state;
     volatile uint16_t start;
     volatile uint16_t len;
-    pio_sm_config sm_cfg;
-    PIO pio;
-    uint8_t sm;
-    uint8_t offset;
+    rp2pio_statemachine_obj_t state_machine;
     uint16_t pio_interrupt;
 } pulseio_pulsein_obj_t;
 
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.h b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
index e3f17e2d66..10c1a1756e 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseOut.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2017-2021 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

From 6046d37f31c85ab90e3073c3a9ba5ec185082667 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 2 Mar 2021 21:23:45 -0600
Subject: [PATCH 05/21] Update PulseIn.c

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 8841cb9266..cd466dd93d 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -81,6 +81,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         pin, 1,
         NULL, 0,
         NULL, 0,
+        1, self->pin,
         1 << self->pin, false, true,
         false, 8, false, // TX, unused
         true, 32, true, // RX auto-push every 32 bits

From 58fb7b9b327fa2532a123df9660669a0385f0b30 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 2 Mar 2021 21:27:46 -0600
Subject: [PATCH 06/21] Update mpconfigport.mk to get builds working

---
 ports/raspberrypi/mpconfigport.mk | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index 6f411387f5..63a58b5a17 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -26,6 +26,8 @@ endif
 CIRCUITPY_FULL_BUILD = 1
 CIRCUITPY_BITOPS = 1
 CIRCUITPY_PWMIO = 1
+
+
 CIRCUITPY_PULSEIO = 1
 
 # Things that need to be implemented.

From 30d491e136b0606ca6e38dd84869aab1e7f2f44f Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 2 Mar 2021 21:30:49 -0600
Subject: [PATCH 07/21] Update mpconfigport.mk

---
 ports/raspberrypi/mpconfigport.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index 63a58b5a17..f0ed852c00 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -34,7 +34,7 @@ CIRCUITPY_PULSEIO = 1
 CIRCUITPY_COUNTIO = 0  # Use PWM interally
 CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
 CIRCUITPY_I2CPERIPHERAL = 0
-CIRCUITPY_NVM = 0
+CIRCUITPY_NVM = 1
 CIRCUITPY_ROTARYIO = 0 # Use PIO interally
 CIRCUITPY_WATCHDOG = 1
 

From 9b96bae66883f10895506e8917639936495ed9b8 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 2 Mar 2021 21:36:00 -0600
Subject: [PATCH 08/21] Update mpconfigport.mk

---
 ports/raspberrypi/mpconfigport.mk | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index f0ed852c00..78aab307f1 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -27,14 +27,12 @@ CIRCUITPY_FULL_BUILD = 1
 CIRCUITPY_BITOPS = 1
 CIRCUITPY_PWMIO = 1
 
-
-CIRCUITPY_PULSEIO = 1
-
 # Things that need to be implemented.
 CIRCUITPY_COUNTIO = 0  # Use PWM interally
 CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_NVM = 1
+CIRCUITPY_PULSEIO = 1 # Use PIO interally
 CIRCUITPY_ROTARYIO = 0 # Use PIO interally
 CIRCUITPY_WATCHDOG = 1
 

From ced707ed329e83749d3474ea6f391f03f5bd1bdf Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Wed, 3 Mar 2021 10:55:08 -0600
Subject: [PATCH 09/21] Update call to rp2pio_statemachine_construct

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index cd466dd93d..ea0d24f869 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -84,6 +84,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         1, self->pin,
         1 << self->pin, false, true,
         false, 8, false, // TX, unused
+        false,
         true, 32, true, // RX auto-push every 32 bits
         false); // claim pins
     self->state_machine.pio = state_machine.pio;

From 88353f2f5bbe86879bd38f89dc73f3317ce288af Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Wed, 3 Mar 2021 11:00:58 -0600
Subject: [PATCH 10/21] Update mpconfigport.mk

