atmel-samd: Swap out pulseio for touchio based on FreeTouch.

.gitmodules

@@ -11,3 +11,6 @@
 [submodule "lib/berkeley-db-1.xx"]
 	path = lib/berkeley-db-1.xx
 	url = https://github.com/pfalcon/berkeley-db-1.xx
+[submodule "atmel-samd/freetouch"]
+	path = atmel-samd/freetouch
+	url = git@github.com:adafruit/Adafruit_FreeTouch.git

atmel-samd/Makefile

@@ -73,6 +73,7 @@ INC +=  $(addprefix -Iasf/sam0/,\
 	)
 INC += -Iasf/thirdparty/CMSIS/Include
 INC += -Iboards/$(BOARD)/
+INC += -Ifreetouch/
 INC += -I$(BUILD)
 
 CFLAGS_CORTEX_M0 = \
@@ -144,8 +145,8 @@ CFLAGS += -DMICROPY_MODULE_FROZEN_MPY
 endif
 
 #LIBM_FILE_NAME   = $(shell $(CC) $(CFLAGS) -print-file-name=libm.a)
-LDFLAGS = $(CFLAGS) -nostartfiles -fshort-enums -mthumb -mcpu=cortex-m0plus -Lasf/thirdparty/CMSIS/Lib/GCC/ -LQTouch/ -Wl,-nostdlib -Wl,-T,$(LD_FILE) -Wl,-Map=$@.map -Wl,-cref -Wl,-gc-sections -specs=nano.specs
+LDFLAGS = $(CFLAGS) -nostartfiles -fshort-enums -mthumb -mcpu=cortex-m0plus -Lasf/thirdparty/CMSIS/Lib/GCC/ -Wl,-nostdlib -Wl,-T,$(LD_FILE) -Wl,-Map=$@.map -Wl,-cref -Wl,-gc-sections -specs=nano.specs
-LIBS = -larm_cortexM0l_math -lsamd21_qtouch_gcc -lm -lgcc -lc
+LIBS = -larm_cortexM0l_math -lm -lgcc -lc
 
 SRC_ASF = $(addprefix asf/sam0/,\
 	drivers/adc/adc_sam_d_r/adc.c \
@@ -201,6 +202,7 @@ SRC_C = \
 	asf/sam0/utils/syscalls/gcc/syscalls.c \
 	boards/$(BOARD)/init.c \
 	boards/$(BOARD)/pins.c \
+	freetouch/adafruit_ptc.c \
 	lib/fatfs/ff.c \
 	lib/fatfs/option/ccsbcs.c \
 	lib/timeutils/timeutils.c \
@@ -236,17 +238,11 @@ SRC_BINDINGS = \
 	busio/UART.c \
 	neopixel_write/__init__.c \
 	time/__init__.c \
+	touchio/__init__.c \
+	touchio/TouchIn.c \
 	usb_hid/__init__.c \
 	usb_hid/Device.c
 
-# Handle touch support on its own since it only fits in the image when external
-# flash is used to store the file system.
-# TODO(tannewt): Remove this after we switch to freetouch and rely on the linker
-# to drop classes we don't need.
-ifneq ($(FLASH_IMPL),internal_flash.c)
-SRC_BINDINGS += touchio/__init__.c touchio/TouchIn.c
-endif
-
 SRC_BINDINGS_EXPANDED = $(addprefix shared-bindings/, $(SRC_BINDINGS)) \
                         $(addprefix common-hal/, $(SRC_BINDINGS))
 

atmel-samd/common-hal/touchio/TouchIn.c

@@ -35,154 +35,20 @@
 
 #include "tick.h"
 
-#include "QTouch/touch_api_ptc.h"
+#include "adafruit_ptc.h"
 
-#define   DEF_SELFCAP_CAL_SEQ1_COUNT                8
+static uint16_t get_raw_reading(touchio_touchin_obj_t *self) {
-#define   DEF_SELFCAP_CAL_SEQ2_COUNT                4
+    adafruit_ptc_start_conversion(PTC, &self->config);
-#define DEF_SELFCAP_CC_CAL_CLK_PRESCALE_PER_NODE DEF_SELFCAP_CLK_PRESCALE_PER_NODE
-#define DEF_SELFCAP_CC_CAL_SENSE_RESISTOR_PER_NODE DEF_SELFCAP_SENSE_RESISTOR_PER_NODE
-#define   DEF_SELFCAP_QUICK_REBURST_ENABLE          1u
 
