diff --git a/ports/samd/mphalport.c b/ports/samd/mphalport.c index beade14a6e..e51f13ab7e 100644 --- a/ports/samd/mphalport.c +++ b/ports/samd/mphalport.c @@ -4,6 +4,7 @@ * The MIT License (MIT) * * Copyright (c) 2019 Damien P. George + * Copyright (c) 2022 Robert Hammelrath * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -27,10 +28,13 @@ #include "py/runtime.h" #include "py/mphal.h" #include "py/stream.h" +#include "shared/runtime/interrupt_char.h" +#include "extmod/misc.h" #include "samd_soc.h" #include "tusb.h" #if MICROPY_KBD_EXCEPTION +int mp_interrupt_char = -1; void tud_cdc_rx_wanted_cb(uint8_t itf, char wanted_char) { (void)itf; @@ -40,24 +44,47 @@ void tud_cdc_rx_wanted_cb(uint8_t itf, char wanted_char) { } void mp_hal_set_interrupt_char(int c) { + mp_interrupt_char = c; tud_cdc_set_wanted_char(c); } #endif +void mp_hal_set_pin_mux(mp_hal_pin_obj_t pin, uint8_t mux) { + int pin_grp = pin / 32; + int port_grp = (pin % 32) / 2; + PORT->Group[pin_grp].PINCFG[pin % 32].bit.PMUXEN = 1; // Enable Mux + if (pin & 1) { + PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXO = mux; + } else { + PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXE = mux; + } +} + + void mp_hal_delay_ms(mp_uint_t ms) { - ms += 1; - uint32_t t0 = systick_ms; - while (systick_ms - t0 < ms) { - MICROPY_EVENT_POLL_HOOK + if (ms > 10) { + uint32_t t0 = systick_ms; + while (systick_ms - t0 < ms) { + MICROPY_EVENT_POLL_HOOK + } + } else { + mp_hal_delay_us(ms * 1000); } } void mp_hal_delay_us(mp_uint_t us) { - uint32_t ms = us / 1000 + 1; - uint32_t t0 = systick_ms; - while (systick_ms - t0 < ms) { - __WFI(); + if (us > 0) { + uint32_t start = mp_hal_ticks_us(); + #if defined(MCU_SAMD21) + // SAMD21 counter has effective 32 bit width + while ((mp_hal_ticks_us() - start) < us) { + } + #elif defined(MCU_SAMD51) + // SAMD51 counter has effective 29 bit width + while (((mp_hal_ticks_us() - start) & (MICROPY_PY_UTIME_TICKS_PERIOD - 1)) < us) { + } + #endif } } @@ -78,7 +105,7 @@ int mp_hal_stdin_rx_chr(void) { return buf[0]; } } - __WFI(); + MICROPY_EVENT_POLL_HOOK } } @@ -90,7 +117,7 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) { n = CFG_TUD_CDC_EP_BUFSIZE; } while (n > tud_cdc_write_available()) { - __WFI(); + MICROPY_EVENT_POLL_HOOK } uint32_t n2 = tud_cdc_write(str + i, n); tud_cdc_write_flush(); diff --git a/ports/samd/mphalport.h b/ports/samd/mphalport.h index 2bbde4390e..b18aa2f9b4 100644 --- a/ports/samd/mphalport.h +++ b/ports/samd/mphalport.h @@ -4,6 +4,7 @@ * The MIT License (MIT) * * Copyright (c) 2019-2021 Damien P. George + * Copyright (c) 2022 Robert Hammelrath * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal @@ -27,25 +28,49 @@ #define MICROPY_INCLUDED_SAMD_MPHALPORT_H #include "py/mpconfig.h" -#include "py/ringbuf.h" // ASF4 #include "hal_gpio.h" +#include "hpl_time_measure.h" +#include "sam.h" extern int mp_interrupt_char; -extern ringbuf_t stdin_ringbuf; extern volatile uint32_t systick_ms; +extern