stm: Add sdioio support for feather_stm32f405_express

Currently, only the bus specs of the stm32f405xx have been coded.
Other stm-family chips need (at a minimum) the specs added in their
periph.[ch] files.

ports/stm/boards/feather_stm32f405_express/pins.c

@@ -1,5 +1,17 @@
+#include "py/objtuple.h"
 #include "shared-bindings/board/__init__.h"
 
+const mp_rom_obj_tuple_t sdio_data_tuple = {
+    {&mp_type_tuple},
+    4,
+    {
+        MP_ROM_PTR(&pin_PC08),
+        MP_ROM_PTR(&pin_PC09),
+        MP_ROM_PTR(&pin_PC10),
+        MP_ROM_PTR(&pin_PC11),
+    }
+};
+
 STATIC const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_A0), MP_ROM_PTR(&pin_PA04) },
     { MP_ROM_QSTR(MP_QSTR_A1), MP_ROM_PTR(&pin_PA05) },
@@ -31,5 +43,9 @@ STATIC const mp_rom_map_elem_t board_module_globals_table[] = {
     { MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
     { MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) },
     { MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
+
+    { MP_ROM_QSTR(MP_QSTR_SDIO_CLOCK), MP_ROM_PTR(&pin_PC12) },
+    { MP_ROM_QSTR(MP_QSTR_SDIO_COMMAND), MP_ROM_PTR(&pin_PD02) },
+    { MP_ROM_QSTR(MP_QSTR_SDIO_DATA), MP_ROM_PTR(&sdio_data_tuple) },
 };
 MP_DEFINE_CONST_DICT(board_module_globals, board_module_globals_table);

ports/stm/common-hal/busio/SPI.c

@@ -169,7 +169,7 @@ STATIC int check_pins(busio_spi_obj_t *self,
     if (spi_taken) {
         mp_raise_ValueError(translate("Hardware busy, try alternative pins"));
     } else {
-        mp_raise_ValueError(translate("Invalid SPI pin selection"));
+        mp_raise_ValueError_varg(translate("Invalid %q pin selection"), MP_QSTR_SPI);
     }
 }
 