-/**
+    while (!adafruit_ptc_is_conversion_finished(PTC)) {
- * Mutual Cap sensors measured data pointer.
+        // wait
- * Note: This pointer is initialized by the QTouch library once the
+        #ifdef MICROPY_VM_HOOK_LOOP
- * touch_mutlcap_sensors_init API is called. */
+            MICROPY_VM_HOOK_LOOP
-touch_measure_data_t *p_mutlcap_measure_data = NULL;
-
-/**
- * Self Cap sensors measured data pointer.
- * Note: This pointer is initialized by the QTouch library once the
- * touch_selfcap_sensors_init API is called. */
-touch_measure_data_t *p_selfcap_measure_data = NULL;
-
-
-/**
- * Self Cap sensors data block provided as input to Touch library.
- */
-static uint8_t selfcap_data_blk[PRIV_SELFCAP_DATA_BLK_SIZE];
-
-/**
- * Self Cap sensors Pins Info.
- */
-
-uint32_t selfcap_y_nodes[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_LINES};
-
-filter_level_t selfcap_filter_level_per_node[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_FILTER_LEVEL_PER_NODE};
-
-uint8_t selfcap_auto_os_per_node[DEF_SELFCAP_NUM_CHANNELS]= {DEF_SELFCAP_AUTO_OS_PER_NODE};
-
-gain_t selfcap_gain_per_node[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_GAIN_PER_NODE};
-
-rsel_val_t selfcap_resistor_per_node[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_SENSE_RESISTOR_PER_NODE};
-
-prsc_div_sel_t selfcap_prsc_per_node[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_CLK_PRESCALE_PER_NODE};
-
-prsc_div_sel_t selfcap_boot_prsc_per_node[DEF_SELFCAP_NUM_CHANNELS] = {DEF_SELFCAP_CC_CAL_CLK_PRESCALE_PER_NODE};
-
-rsel_val_t selfcap_boot_resistor_per_node[DEF_SELFCAP_NUM_CHANNELS] = { DEF_SELFCAP_CC_CAL_SENSE_RESISTOR_PER_NODE};
-
-freq_hop_sel_t selfcap_freq_hops[3u] = {DEF_SELFCAP_HOP_FREQS};
-
-/**
- * Self Cap Configuration structure provided as input to Touch Library.
- *
- * Note: Use the touch.h configuration header file to fill in
- * the elements of this structure.  DO NOT modify any of the input values
- * directly in this structure.
- */
-touch_selfcap_config_t selfcap_config = {
-    0,           /* Self Cap number of channels. */
-    0,                                  /* Self Cap number of sensors. */
-    DEF_SELFCAP_NUM_ROTORS_SLIDERS,     /* Self Cap number of rotors and
-                                         * sliders. */
-
-    /* Self Cap GLOBAL SENSOR CONFIGURATION INFO. */
-    {
-        DEF_SELFCAP_DI,                 /* uint8_t  di; Sensor detect
-                                         * integration (DI) limit. */
-
-        /* Interchanging Negative and Positive Drift rate, since Signal
-         * increases on Touch. */
-        DEF_SELFCAP_ATCH_DRIFT_RATE,    /* uint8_t  neg_drift_rate;
-                                         * Sensor
-                                         * negative drift rate. */
-        DEF_SELFCAP_TCH_DRIFT_RATE,     /* uint8_t  pos_drift_rate;
-                                         * Sensor
-                                         * positive drift rate. */
-        DEF_SELFCAP_MAX_ON_DURATION,    /* uint8_t  max_on_duration;
-                                         * Sensor
-                                         * maximum on duration. */
-        DEF_SELFCAP_DRIFT_HOLD_TIME,    /* uint8_t  drift_hold_time;
-                                         * Sensor
-                                         * drift hold time. */
-        DEF_SELFCAP_ATCH_RECAL_DELAY,   /* uint8_t  pos_recal_delay;
-                                         * Sensor positive recalibration
-                                         * delay. */
-
-        DEF_SELFCAP_CAL_SEQ1_COUNT,
-        DEF_SELFCAP_CAL_SEQ2_COUNT,
-        DEF_SELFCAP_ATCH_RECAL_THRESHOLD, /* recal_threshold_t
-                                           * recal_threshold; Sensor
-                                           * recalibration threshold. */
-        DEF_SELFCAP_TOUCH_POSTPROCESS_MODE,
-        DEF_SELFCAP_AUTO_OS_SIGNAL_STABILITY_LIMIT,
-        DEF_SELFCAP_FREQ_AUTO_TUNE_SIGNAL_STABILITY_LIMIT,
-        DEF_SELFCAP_FREQ_AUTO_TUNE_IN_CNT,
-        DEF_SELFCAP_NOISE_MEAS_SIGNAL_STABILITY_LIMIT, /* signal
-                                                        *stability */
-        DEF_SELFCAP_NOISE_LIMIT,
-        DEF_SELFCAP_LOCKOUT_SEL,
-        DEF_SELFCAP_LOCKOUT_CNTDOWN,
-        #if ((SAMC20) || (SAMC21) || (SAML22))
-        DEF_SELF_CAP_CSD_VALUE,
         #endif
-    },
+    }
-    {
-        selfcap_gain_per_node,      /* Self Cap channel gain setting. */
-        DEF_SELFCAP_FREQ_MODE,      /* Self Cap noise counter measure
-                                     * enable/disable. */
-        selfcap_prsc_per_node,
-        selfcap_resistor_per_node,
-        selfcap_boot_prsc_per_node,
-        selfcap_boot_resistor_per_node,
-        selfcap_freq_hops,
-        selfcap_filter_level_per_node,   /* Self Cap filter level setting. */
-        selfcap_auto_os_per_node,        /* Self Cap auto oversamples
-                                     *setting. */
-    },
-    selfcap_data_blk,                   /* Self Cap data block index. */
-    PRIV_SELFCAP_DATA_BLK_SIZE,         /* Self Cap data block size. */
-    selfcap_y_nodes,                    /* Self Cap channel nodes. */
-    DEF_SELFCAP_QUICK_REBURST_ENABLE,
-    DEF_SELFCAP_FILTER_CALLBACK,         /* Self Cap filter callback
-                                          * function
-                                          * pointer. */
-    DEF_SELFCAP_FREQ_AUTO_TUNE_ENABLE,
-    DEF_SELFCAP_NOISE_MEAS_ENABLE,
-    DEF_SELFCAP_NOISE_MEAS_BUFFER_CNT,
-    DEF_SELFCAP_MOIS_TOLERANCE_ENABLE,
-    DEF_SELFCAP_NUM_MOIS_GROUPS,
-    DEF_SELFCAP_MOIS_QUICK_REBURST_ENABLE,
-    DEF_SELFCAP_PTC_GPIO_STATE,
-      .tlib_feature_list ={
-          .lk_chk = DEF_LOCKOUT_FUNC,
-          .auto_os_init = DEF_AUTO_OS_FUNC,//auto_os_resolve,
-          .auto_tune_init = DEF_SELF_AUTO_TUNE_FUNC,// self_auto_tuning
-          .enable_aks = DEF_AKS_FUNC, /*AKS grouping function */
-      }
-};
 