---
 ports/raspberrypi/mpconfigport.mk | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index 78aab307f1..8bf31208f9 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -32,7 +32,7 @@ CIRCUITPY_COUNTIO = 0  # Use PWM interally
 CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_NVM = 1
-CIRCUITPY_PULSEIO = 1 # Use PIO interally
+CIRCUITPY_PULSEIO = 1
 CIRCUITPY_ROTARYIO = 0 # Use PIO interally
 CIRCUITPY_WATCHDOG = 1
 

From 2d941b070f348ef2f104825c7c6db9b22da49e83 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Thu, 4 Mar 2021 13:51:46 -0600
Subject: [PATCH 11/21] Changed interrupt to per-word basis; cleaned up other
 small items

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 124 ++++++++++--------
 .../raspberrypi/common-hal/pulseio/PulseIn.h  |   2 +-
 2 files changed, 67 insertions(+), 59 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index ea0d24f869..7053b55248 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017-2021 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2021 Dave Putz 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
@@ -29,9 +29,6 @@
 
 #include <stdint.h>
 
-#include "background.h"
-#include "mpconfigport.h"
-#include "py/gc.h"
 #include "py/runtime.h"
 #include "shared-bindings/microcontroller/__init__.h"
 #include "shared-bindings/pulseio/PulseIn.h"
@@ -43,17 +40,19 @@
 pulseio_pulsein_obj_t* save_self;
 
 #define NO_PIN 0xff
+volatile bool last_level;
+volatile uint16_t level_count = 0;
+volatile uint16_t result = 0;
+volatile uint16_t buf_index = 0;
 
-const uint16_t pulsein_program[] = {
-//   wait   0 pin, 0   ; Wait for first low to start
-    0x2020,
-//   irq wait 0        ; set IRQ 0 and wait
-    0xc020,
-//   .bitloop
-//   in    pins, 1 [1] ; sample every 3 cycles (2 instructions, 1 delay)
-    0x4101,
-//   jmp bitloop
-    0x0002,
+uint16_t pulsein_program[] = {
+    0x2020, //  0: wait   0 pin, 0
+    0xe03f, //  1: set    x, 31
+    0x4001, //  2: in     pins, 1
+    0x0042, //  3: jmp    x--, 2
+    0x8060, //  4: push   iffull block
+    0xc020, //  5: irq    wait 0
+    0x0001, //  6: jmp    1
 };
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
@@ -69,19 +68,23 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     self->start = 0;
     self->len = 0;
     save_self = self;
+    // change initial state machine wait if idle_state is false
+    if (idle_state == false) {
+       pulsein_program[0] = 0x20a0;
+    }
 
     // Set everything up.
     rp2pio_statemachine_obj_t state_machine;
 
     bool ok = rp2pio_statemachine_construct(&state_machine,
         pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]),
-        125000 * 4,
+        1000000 * 3,
         NULL, 0,
         NULL, 0,
         pin, 1,
         NULL, 0,
         NULL, 0,
-        1, self->pin,
+        1, 0,
         1 << self->pin, false, true,
         false, 8, false, // TX, unused
         false,
@@ -96,17 +99,22 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     } else {
        self->pio_interrupt = PIO1_IRQ_0;
     }
+    pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
+    last_level = self->idle_state;
+    level_count = 0;
+    result = 0;
+    buf_index = 0;
 
-    pio_sm_set_in_pins(self->state_machine.pio,self->state_machine.state_machine,pin->number);
-    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+    pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number);
+    pio_sm_set_enabled(state_machine.pio,state_machine.state_machine, false);
     irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
-    irq_set_enabled(self->pio_interrupt, true);
-    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
-    hw_set_bits(&self->state_machine.pio->inte0, 1u << (self->state_machine.state_machine+8));
-    // exec a set pindirs to 0 for input
-    pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0xe080);
-    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+    hw_clear_bits(&state_machine.pio->inte0, 1u << state_machine.state_machine);
+    hw_set_bits(&state_machine.pio->inte0, 1u << (state_machine.state_machine+8));
 