ports/stm/common-hal/sdioio/SDCard.c

@@ -0,0 +1,356 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jeff Epler 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 <stdbool.h>
+
+#include "shared-bindings/sdioio/SDCard.h"
+#include "py/mperrno.h"
+#include "py/runtime.h"
+
+#include "shared-bindings/microcontroller/__init__.h"
+#include "shared-bindings/util.h"
+#include "boards/board.h"
+#include "supervisor/shared/translate.h"
+#include "common-hal/microcontroller/Pin.h"
+
+#ifndef DEBUG_SDIO
+#define DEBUG_SDIO (0)
+#endif
+
+#if DEBUG_SDIO
+#define DEBUG_PRINT(...) ((void)mp_printf(&mp_plat_print, __VA_ARGS__))
+#else
+#define DEBUG_PRINT(...) ((void)0)
+#endif
+
+STATIC bool reserved_sdio[MP_ARRAY_SIZE(mcu_sdio_banks)];
+STATIC bool never_reset_sdio[MP_ARRAY_SIZE(mcu_sdio_banks)];
+
+STATIC const mcu_periph_obj_t *find_pin_function(const mcu_periph_obj_t *table, size_t sz, const mcu_pin_obj_t *pin, int periph_index) {
+    for(size_t i = 0; i<sz; i++, table++) {
+        if(periph_index == table->periph_index && pin == table->pin ) {
+            return table;
+        }
+    }
+    return NULL;
+}
+
+//match pins to SDIO objects
+STATIC int check_pins(sdioio_sdcard_obj_t *self,
+         const mcu_pin_obj_t * clock, const mcu_pin_obj_t * command,
+         uint8_t num_data, mcu_pin_obj_t ** data) {
+    bool sdio_taken = false;
+
+    const uint8_t sdio_clock_len = MP_ARRAY_SIZE(mcu_sdio_clock_list);
+    const uint8_t sdio_command_len = MP_ARRAY_SIZE(mcu_sdio_command_list);
+    const uint8_t sdio_data0_len = MP_ARRAY_SIZE(mcu_sdio_data0_list);
+    const uint8_t sdio_data1_len = MP_ARRAY_SIZE(mcu_sdio_data1_list);
+    const uint8_t sdio_data2_len = MP_ARRAY_SIZE(mcu_sdio_data2_list);
+    const uint8_t sdio_data3_len = MP_ARRAY_SIZE(mcu_sdio_data3_list);
+
+
+    // Loop over each possibility for clock.  Check whether all other pins can
+    // be used on the same peripheral
+    for (uint i = 0; i < sdio_clock_len; i++) {
+        const mcu_periph_obj_t *mcu_sdio_clock = &mcu_sdio_clock_list[i];
+        if (mcu_sdio_clock->pin != clock) {
+            continue;
+        }
+
+        int periph_index = mcu_sdio_clock->periph_index;
+
+        const mcu_periph_obj_t *mcu_sdio_command = NULL;
+        if (!(mcu_sdio_command = find_pin_function(mcu_sdio_command_list, sdio_command_len, command, periph_index))) {
+            continue;
+        }
+
+        const mcu_periph_obj_t *mcu_sdio_data0 = NULL;
+        if(!(mcu_sdio_data0 = find_pin_function(mcu_sdio_data0_list, sdio_data0_len, data[0], periph_index))) {
+            continue;
+        }
+
+        const mcu_periph_obj_t *mcu_sdio_data1 = NULL;
+        if(num_data > 1 && !(mcu_sdio_data1 = find_pin_function(mcu_sdio_data1_list, sdio_data1_len, data[1], periph_index))) {
+            continue;
+        }
+
+        const mcu_periph_obj_t *mcu_sdio_data2 = NULL;
+        if(num_data > 2 && !(mcu_sdio_data2 = find_pin_function(mcu_sdio_data2_list, sdio_data2_len, data[2], periph_index))) {
+            continue;
+        }
+
+        const mcu_periph_obj_t *mcu_sdio_data3 = NULL;
+        if(num_data > 3 && !(mcu_sdio_data3 = find_pin_function(mcu_sdio_data3_list, sdio_data3_len, data[3], periph_index))) {
+            continue;
+        }
+
+        if (reserved_sdio[periph_index-1]) {
+            sdio_taken = true;
+            continue;
+        }
+
+        self->clock = mcu_sdio_clock;
+        self->command = mcu_sdio_command;
+        self->data[0] = mcu_sdio_data0;
+        self->data[1] = mcu_sdio_data1;
+        self->data[2] = mcu_sdio_data2;
+        self->data[3] = mcu_sdio_data3;
+
+        return periph_index;
+    }
+
+    if (sdio_taken) {
+        mp_raise_ValueError(translate("Hardware busy, try alternative pins"));
+    } else {
+        mp_raise_ValueError_varg(translate("Invalid %q pin selection"), MP_QSTR_SDIO);
+    }
+}
+
+