-/**
+    return adafruit_ptc_get_conversion_result(PTC);
- * Touch Library input configuration structure.
+}
- */
-touch_config_t touch_config = {
-    NULL,
-    &selfcap_config,                /* Pointer to Self Cap configuration
-                                     * structure. */
-    DEF_TOUCH_PTC_ISR_LVL,          /* PTC interrupt level. */
-};
-
-touchio_touchin_obj_t *active_touchin_obj[DEF_SELFCAP_NUM_CHANNELS];
 
 void common_hal_touchio_touchin_construct(touchio_touchin_obj_t* self,
         const mcu_pin_obj_t *pin) {
@@ -191,32 +57,6 @@ void common_hal_touchio_touchin_construct(touchio_touchin_obj_t* self,
     }
     claim_pin(pin);
 
-    if (selfcap_config.num_channels > 0) {
-        // Deinit the touch sensor, we're going to reinitialize it.
-        touch_selfcap_sensors_deinit();
-
-        // Remove holes in the active list from sensors that may have been
-        // disabled.
-        int first_hole = -1;
-        for (int i = 0; i < selfcap_config.num_channels; i++) {
-            if (active_touchin_obj[i] == NULL && first_hole == -1) {
-                first_hole = i;
-            } else if (active_touchin_obj[i] != NULL && first_hole != -1) {
-                active_touchin_obj[first_hole] = active_touchin_obj[i];
-                first_hole = i;
-            }
-        }
-        if (first_hole > -1) {
-            selfcap_config.num_channels = first_hole;
-            selfcap_config.num_sensors = first_hole;
-        }
-    }
-
-    // Add our sensor to the end of the list.
-    self->pin = pin;
-    selfcap_y_nodes[selfcap_config.num_channels++] = Y(pin->touch_y_line);
-    active_touchin_obj[selfcap_config.num_sensors++] = self;
-
     /* Setup and enable generic clock source for PTC module. */
     struct system_gclk_chan_config gclk_chan_conf;
     system_gclk_chan_get_config_defaults(&gclk_chan_conf);
@@ -225,83 +65,28 @@ void common_hal_touchio_touchin_construct(touchio_touchin_obj_t* self,
     system_gclk_chan_enable(PTC_GCLK_ID);
     system_apb_clock_set_mask(SYSTEM_CLOCK_APB_APBC, PM_APBCMASK_PTC);
 