+    // exec a set pindirs to 0 for input
+    pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
+    irq_set_enabled(self->pio_interrupt, true);
+    pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true);
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@@ -131,48 +139,48 @@ void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
 void common_hal_pulseio_pulsein_interrupt() {
 
     pulseio_pulsein_obj_t* self = save_self;
-// clear interrupt
-    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
-    self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
-    irq_clear(self->pio_interrupt);
-    pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
-    bool last_level = true;
-    uint level_count = 0;
-    uint16_t result = 0;
-    uint16_t buf_index = 0;
-    while ( buf_index < self->maxlen ) {
-       uint32_t rxfifo = 0;
-       rxfifo = pio_sm_get_blocking(self->state_machine.pio, self->state_machine.state_machine);
-       // translate from fifo to buffer
-       for (uint i = 0; i < 32; i++) {
-           bool level = (rxfifo & (1 << i)) >> i;
-           if (level == last_level ) {
-             level_count ++;
-           } else {
-             result = level_count * 6;
-             last_level = level;
-             level_count = 1;
+    uint32_t rxfifo = 0;
+
+    rxfifo = pio_sm_get_blocking(self->state_machine.pio, self->state_machine.state_machine);
+    // translate from fifo to buffer
+    for (uint i = 0; i < 32; i++) {
+        bool level = (rxfifo & (1 << i)) >> i;
+        if (level == last_level ) {
+            level_count ++;
+        } else {
+           result = level_count;
+           last_level = level;
+           level_count = 1;
            // ignore pulses that are too long and too short
-             if (result < 10000 && result > 10) {
+           if (result < 2000 && result > 10) {
                self->buffer[buf_index] = result;
                buf_index++;
                self->len++;
              }
            }
        }
-       // check for a pulse thats too long (20ms)
-       if ( level_count > 3000 ) {
-            break;
-       }
+        gpio_put(pin_GPIO15.number, true);
+// clear interrupt
+    irq_clear(self->pio_interrupt);
+    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
+    self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
+// check for a pulse thats too long (2000 us) and reset
+    if ( level_count > 2000 ) {
+       pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+       pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
+       pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
+       pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+       irq_set_enabled(self->pio_interrupt, true);
     }
-    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
-    pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
-    pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
-    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
-    irq_set_enabled(self->pio_interrupt, true);
 }
 void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
         uint16_t trigger_duration) {
+    // exec a wait for the selected pin to change state
+    if (self->idle_state == true ) {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
+    } else {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
+    }
     // Send the trigger pulse.
     if (trigger_duration > 0) {
         gpio_set_function(self->pin ,GPIO_FUNC_SIO);
@@ -186,8 +194,6 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     common_hal_mcu_delay_us(100);
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
-    // exec a wait for the selected pin to go high
-    pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
 }
 
 void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
@@ -202,9 +208,11 @@ uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
     uint16_t value = self->buffer[self->start];
     self->start = (self->start + 1) % self->maxlen;
     self->len--;
+    // if we are empty reset buffer pointer and counters
     if (self->len == 0 ) {
-    // reset buffer pointer
          self->start = 0;
+         buf_index = 0;
+         level_count = 0;
     }
     return value;
 }
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
index 6be13ebb1c..e99e1ff822 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017-2021 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2021 Dave Putz 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

From b7f03f9487608c413d30aaa43446afad0df3ad51 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Thu, 4 Mar 2021 13:52:40 -0600
Subject: [PATCH 12/21] Update PulseOut.h

---
 ports/raspberrypi/common-hal/pulseio/PulseOut.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.h b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
index 10c1a1756e..4f1bb9fa7a 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseOut.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017-2021 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2021 Dave Putz 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

From c5c297d2c06dbeb1754ea6aeb595c13ef41ad3eb Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Thu, 4 Mar 2021 13:53:19 -0600
Subject: [PATCH 13/21] Update PulseOut.c

---
 ports/raspberrypi/common-hal/pulseio/PulseOut.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.c b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
index f3f7121434..e284cd46a2 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseOut.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * SPDX-FileCopyrightText: Copyright (c) 2016 Damien P. George
+ * Copyright (c) 2021 Dave Putz 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