+void common_hal_sdioio_sdcard_construct(sdioio_sdcard_obj_t *self,
+        const mcu_pin_obj_t * clock, const mcu_pin_obj_t * command,
+        uint8_t num_data, mcu_pin_obj_t ** data, uint32_t frequency) {
+
+    int periph_index = check_pins(self, clock, command, num_data, data);
+    SDIO_TypeDef * SDIOx = mcu_sdio_banks[periph_index - 1];
+
+    GPIO_InitTypeDef GPIO_InitStruct = {0};
+
+    // /* GPIOC and GPIOD Periph clock enable */
+    // RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD | SD_DETECT_GPIO_CLK, ENABLE);
+
+    /* Configure data PC.08, PC.09, PC.10, PC.11 pins: D0, D1, D2, D3 pins */
+    for (int i=0; i<num_data; i++) {
+        GPIO_InitStruct.Pin = pin_mask(data[i]->number);
+        GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+        GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+        GPIO_InitStruct.Pull = GPIO_PULLUP;
+        GPIO_InitStruct.Alternate = self->data[i]->altfn_index;
+        HAL_GPIO_Init(pin_port(data[i]->port), &GPIO_InitStruct);
+    }
+
+    /* Configure PD.02 CMD line */
+    GPIO_InitStruct.Alternate = self->command->altfn_index;
+    GPIO_InitStruct.Pin = pin_mask(command->number);
+    HAL_GPIO_Init(pin_port(command->port), &GPIO_InitStruct);
+
+    /* Configure PC.12 pin: CLK pin */
+    GPIO_InitStruct.Alternate = self->clock->altfn_index;
+    GPIO_InitStruct.Pin = pin_mask(clock->number);
+    HAL_GPIO_Init(pin_port(clock->port), &GPIO_InitStruct);
+
+// XXX hard coded pin
+#define SD_DETECT_PIN GPIO_PIN_12
+#define SD_DETECT_GPIO_PORT GPIOB
+
+    /*!< Configure SD_SPI_DETECT_PIN pin: SD Card detect pin */
+    GPIO_InitStruct.Pin = SD_DETECT_PIN;
+    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
+    HAL_GPIO_Init(SD_DETECT_GPIO_PORT, &GPIO_InitStruct);
+
+    __HAL_RCC_SDIO_CLK_ENABLE();
+
+    self->handle.Init.ClockDiv = SDIO_TRANSFER_CLK_DIV;
+    self->handle.Init.ClockEdge = SDIO_CLOCK_EDGE_RISING;
+    self->handle.Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE;
+    self->handle.Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE;
+    self->handle.Init.BusWide = SDIO_BUS_WIDE_1B;
+    self->handle.Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE;
+    self->handle.Instance = SDIOx;
+
+    HAL_StatusTypeDef r = HAL_SD_Init(&self->handle);
+    if (r != HAL_OK) {
+        mp_raise_ValueError_varg(translate("SDIO Init Error %d"), (int)r);
+    }
+
+    HAL_SD_CardInfoTypeDef info;
+    r = HAL_SD_GetCardInfo(&self->handle, &info);
+    if (r != HAL_OK) {
+        mp_raise_ValueError_varg(translate("SDIO GetCardInfo Error %d"), (int)r);
+    }
+
+    self->num_data = 1;
+    if (num_data == 4) {
+        if ((r = HAL_SD_ConfigWideBusOperation(&self->handle, SDIO_BUS_WIDE_4B)) == HAL_SD_ERROR_NONE) {
+            DEBUG_PRINT("Switched bus to 4B mode\n");
+            self->handle.Init.BusWide = SDIO_BUS_WIDE_4B;
+            self->num_data = 4;
+        } else {
+            DEBUG_PRINT("WideBus_Enable returned %r, leaving at 1B mode\n", (int)r);
+        }
+    }
+
+    self->capacity = info.BlockNbr * (info.BlockSize / 512);
+    self->frequency = 25000000;
+
+    reserved_sdio[periph_index - 1] = true;
+
+    return;
+}
+
+uint32_t common_hal_sdioio_sdcard_get_count(sdioio_sdcard_obj_t *self) {
+    return self->capacity;
+}
+
+uint32_t common_hal_sdioio_sdcard_get_frequency(sdioio_sdcard_obj_t *self) {
+    return self->frequency; // self->frequency;
+}
+
+uint8_t common_hal_sdioio_sdcard_get_width(sdioio_sdcard_obj_t *self) {
+    return self->num_data; // self->width;
+}
+
+STATIC void check_whole_block(mp_buffer_info_t *bufinfo) {
+    if (bufinfo->len % 512) {
+        mp_raise_ValueError(translate("Buffer must be a multiple of 512 bytes"));
+    }
+}
+
+STATIC void wait_write_complete(sdioio_sdcard_obj_t *self) {
+    if (self->state_programming) {
+        HAL_SD_CardStateTypedef st = HAL_SD_CARD_PROGRAMMING;