volatile uint32_t systick_ms_upper; void mp_hal_set_interrupt_char(int c); +#define mp_hal_delay_us_fast mp_hal_delay_us + static inline mp_uint_t mp_hal_ticks_ms(void) { return systick_ms; } + static inline mp_uint_t mp_hal_ticks_us(void) { + #if defined(MCU_SAMD21) + + return REG_TC4_COUNT32_COUNT; + + #elif defined(MCU_SAMD51) + + TC0->COUNT32.CTRLBSET.reg = TC_CTRLBSET_CMD_READSYNC; + while (TC0->COUNT32.CTRLBSET.reg != 0) { + } + return REG_TC0_COUNT32_COUNT >> 3; + + #else return systick_ms * 1000; + #endif } + +// ticks_cpu is limited to a 1 ms period, since the CPU SysTick counter +// is used for the 1 ms SysTick_Handler interrupt. static inline mp_uint_t mp_hal_ticks_cpu(void) { - return 0; + return (system_time_t)SysTick->VAL; +} + +static inline uint64_t mp_hal_time_ns(void) { + return ((uint64_t)systick_ms + (uint64_t)systick_ms_upper * 0x100000000) * 1000000; } // C-level pin HAL @@ -55,9 +80,10 @@ static inline mp_uint_t mp_hal_ticks_cpu(void) { #define MP_HAL_PIN_FMT "%u" #define mp_hal_pin_obj_t uint -extern uint32_t machine_pin_open_drain_mask; +extern uint32_t machine_pin_open_drain_mask[]; mp_hal_pin_obj_t mp_hal_get_pin_obj(mp_obj_t pin_in); +void mp_hal_set_pin_mux(mp_hal_pin_obj_t pin, uint8_t mux); static inline unsigned int mp_hal_pin_name(mp_hal_pin_obj_t pin) { return pin; @@ -65,18 +91,22 @@ static inline unsigned int mp_hal_pin_name(mp_hal_pin_obj_t pin) { static inline void mp_hal_pin_input(mp_hal_pin_obj_t pin) { gpio_set_pin_direction(pin, GPIO_DIRECTION_IN); - machine_pin_open_drain_mask &= ~(1 << pin); + machine_pin_open_drain_mask[pin / 32] &= ~(1 << (pin % 32)); } static inline void mp_hal_pin_output(mp_hal_pin_obj_t pin) { gpio_set_pin_direction(pin, GPIO_DIRECTION_OUT); - machine_pin_open_drain_mask &= ~(1 << pin); + machine_pin_open_drain_mask[pin / 32] &= ~(1 << (pin % 32)); } static inline void mp_hal_pin_open_drain(mp_hal_pin_obj_t pin) { gpio_set_pin_direction(pin, GPIO_DIRECTION_IN); gpio_set_pin_level(pin, 0); - machine_pin_open_drain_mask |= 1 << pin; + machine_pin_open_drain_mask[pin / 32] |= 1 << (pin % 32); +} + +static inline unsigned int mp_hal_get_pin_direction(mp_hal_pin_obj_t pin) { + return (PORT->Group[pin / 32].DIR.reg & (1 << (pin % 32))) >> (pin % 32); } static inline int mp_hal_pin_read(mp_hal_pin_obj_t pin) { @@ -87,7 +117,14 @@ static inline void mp_hal_pin_write(mp_hal_pin_obj_t pin, int v) { gpio_set_pin_level(pin, v); } -/* +static inline void mp_hal_pin_low(mp_hal_pin_obj_t pin) { + gpio_set_pin_level(pin, 0); +} + +static inline void mp_hal_pin_high(mp_hal_pin_obj_t pin) { + gpio_set_pin_level(pin, 1); +} + static inline void mp_hal_pin_od_low(mp_hal_pin_obj_t pin) { gpio_set_pin_direction(pin, GPIO_DIRECTION_OUT); } @@ -95,6 +132,5 @@ static inline void mp_hal_pin_od_low(mp_hal_pin_obj_t pin) { static inline void mp_hal_pin_od_high(mp_hal_pin_obj_t pin) { gpio_set_pin_direction(pin, GPIO_DIRECTION_IN); } -*/ #endif // MICROPY_INCLUDED_SAMD_MPHALPORT_H