From 88650bc4d04e8fd7da7760aca1530a4f5eec10d7 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Mon, 8 Mar 2021 22:48:57 -0600
Subject: [PATCH 14/21] Removed leftover debug code

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 7053b55248..79d8e7ee5b 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -1,4 +1,4 @@
-/*
+b/*
  * This file is part of the MicroPython project, http://micropython.org/
  *
  * The MIT License (MIT)

From 3db0fec267902cddb4d88aaca55e7ae7f59dc9a8 Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Mon, 8 Mar 2021 23:20:57 -0600
Subject: [PATCH 15/21] Added check for maxlen

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 7053b55248..b9052f3c60 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -152,20 +152,19 @@ void common_hal_pulseio_pulsein_interrupt() {
            last_level = level;
            level_count = 1;
            // ignore pulses that are too long and too short
-           if (result < 2000 && result > 10) {
+           if (result < 4000 && result > 10) {
                self->buffer[buf_index] = result;
                buf_index++;
                self->len++;
              }
            }
        }
-        gpio_put(pin_GPIO15.number, true);
 // clear interrupt
     irq_clear(self->pio_interrupt);
     hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
     self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
-// check for a pulse thats too long (2000 us) and reset
-    if ( level_count > 2000 ) {
+// check for a pulse thats too long (2000 us) or maxlen reached,  and reset
+    if (( level_count > 4000 ) || (buf_index >= self->maxlen)) {
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
        pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
        pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);

From 576da73a17bd6847e93efcf4260a787813ccdf45 Mon Sep 17 00:00:00 2001
From: root <siehputz@gmail.com>
Date: Mon, 8 Mar 2021 23:23:51 -0600
Subject: [PATCH 16/21] Added check for maxlen

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index fb05876b95..6377fa7a9c 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -1,4 +1,4 @@
-b/*
+/*
  * This file is part of the MicroPython project, http://micropython.org/
  *
  * The MIT License (MIT)
@@ -163,7 +163,7 @@ void common_hal_pulseio_pulsein_interrupt() {
     irq_clear(self->pio_interrupt);
     hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
     self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
-// check for a pulse thats too long (2000 us) or maxlen reached,  and reset
+// check for a pulse thats too long (4000 us) or maxlen reached,  and reset
     if (( level_count > 4000 ) || (buf_index >= self->maxlen)) {
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
        pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);

From f0e3274a33f8fa7dd109925d185c1c1dc758f63e Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 9 Mar 2021 11:13:09 -0600
Subject: [PATCH 17/21] Update to agree with modified StateMachine.h

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 6377fa7a9c..1b433d79c3 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -82,6 +82,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         NULL, 0,
         NULL, 0,
         pin, 1,
+        0,0,
         NULL, 0,
         NULL, 0,
         1, 0,

From 0c58cc47726bb8ca0b43af81263382a2a6fffef4 Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 9 Mar 2021 16:37:29 -0600
Subject: [PATCH 18/21] Moved pin wait to an initial exec

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 33 ++++++++++---------
 1 file changed, 17 insertions(+), 16 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 1b433d79c3..0013aece49 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -46,13 +46,12 @@ volatile uint16_t result = 0;
 volatile uint16_t buf_index = 0;
 
 uint16_t pulsein_program[] = {
-    0x2020, //  0: wait   0 pin, 0
-    0xe03f, //  1: set    x, 31
-    0x4001, //  2: in     pins, 1
-    0x0042, //  3: jmp    x--, 2
-    0x8060, //  4: push   iffull block
-    0xc020, //  5: irq    wait 0
-    0x0001, //  6: jmp    1
+    0xe03f, //  0: set    x, 31
+    0x4001, //  1: in     pins, 1
+    0x0041, //  2: jmp    x--, 2
+    0x8060, //  3: push   iffull block
+    0xc020, //  4: irq    wait 0
+    0x0000, //  5: jmp    1
 };
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
@@ -68,10 +67,6 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     self->start = 0;
     self->len = 0;
     save_self = self;
-    // change initial state machine wait if idle_state is false
-    if (idle_state == false) {
-       pulsein_program[0] = 0x20a0;
-    }
 