-    touch_ret_t status;
+    adafruit_ptc_get_config_default(&self->config);
-    /* Initialize touch library for Self Cap operation. */
+    self->config.pin = pin->pin;
-    status = touch_selfcap_sensors_init_with_rs_table(&touch_config,
+    self->config.yline = pin->touch_y_line;
-            PRIV_SELFCAP_RS_TABLE_INIT, PRIV_NM_TABLE_INIT,
+    mp_printf(&mp_plat_print, "pin %d line %d\n", pin->pin, pin->touch_y_line);
-            PRIV_FREQ_AUTO_TUNE_CHK, PRIV_MOIS_TOLERANCE_CHK);
-    if (status != TOUCH_SUCCESS) {
-        mp_raise_OSError(MP_EIO);
-    }
-    for (int i = 0; i < selfcap_config.num_channels; i++) {
-        status = touch_selfcap_sensor_config(SENSOR_TYPE_KEY, i, i,
-            NO_AKS_GROUP, 10u, HYST_25, RES_8_BIT, &active_touchin_obj[i]->sensor_id);
-        if (status != TOUCH_SUCCESS) {
-            mp_raise_OSError(MP_EIO);
-        }
-    }
-    status = touch_selfcap_sensors_calibrate(AUTO_TUNE_RSEL);
-    if (status != TOUCH_SUCCESS) {
-        mp_raise_OSError(MP_EIO);
-    }
 
-    // Run a measurement to get calibrated.
+    adafruit_ptc_init(PTC, &self->config);
-    common_hal_touchio_touchin_get_value(self);
+
+    self->threshold = 2 * get_raw_reading(self);
+    //mp_printf(&mp_plat_print, "%d\n", self->threshold);
 }
 
-// This may get called twice, once on exit or deinit and once from the finaliser
-// (__del__). We need the finaliser to reduce the chance of us writing to memory
-// we no longer own because we keep track of Python pointers in active_touchin_obj.
 void common_hal_touchio_touchin_deinit(touchio_touchin_obj_t* self) {
-    touch_selfcap_sensor_disable(self->sensor_id);
+    // TODO(tannewt): Reset the PTC.
-    // Remove ourselves from the list of active objects. We don't change the
+    reset_pin(self->pin->pin);
-    // selfcap settings at all because we don't want to reinit now. Instead,
-    // we'll collect blank spots later on reinit.
-    for (int i = 0; i < DEF_SELFCAP_NUM_CHANNELS; i++) {
-        if (active_touchin_obj[i] == self) {
-            active_touchin_obj[i] = NULL;
-            break;
-        }
-    }
 }
 
-volatile bool touch_read_ready = false;
+void touchin_reset() {
-volatile touch_acq_status_t  touch_acq_status;
+    // TODO(tannewt): Reset the PTC.
-
-void touch_selfcap_measure_complete_callback(void)
-{
-    touch_read_ready = true;
-    touch_acq_status = p_selfcap_measure_data->acq_status;
 }
 
 bool common_hal_touchio_touchin_get_value(touchio_touchin_obj_t *self) {
-    if (p_selfcap_measure_data->acq_status & TOUCH_CC_CALIB_ERROR) {
+    uint16_t reading = get_raw_reading(self);
-        mp_raise_RuntimeError("Touch calibration error");
+    //mp_printf(&mp_plat_print, "%d\n", reading);
-    }
+    return reading > self->threshold;
-    touch_acq_status = TOUCH_BURST_AGAIN;
-    uint64_t start_ticks = ticks_ms;
-    while((touch_acq_status & TOUCH_BURST_AGAIN) && ticks_ms - start_ticks < 1000) {
-        touch_read_ready = false;
-        touch_ret_t touch_ret = touch_selfcap_sensors_measure(
-                ticks_ms,
-                NORMAL_ACQ_MODE,
-                touch_selfcap_measure_complete_callback);
-
-        if (touch_ret != TOUCH_SUCCESS) {
-            mp_raise_OSError(MP_EIO);
-        }
-
-        while(!touch_read_ready && ticks_ms - start_ticks < 1000) {
-            // wait
-            #ifdef MICROPY_VM_HOOK_LOOP
-                MICROPY_VM_HOOK_LOOP
-            #endif
-        }
-    }
-
-    if (touch_acq_status & TOUCH_BURST_AGAIN) {
-        mp_raise_OSError(MP_EIO);
-    }
-
-    return (p_selfcap_measure_data->p_sensor_states[self->sensor_id / 8] & (1 << (self->sensor_id % 8))) != 0;
 }

atmel-samd/common-hal/touchio/TouchIn.h

@@ -29,14 +29,18 @@
 
 #include "common-hal/microcontroller/Pin.h"
 
