247 lines
8.6 KiB
C
247 lines
8.6 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "common-hal/pulseio/PulseIn.h"
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#include <stdint.h>
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#include "asf/common2/services/delay/delay.h"
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#include "asf/sam0/drivers/extint/extint.h"
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#include "asf/sam0/drivers/extint/extint_callback.h"
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#include "asf/sam0/drivers/port/port.h"
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#include "mpconfigport.h"
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#include "py/gc.h"
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#include "py/runtime.h"
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#include "samd21_pins.h"
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#include "shared-bindings/microcontroller/__init__.h"
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#include "shared-bindings/pulseio/PulseIn.h"
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#include "tick.h"
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static pulseio_pulsein_obj_t *active_pulseins[EIC_NUMBER_OF_INTERRUPTS];
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static uint64_t last_ms[EIC_NUMBER_OF_INTERRUPTS];
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static uint16_t last_us[EIC_NUMBER_OF_INTERRUPTS];
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void pulsein_reset(void) {
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for (int i = 0; i < EIC_NUMBER_OF_INTERRUPTS; i++) {
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if (active_pulseins[i] != NULL) {
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extint_chan_disable_callback(i, EXTINT_CALLBACK_TYPE_DETECT);
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}
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active_pulseins[i] = NULL;
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last_ms[i] = 0;
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last_us[i] = 0;
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}
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}
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static void pulsein_set_config(pulseio_pulsein_obj_t* self, bool first_edge) {
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struct extint_chan_conf config;
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extint_chan_get_config_defaults(&config);
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config.gpio_pin = self->pin;
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config.gpio_pin_pull = EXTINT_PULL_NONE;
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config.filter_input_signal = true;
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if (!first_edge) {
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config.detection_criteria = EXTINT_DETECT_BOTH;
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} else if (self->idle_state) {
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config.detection_criteria = EXTINT_DETECT_FALLING;
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} else {
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config.detection_criteria = EXTINT_DETECT_RISING;
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}
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extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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extint_chan_set_config(self->channel, &config);
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// Clear any interrupts that may have triggered without notifying the CPU.
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EIC->INTFLAG.reg |= (1UL << self->channel);
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extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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}
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static void pulsein_callback(void) {
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// Grab the current time first.
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uint16_t current_us = tc_get_count_value(&ms_timer);
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// Add the overflow flag to account for tick interrupts that are blocked by
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// this interrupt.
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uint64_t current_ms = ticks_ms + TC5->COUNT16.INTFLAG.bit.OVF;
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pulseio_pulsein_obj_t* self = active_pulseins[extint_get_current_channel()];
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current_us = current_us * 1000 / self->ticks_per_ms;
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if (self->first_edge) {
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self->first_edge = false;
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pulsein_set_config(self, false);
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} else {
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uint32_t ms_diff = current_ms - last_ms[self->channel];
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uint16_t us_diff = current_us - last_us[self->channel];
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uint32_t total_diff = us_diff;
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if (last_us[self->channel] > current_us) {
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total_diff = 1000 + current_us - last_us[self->channel];
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if (ms_diff > 1) {
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total_diff += (ms_diff - 1) * 1000;
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}
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} else {
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total_diff += ms_diff * 1000;
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}
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uint16_t duration = 0xffff;
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if (total_diff < duration) {
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duration = total_diff;
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}
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uint16_t i = (self->start + self->len) % self->maxlen;
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self->buffer[i] = duration;
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if (self->len < self->maxlen) {
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self->len++;
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} else {
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self->start++;
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}
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}
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last_ms[self->channel] = current_ms;
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last_us[self->channel] = current_us;
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}
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void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
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const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) {
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if (!pin->has_extint) {
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mp_raise_RuntimeError("No hardware support on pin");
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}
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// TODO(tannewt): Switch to checking actual extint peripheral state when other
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// classes use extints.
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if (active_pulseins[pin->extint_channel] != NULL) {
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mp_raise_RuntimeError("EXTINT channel already in use");
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}
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self->buffer = (uint16_t *) gc_alloc(maxlen * sizeof(uint16_t), false);
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if (self->buffer == NULL) {
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mp_raise_msg_varg(&mp_type_MemoryError, "Failed to allocate RX buffer of %d bytes", maxlen * sizeof(uint16_t));
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}
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self->channel = pin->extint_channel;
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self->pin = pin->pin;
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self->maxlen = maxlen;
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self->idle_state = idle_state;
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self->start = 0;
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self->len = 0;
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self->first_edge = true;
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self->ticks_per_ms = (system_cpu_clock_get_hz() / 1000 - 1);
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active_pulseins[pin->extint_channel] = self;
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pulsein_set_config(self, true);
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extint_register_callback(
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pulsein_callback,
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self->channel,
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EXTINT_CALLBACK_TYPE_DETECT);
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extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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}
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bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
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return self->pin == NO_PIN;
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}
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void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
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if (common_hal_pulseio_pulsein_deinited(self)) {
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return;
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}
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extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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active_pulseins[self->channel] = NULL;
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reset_pin(self->pin);
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self->pin = NO_PIN;
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}
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void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
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extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
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}
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void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
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uint16_t trigger_duration) {
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// Send the trigger pulse.
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if (trigger_duration > 0) {
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struct port_config pin_conf;
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port_get_config_defaults(&pin_conf);
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pin_conf.direction = PORT_PIN_DIR_OUTPUT;
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pin_conf.input_pull = PORT_PIN_PULL_NONE;
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port_pin_set_config(self->pin, &pin_conf);
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// TODO(tannewt): delay_us isn't exactly correct so we adjust the value
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// here before calling it. Find out why its not exact and fix it instead
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// of hacking around it here.
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uint32_t adjusted_duration = trigger_duration;
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adjusted_duration *= 4;
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adjusted_duration /= 5;
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common_hal_mcu_disable_interrupts();
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port_pin_set_output_level(self->pin, !self->idle_state);
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common_hal_mcu_delay_us(adjusted_duration);
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port_pin_set_output_level(self->pin, self->idle_state);
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common_hal_mcu_enable_interrupts();
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}
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// Reconfigure the pin and make sure its set to detect the first edge.
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last_ms[self->channel] = 0;
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last_us[self->channel] = 0;
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self->first_edge = true;
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pulsein_set_config(self, true);
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}
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void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
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common_hal_mcu_disable_interrupts();
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self->start = 0;
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self->len = 0;
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common_hal_mcu_enable_interrupts();
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}
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uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
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if (self->len == 0) {
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mp_raise_IndexError("pop from an empty PulseIn");
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}
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common_hal_mcu_disable_interrupts();
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uint16_t value = self->buffer[self->start];
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self->start = (self->start + 1) % self->maxlen;
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self->len--;
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common_hal_mcu_enable_interrupts();
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return value;
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}
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uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) {
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return self->maxlen;
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}
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uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) {
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return self->len;
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}
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uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
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int16_t index) {
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common_hal_mcu_disable_interrupts();
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if (index < 0) {
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index += self->len;
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}
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if (index < 0 || index >= self->len) {
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common_hal_mcu_enable_interrupts();
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mp_raise_IndexError("index out of range");
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}
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uint16_t value = self->buffer[(self->start + index) % self->maxlen];
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common_hal_mcu_enable_interrupts();
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return value;
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}
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