     // Set everything up.
     rp2pio_statemachine_obj_t state_machine;
@@ -91,6 +86,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         false,
         true, 32, true, // RX auto-push every 32 bits
         false); // claim pins
+    pio_sm_set_enabled(state_machine.pio,state_machine.state_machine, false);
     self->state_machine.pio = state_machine.pio;
     self->state_machine.state_machine = state_machine.state_machine;
     self->state_machine.sm_config = state_machine.sm_config;
@@ -107,15 +103,20 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     buf_index = 0;
 
     pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number);
-    pio_sm_set_enabled(state_machine.pio,state_machine.state_machine, false);
     irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
     hw_clear_bits(&state_machine.pio->inte0, 1u << state_machine.state_machine);
     hw_set_bits(&state_machine.pio->inte0, 1u << (state_machine.state_machine+8));
 
     // exec a set pindirs to 0 for input
     pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
-    irq_set_enabled(self->pio_interrupt, true);
+    //exec the appropriate wait for pin 
+    if (self->idle_state == true ) {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
+    } else {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
+    }
     pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true);
+    irq_set_enabled(self->pio_interrupt, true);
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@@ -177,9 +178,9 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
         uint16_t trigger_duration) {
     // exec a wait for the selected pin to change state
     if (self->idle_state == true ) {
-       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
-    } else {
        pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
+    } else {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
     }
     // Send the trigger pulse.
     if (trigger_duration > 0) {
@@ -191,7 +192,7 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     }
 
     // Reconfigure the pin for PIO
-    common_hal_mcu_delay_us(100);
+    common_hal_mcu_delay_us(200);
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
 }

From a3c3e8a0fa5e06910747f1a95a12b899562a618d Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Tue, 9 Mar 2021 22:41:08 -0600
Subject: [PATCH 19/21] fix trailing whitespace

---
 ports/raspberrypi/common-hal/pulseio/PulseIn.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 0013aece49..8ddeab9308 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -109,7 +109,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
 
     // exec a set pindirs to 0 for input
     pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
-    //exec the appropriate wait for pin 
+    //exec the appropriate wait for pin
     if (self->idle_state == true ) {
        pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
     } else {

From 6628f49852a4963cb2aeaa08fa281eb0e994415e Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Fri, 12 Mar 2021 16:06:57 -0600
Subject: [PATCH 20/21] Use StateMachine.c interrupt setup and simplify SM
 program

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 37 +++++++++++++++++++
 .../raspberrypi/common-hal/pulseio/PulseIn.h  |  3 ++
 2 files changed, 40 insertions(+)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 8ddeab9308..1a30373fcc 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -25,7 +25,10 @@
  */
 
 #include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
+<<<<<<< HEAD
+=======
 #include "src/rp2_common/hardware_irq/include/hardware/irq.h"
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 
 #include <stdint.h>
 
@@ -46,12 +49,16 @@ volatile uint16_t result = 0;
 volatile uint16_t buf_index = 0;
 
 uint16_t pulsein_program[] = {
+<<<<<<< HEAD
+    0x4001, //  1: in     pins, 1
+=======
     0xe03f, //  0: set    x, 31
     0x4001, //  1: in     pins, 1
     0x0041, //  2: jmp    x--, 2
     0x8060, //  3: push   iffull block
     0xc020, //  4: irq    wait 0
     0x0000, //  5: jmp    1
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 };
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
@@ -73,7 +80,11 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
 