-#include "QTouch/touch_api_ptc.h"
+#include "samd21_ptc_component.h"
+#include "adafruit_ptc.h"
 
 #include "py/obj.h"
 
 typedef struct {
     mp_obj_base_t base;
     const mcu_pin_obj_t * pin;
-    sensor_id_t sensor_id;
+    struct adafruit_ptc_config config;
+    uint16_t threshold;
 } touchio_touchin_obj_t;
 
+void touchin_reset(void);
+
 #endif // __MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_TOUCHIO_TOUCHIN_H__

atmel-samd/freetouch

@@ -0,0 +1 @@
+Subproject commit 1f21fde3fed141950b9dcc1b608733bce2ed212e

atmel-samd/main.c

@@ -32,7 +32,6 @@
 
 #ifdef EXPRESS_BOARD
 #include "common-hal/touchio/TouchIn.h"
-#include "QTouch/touch_api_ptc.h"
 #define INTERNAL_CIRCUITPY_CONFIG_START_ADDR (0x00040000 - 0x100)
 #else
 #define INTERNAL_CIRCUITPY_CONFIG_START_ADDR (0x00040000 - 0x010000 - 0x100)
@@ -139,10 +138,6 @@ void reset_mp(void) {
     mp_obj_list_init(mp_sys_argv, 0);
 }
 
-#ifdef EXPRESS_BOARD
-extern touchio_touchin_obj_t *active_touchin_obj[DEF_SELFCAP_NUM_CHANNELS];
-extern touch_selfcap_config_t selfcap_config;
-#endif
 extern volatile bool mp_msc_enabled;
 
 void reset_samd21(void) {
@@ -163,12 +158,7 @@ void reset_samd21(void) {
     }
 
 #ifdef EXPRESS_BOARD
-    touch_selfcap_sensors_deinit();
+    touchin_reset();
-    for (int i = 0; i < selfcap_config.num_channels; i++) {
-        active_touchin_obj[i] = NULL;
-    }
-    selfcap_config.num_channels = 0;
-    selfcap_config.num_sensors = 0;
 #endif
 
     analogin_reset();

atmel-samd/mpconfigport.h

@@ -136,14 +136,14 @@ extern const struct _mp_obj_module_t time_module;
 extern const struct _mp_obj_module_t neopixel_write_module;
 extern const struct _mp_obj_module_t uheap_module;
 extern const struct _mp_obj_module_t samd_module;
+extern const struct _mp_obj_module_t touchio_module;
 extern const struct _mp_obj_module_t usb_hid_module;
 
 // Internal flash size dependent settings.
 #if BOARD_FLASH_SIZE > 192000
-    extern const struct _mp_obj_module_t touchio_module;
     #define MICROPY_PY_MICROPYTHON_MEM_INFO (1)
     #define EXTRA_BUILTIN_MODULES \
-        { MP_OBJ_NEW_QSTR(MP_QSTR_touchio), (mp_obj_t)&touchio_module }, \
+        { MP_OBJ_NEW_QSTR(MP_QSTR_pulseio), (mp_obj_t)&pulseio_module }, \
         { MP_OBJ_NEW_QSTR(MP_QSTR_bitbangio), (mp_obj_t)&bitbangio_module }
     #define EXPRESS_BOARD
 #else
@@ -152,10 +152,10 @@ extern const struct _mp_obj_module_t usb_hid_module;
 #endif
 
 #define MICROPY_PORT_BUILTIN_MODULES \
+    { MP_OBJ_NEW_QSTR(MP_QSTR_touchio), (mp_obj_t)&touchio_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_microcontroller), (mp_obj_t)&microcontroller_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_analogio), (mp_obj_t)&analogio_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_digitalio), (mp_obj_t)&digitalio_module }, \
-    { MP_OBJ_NEW_QSTR(MP_QSTR_pulseio), (mp_obj_t)&pulseio_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_busio), (mp_obj_t)&busio_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_board), (mp_obj_t)&board_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_uos), (mp_obj_t)&uos_module }, \