375 lines
11 KiB
C
375 lines
11 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) 2015 Glenn Ruben Bakke
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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 <string.h>
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#include "py/mpstate.h"
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#include "py/mphal.h"
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#include "py/mperrno.h"
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#include "py/runtime.h"
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#include "py/stream.h"
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#include "uart.h"
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#include "nrfx_errors.h"
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#include "nrfx_config.h"
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#if MICROPY_PY_TIME_TICKS
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#include "nrfx_rtc.h"
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#include "nrf_clock.h"
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#endif
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#if MICROPY_PY_TIME_TICKS
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// Use RTC1 for time ticks generation (ms and us) with 32kHz tick resolution
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// and overflow handling in RTC IRQ.
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#define RTC_TICK_INCREASE_MSEC (33)
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#define RTC_RESCHEDULE_CC(rtc, cc_nr, ticks) \
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do { \
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nrfx_rtc_cc_set(&rtc, cc_nr, nrfx_rtc_counter_get(&rtc) + ticks, true); \
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} while (0);
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// RTC overflow irq handling notes:
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// - If has_overflowed is set it could be before or after COUNTER is read.
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// If before then an adjustment must be made, if after then no adjustment is necessary.
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// - The before case is when COUNTER is very small (because it just overflowed and was set to zero),
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// the after case is when COUNTER is very large (because it's just about to overflow
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// but we read it right before it overflows).
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// - The extra check for counter is to distinguish these cases. 1<<23 because it's halfway
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// between min and max values of COUNTER.
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#define RTC1_GET_TICKS_ATOMIC(rtc, overflows, counter) \
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do { \
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rtc.p_reg->INTENCLR = RTC_INTENCLR_OVRFLW_Msk; \
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overflows = rtc_overflows; \
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counter = rtc.p_reg->COUNTER; \
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uint32_t has_overflowed = rtc.p_reg->EVENTS_OVRFLW; \
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if (has_overflowed && counter < (1 << 23)) { \
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overflows += 1; \
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} \
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rtc.p_reg->INTENSET = RTC_INTENSET_OVRFLW_Msk; \
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} while (0);
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nrfx_rtc_t rtc1 = NRFX_RTC_INSTANCE(1);
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volatile mp_uint_t rtc_overflows = 0;
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const nrfx_rtc_config_t rtc_config_time_ticks = {
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.prescaler = 0,
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.reliable = 0,
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.tick_latency = 0,
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#ifdef NRF51
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.interrupt_priority = 1,
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#else
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.interrupt_priority = 3,
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#endif
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};
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STATIC void rtc_irq_time(nrfx_rtc_int_type_t event) {
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// irq handler for overflow
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if (event == NRFX_RTC_INT_OVERFLOW) {
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rtc_overflows += 1;
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}
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// irq handler for wakeup from WFI (~1msec)
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if (event == NRFX_RTC_INT_COMPARE0) {
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RTC_RESCHEDULE_CC(rtc1, 0, RTC_TICK_INCREASE_MSEC)
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}
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}
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void rtc1_init_time_ticks(void) {
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// Start the low-frequency clock (if it hasn't been started already)
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if (!nrf_clock_lf_is_running(NRF_CLOCK)) {
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nrf_clock_task_trigger(NRF_CLOCK, NRF_CLOCK_TASK_LFCLKSTART);
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}
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// Uninitialize first, then set overflow IRQ and first CC event
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nrfx_rtc_uninit(&rtc1);
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nrfx_rtc_init(&rtc1, &rtc_config_time_ticks, rtc_irq_time);
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nrfx_rtc_overflow_enable(&rtc1, true);
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RTC_RESCHEDULE_CC(rtc1, 0, RTC_TICK_INCREASE_MSEC)
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nrfx_rtc_enable(&rtc1);
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}
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mp_uint_t mp_hal_ticks_ms(void) {
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// Compute: (rtc_overflows << 24 + COUNTER) * 1000 / 32768
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//
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// Note that COUNTER * 1000 / 32768 would overflow during calculation, so use
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// the less obvious * 125 / 4096 calculation (overflow secure).