     bool ok = rp2pio_statemachine_construct(&state_machine,
         pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]),
+<<<<<<< HEAD
+        1000000,
+=======
         1000000 * 3,
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
         NULL, 0,
         NULL, 0,
         pin, 1,
@@ -91,11 +102,14 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     self->state_machine.state_machine = state_machine.state_machine;
     self->state_machine.sm_config = state_machine.sm_config;
     self->state_machine.offset = state_machine.offset;
+<<<<<<< HEAD
+=======
     if ( self->state_machine.pio == pio0 ) {
        self->pio_interrupt = PIO0_IRQ_0;
     } else {
        self->pio_interrupt = PIO1_IRQ_0;
     }
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
     last_level = self->idle_state;
     level_count = 0;
@@ -103,9 +117,13 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     buf_index = 0;
 
     pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number);
+<<<<<<< HEAD
+    common_hal_rp2pio_statemachine_set_interrupt_handler(&state_machine,&common_hal_pulseio_pulsein_interrupt,NULL,PIO_IRQ0_INTE_SM0_RXNEMPTY_BITS);
+=======
     irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
     hw_clear_bits(&state_machine.pio->inte0, 1u << state_machine.state_machine);
     hw_set_bits(&state_machine.pio->inte0, 1u << (state_machine.state_machine+8));
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 
     // exec a set pindirs to 0 for input
     pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
@@ -116,7 +134,10 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
        pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
     }
     pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true);
+<<<<<<< HEAD
+=======
     irq_set_enabled(self->pio_interrupt, true);
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@@ -127,7 +148,10 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
     if (common_hal_pulseio_pulsein_deinited(self)) {
         return;
     }
+<<<<<<< HEAD
+=======
     irq_set_enabled(self->pio_interrupt, false);
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
     pio_sm_unclaim (self->state_machine.pio, self->state_machine.state_machine);
     m_free(self->buffer);
@@ -161,17 +185,23 @@ void common_hal_pulseio_pulsein_interrupt() {
              }
            }
        }
+<<<<<<< HEAD
+=======
 // clear interrupt
     irq_clear(self->pio_interrupt);
     hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
     self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 // check for a pulse thats too long (4000 us) or maxlen reached,  and reset
     if (( level_count > 4000 ) || (buf_index >= self->maxlen)) {
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
        pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
        pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+<<<<<<< HEAD
+=======
        irq_set_enabled(self->pio_interrupt, true);
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     }
 }
 void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
@@ -189,10 +219,17 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
         gpio_put(self->pin, !self->idle_state);
         common_hal_mcu_delay_us((uint32_t)trigger_duration);
         gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
+<<<<<<< HEAD
+        common_hal_mcu_delay_us(225);
+    }
+
+    // Reconfigure the pin for PIO
+=======
     }
 
     // Reconfigure the pin for PIO
     common_hal_mcu_delay_us(200);
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
 }
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
index e99e1ff822..39199e5249 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -42,7 +42,10 @@ typedef struct {
     volatile uint16_t start;
     volatile uint16_t len;
     rp2pio_statemachine_obj_t state_machine;
+<<<<<<< HEAD
+=======
     uint16_t pio_interrupt;
+>>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 } pulseio_pulsein_obj_t;
 
 void pulsein_reset(void);

From 96ce43e6d6eaad1ef4d7ab455f594ed64169bc9d Mon Sep 17 00:00:00 2001
From: DavePutz <dwputz@gmail.com>
Date: Fri, 12 Mar 2021 16:18:33 -0600
Subject: [PATCH 21/21] Added the correct files

---
 .../raspberrypi/common-hal/pulseio/PulseIn.c  | 57 -------------------
 .../raspberrypi/common-hal/pulseio/PulseIn.h  |  4 --
 2 files changed, 61 deletions(-)

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
index 1a30373fcc..e05b35536c 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.c
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -25,10 +25,6 @@
  */
 
 #include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
-<<<<<<< HEAD
-=======
-#include "src/rp2_common/hardware_irq/include/hardware/irq.h"
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 
 #include <stdint.h>
 