+        // This waits up to 60s for programming to complete.  This seems like
+        // an extremely long time, but this is the timeout that micropython's
+        // implementation uses
+        for (int i=0; i < 60000 && st == HAL_SD_CARD_PROGRAMMING; i++) {
+            st = HAL_SD_GetCardState(&self->handle);
+            HAL_Delay(1);
+        };
+        self->state_programming = false;
+    }
+}
+
+STATIC void debug_print_state(sdioio_sdcard_obj_t *self, const char *what) {
+#if DEBUG_SDIO
+    HAL_SD_CardStateTypedef st = HAL_SD_GetCardState(&self->handle);
+    DEBUG_PRINT("%s, st=0x%x State=0x%x ErrorCode=0x%x\n", what, (int)st, self->handle.State, self->handle.ErrorCode);
+#endif
+}
+
+STATIC void check_for_deinit(sdioio_sdcard_obj_t *self) {
+    if (common_hal_sdioio_sdcard_deinited(self)) {
+        raise_deinited_error();
+    }
+}
+
+int common_hal_sdioio_sdcard_writeblocks(sdioio_sdcard_obj_t *self, uint32_t start_block, mp_buffer_info_t *bufinfo) {
+    check_for_deinit(self);
+    check_whole_block(bufinfo);
+    wait_write_complete(self);
+    self->state_programming = true;
+    common_hal_mcu_disable_interrupts();
+    HAL_StatusTypeDef r = HAL_SD_WriteBlocks(&self->handle, bufinfo->buf, start_block, bufinfo->len / 512, 1000);
+    common_hal_mcu_enable_interrupts();
+    if (r != HAL_OK) {
+        debug_print_state(self, "after writeblocks error");
+        return -EIO;
+    }
+    // debug_print_state(self, "after writeblocks OK");
+    // debug_print_state(self, "after writeblocks complete");
+    return 0;
+}
+
+int common_hal_sdioio_sdcard_readblocks(sdioio_sdcard_obj_t *self, uint32_t start_block, mp_buffer_info_t *bufinfo) {
+    check_for_deinit(self);
+    check_whole_block(bufinfo);
+    wait_write_complete(self);
+    common_hal_mcu_disable_interrupts();
+    HAL_StatusTypeDef r = HAL_SD_ReadBlocks(&self->handle, bufinfo->buf, start_block, bufinfo->len / 512, 1000);
+    common_hal_mcu_enable_interrupts();
+    if (r != HAL_OK) {
+        debug_print_state(self, "after readblocks error");
+        return -EIO;
+    }
+    return 0;
+}
+
+bool common_hal_sdioio_sdcard_configure(sdioio_sdcard_obj_t *self, uint32_t frequency, uint8_t bits) {
+    check_for_deinit(self);
+    return true;
+}
+
+bool common_hal_sdioio_sdcard_deinited(sdioio_sdcard_obj_t *self) {
+    return self->command == NULL;
+}
+
+STATIC void never_reset_mcu_periph(const mcu_periph_obj_t *periph) {
+    if (periph) {
+        never_reset_pin_number(periph->pin->port,periph->pin->number);
+    }
+}
+
+STATIC void reset_mcu_periph(const mcu_periph_obj_t *periph) {
+    if (periph) {
+        reset_pin_number(periph->pin->port,periph->pin->number);
+    }
+}
+
+void common_hal_sdioio_sdcard_deinit(sdioio_sdcard_obj_t *self) {
+    if (common_hal_sdioio_sdcard_deinited(self)) {
+        return;
+    }
+
+    reserved_sdio[self->command->periph_index - 1] = false;
+    never_reset_sdio[self->command->periph_index - 1] = false;
+
+    reset_mcu_periph(self->command);
+    self->command = NULL;
+
+    reset_mcu_periph(self->clock);
+    self->command = NULL;
+
+    for (size_t i=0; i<MP_ARRAY_SIZE(self->data); i++) {
+        reset_mcu_periph(self->data[i]);
+        self->data[i] = NULL;
+    }
+}
+
+void common_hal_sdioio_sdcard_never_reset(sdioio_sdcard_obj_t *self) {
+    if (common_hal_sdioio_sdcard_deinited(self)) {
+        return;
+    }
+
+    if (never_reset_sdio[self->command->periph_index] - 1) {
+        return;
+    }
+
+    never_reset_sdio[self->command->periph_index - 1] = true;
+
+    never_reset_mcu_periph(self->command);
+    never_reset_mcu_periph(self->clock);
+
+    for (size_t i=0; i<MP_ARRAY_SIZE(self->data); i++) {
+        never_reset_mcu_periph(self->data[i]);
+    }
+}
+
+void sdioio_reset() {
+    for (size_t i=0; i<MP_ARRAY_SIZE(reserved_sdio); i++) {
+        if (!never_reset_sdio[i]) {
+            reserved_sdio[i] = false;
+        }
+    }
+}