@@ -49,16 +45,7 @@ volatile uint16_t result = 0;
 volatile uint16_t buf_index = 0;
 
 uint16_t pulsein_program[] = {
-<<<<<<< HEAD
     0x4001, //  1: in     pins, 1
-=======
-    0xe03f, //  0: set    x, 31
-    0x4001, //  1: in     pins, 1
-    0x0041, //  2: jmp    x--, 2
-    0x8060, //  3: push   iffull block
-    0xc020, //  4: irq    wait 0
-    0x0000, //  5: jmp    1
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 };
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
@@ -80,11 +67,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
 
     bool ok = rp2pio_statemachine_construct(&state_machine,
         pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]),
-<<<<<<< HEAD
         1000000,
-=======
-        1000000 * 3,
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
         NULL, 0,
         NULL, 0,
         pin, 1,
@@ -102,14 +85,6 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     self->state_machine.state_machine = state_machine.state_machine;
     self->state_machine.sm_config = state_machine.sm_config;
     self->state_machine.offset = state_machine.offset;
-<<<<<<< HEAD
-=======
-    if ( self->state_machine.pio == pio0 ) {
-       self->pio_interrupt = PIO0_IRQ_0;
-    } else {
-       self->pio_interrupt = PIO1_IRQ_0;
-    }
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
     last_level = self->idle_state;
     level_count = 0;
@@ -117,13 +92,7 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
     buf_index = 0;
 
     pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number);
-<<<<<<< HEAD
     common_hal_rp2pio_statemachine_set_interrupt_handler(&state_machine,&common_hal_pulseio_pulsein_interrupt,NULL,PIO_IRQ0_INTE_SM0_RXNEMPTY_BITS);
-=======
-    irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
-    hw_clear_bits(&state_machine.pio->inte0, 1u << state_machine.state_machine);
-    hw_set_bits(&state_machine.pio->inte0, 1u << (state_machine.state_machine+8));
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 
     // exec a set pindirs to 0 for input
     pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
@@ -134,10 +103,6 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
        pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
     }
     pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true);
-<<<<<<< HEAD
-=======
-    irq_set_enabled(self->pio_interrupt, true);
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@@ -148,10 +113,6 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
     if (common_hal_pulseio_pulsein_deinited(self)) {
         return;
     }
-<<<<<<< HEAD
-=======
-    irq_set_enabled(self->pio_interrupt, false);
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
     pio_sm_unclaim (self->state_machine.pio, self->state_machine.state_machine);
     m_free(self->buffer);
@@ -185,23 +146,12 @@ void common_hal_pulseio_pulsein_interrupt() {
              }
            }
        }
-<<<<<<< HEAD
-=======
-// clear interrupt
-    irq_clear(self->pio_interrupt);
-    hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine);
-    self->state_machine.pio->irq = 1u << self->state_machine.state_machine;
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 // check for a pulse thats too long (4000 us) or maxlen reached,  and reset
     if (( level_count > 4000 ) || (buf_index >= self->maxlen)) {
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
        pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
        pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
        pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
-<<<<<<< HEAD
-=======
-       irq_set_enabled(self->pio_interrupt, true);
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     }
 }
 void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
@@ -219,17 +169,10 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
         gpio_put(self->pin, !self->idle_state);
         common_hal_mcu_delay_us((uint32_t)trigger_duration);
         gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
-<<<<<<< HEAD
         common_hal_mcu_delay_us(225);
     }
 
     // Reconfigure the pin for PIO
-=======
-    }
-
-    // Reconfigure the pin for PIO
-    common_hal_mcu_delay_us(200);
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
     gpio_set_function(self->pin, GPIO_FUNC_PIO0);
     pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
 }
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
index 39199e5249..c83a86fca0 100644
--- a/ports/raspberrypi/common-hal/pulseio/PulseIn.h
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -42,10 +42,6 @@ typedef struct {
     volatile uint16_t start;
     volatile uint16_t len;
     rp2pio_statemachine_obj_t state_machine;
-<<<<<<< HEAD
-=======
-    uint16_t pio_interrupt;
->>>>>>> a3c3e8a0fa5e06910747f1a95a12b899562a618d
 } pulseio_pulsein_obj_t;
 
 void pulsein_reset(void);