ports/stm/common-hal/sdioio/SDCard.h

@@ -0,0 +1,50 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2020 Jeff Epler 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_STM32_COMMON_HAL_BUSIO_SDIO_H
+#define MICROPY_INCLUDED_STM32_COMMON_HAL_BUSIO_SDIO_H
+
+#include "common-hal/microcontroller/Pin.h"
+
+#include "peripherals/periph.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    SD_HandleTypeDef handle;
+    uint8_t num_data:3, state_programming:1;
+    bool has_lock;
+    const mcu_periph_obj_t *command;
+    const mcu_periph_obj_t *clock;
+    const mcu_periph_obj_t *data[4];
+    uint32_t frequency;
+    uint32_t capacity;
+} sdioio_sdcard_obj_t;
+
+void sdioio_reset(void);
+
+#endif // MICROPY_INCLUDED_STM32_COMMON_HAL_BUSIO_SDIO_H

ports/stm/mpconfigport.mk

@@ -6,6 +6,7 @@ USB_SERIAL_NUMBER_LENGTH ?= 24
 ifeq ($(MCU_VARIANT),STM32F405xx)
 	CIRCUITPY_FRAMEBUFFERIO ?= 1
 	CIRCUITPY_RGBMATRIX ?= 1
+	CIRCUITPY_SDIOIO ?= 1
 endif
 
 ifeq ($(MCU_SERIES),F4)

ports/stm/peripherals/stm32f4/stm32f405xx/periph.c

@@ -194,3 +194,25 @@ const mcu_tim_pin_obj_t mcu_tim_pin_list[TIM_PIN_ARRAY_LEN] = {
     TIM(8, 3, 2, &pin_PI06),
     TIM(8, 3, 3, &pin_PI07),
 };
+
+//SDIO
+SDIO_TypeDef * mcu_sdio_banks[1] = {SDIO};
+
+const mcu_periph_obj_t mcu_sdio_clock_list[1] = {
+    PERIPH(1, 12, &pin_PC12),
+};
+const mcu_periph_obj_t mcu_sdio_command_list[1] = {
+    PERIPH(1, 12, &pin_PD02),
+};
+const mcu_periph_obj_t mcu_sdio_data0_list[1] = {
+    PERIPH(1, 12, &pin_PC08),
+};
+const mcu_periph_obj_t mcu_sdio_data1_list[1] = {
+    PERIPH(1, 12, &pin_PC09),
+};
+const mcu_periph_obj_t mcu_sdio_data2_list[1] = {
+    PERIPH(1, 12, &pin_PC10),
+};
+const mcu_periph_obj_t mcu_sdio_data3_list[1] = {
+    PERIPH(1, 12, &pin_PC11),
+};

ports/stm/peripherals/stm32f4/stm32f405xx/periph.h

@@ -61,4 +61,15 @@ extern const mcu_periph_obj_t mcu_uart_rx_list[UART_RX_ARRAY_LEN];
 TIM_TypeDef * mcu_tim_banks[TIM_BANK_ARRAY_LEN];
 const mcu_tim_pin_obj_t mcu_tim_pin_list[TIM_PIN_ARRAY_LEN];
 
+//SDIO
+extern SDIO_TypeDef * mcu_sdio_banks[1];
+
+extern const mcu_periph_obj_t mcu_sdio_clock_list[1];
+extern const mcu_periph_obj_t mcu_sdio_command_list[1];
+extern const mcu_periph_obj_t mcu_sdio_data0_list[1];
+extern const mcu_periph_obj_t mcu_sdio_data1_list[1];
+extern const mcu_periph_obj_t mcu_sdio_data2_list[1];
+extern const mcu_periph_obj_t mcu_sdio_data3_list[1];
+
+
 #endif // MICROPY_INCLUDED_STM32_PERIPHERALS_STM32F405XX_PERIPH_H

ports/stm/supervisor/port.c

@@ -43,6 +43,9 @@
 #include "common-hal/pulseio/PulseIn.h"
 #include "timers.h"
 #endif
+#if CIRCUITPY_SDIOIO
+#include "common-hal/sdioio/SDCard.h"
+#endif
 
 #include "clocks.h"
 #include "gpio.h"
@@ -224,6 +227,9 @@ void reset_port(void) {
     spi_reset();
     uart_reset();
 #endif
+#ifdef CIRCUITPY_SDIOIO
+    sdioio_reset();
+#endif
 #if CIRCUITPY_PULSEIO
     timers_reset();
     pwmout_reset();