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//
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// Make sure not to call this function within an irq with higher prio than the
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// RTC's irq. This would introduce the danger of preempting the RTC irq and
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// calling mp_hal_ticks_ms() at that time would return a false result.
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uint32_t overflows;
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uint32_t counter;
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// guard against overflow irq
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RTC1_GET_TICKS_ATOMIC(rtc1, overflows, counter)
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return (overflows << 9) * 1000 + (counter * 125 / 4096);
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}
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mp_uint_t mp_hal_ticks_us(void) {
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// Compute: ticks_us = (overflows << 24 + counter) * 1000000 / 32768
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// = (overflows << 15 * 15625) + (counter * 15625 / 512)
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// Since this function is likely to be called in a poll loop it must
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// be fast, using an optimized 64bit mult/divide.
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uint32_t overflows;
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uint32_t counter;
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// guard against overflow irq
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RTC1_GET_TICKS_ATOMIC(rtc1, overflows, counter)
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// first compute counter * 15625
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uint32_t counter_lo = (counter & 0xffff) * 15625;
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uint32_t counter_hi = (counter >> 16) * 15625;
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// actual value is counter_hi << 16 + counter_lo
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return ((overflows << 15) * 15625) + ((counter_hi << 7) + (counter_lo >> 9));
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}
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#else
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mp_uint_t mp_hal_ticks_ms(void) {
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return 0;
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}
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#endif
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// this table converts from HAL_StatusTypeDef to POSIX errno
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const byte mp_hal_status_to_errno_table[4] = {
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[HAL_OK] = 0,
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[HAL_ERROR] = MP_EIO,
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[HAL_BUSY] = MP_EBUSY,
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[HAL_TIMEOUT] = MP_ETIMEDOUT,
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};
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NORETURN void mp_hal_raise(HAL_StatusTypeDef status) {
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mp_raise_OSError(mp_hal_status_to_errno_table[status]);
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}
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#if !MICROPY_KBD_EXCEPTION
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void mp_hal_set_interrupt_char(int c) {
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}
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#endif
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#if !MICROPY_PY_BLE_NUS
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uintptr_t mp_hal_stdio_poll(uintptr_t poll_flags) {
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uintptr_t ret = 0;
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if ((poll_flags & MP_STREAM_POLL_RD) && MP_STATE_PORT(board_stdio_uart) != NULL
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&& uart_rx_any(MP_STATE_PORT(board_stdio_uart))) {
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ret |= MP_STREAM_POLL_RD;
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}
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return ret;
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}
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#endif
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#if !MICROPY_PY_BLE_NUS && !MICROPY_HW_USB_CDC
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int mp_hal_stdin_rx_chr(void) {
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for (;;) {
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if (MP_STATE_PORT(board_stdio_uart) != NULL && uart_rx_any(MP_STATE_PORT(board_stdio_uart))) {
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return uart_rx_char(MP_STATE_PORT(board_stdio_uart));
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}
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MICROPY_EVENT_POLL_HOOK
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}
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return 0;
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}
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void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
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if (MP_STATE_PORT(board_stdio_uart) != NULL) {
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uart_tx_strn(MP_STATE_PORT(board_stdio_uart), str, len);
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}
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}
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void mp_hal_stdout_tx_strn_cooked(const char *str, mp_uint_t len) {
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if (MP_STATE_PORT(board_stdio_uart) != NULL) {
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uart_tx_strn_cooked(MP_STATE_PORT(board_stdio_uart), str, len);
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}
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}
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#endif
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void mp_hal_stdout_tx_str(const char *str) {
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mp_hal_stdout_tx_strn(str, strlen(str));
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}
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#if MICROPY_PY_TIME_TICKS
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void mp_hal_delay_us(mp_uint_t us) {
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uint32_t now;
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if (us == 0) {
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return;
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}
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now = mp_hal_ticks_us();
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while (mp_hal_ticks_us() - now < us) {
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}
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}
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void mp_hal_delay_ms(mp_uint_t ms) {
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uint32_t now;
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if (ms == 0) {
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return;
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}
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now = mp_hal_ticks_ms();
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while (mp_hal_ticks_ms() - now < ms) {
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MICROPY_EVENT_POLL_HOOK
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}
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}
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#else
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void mp_hal_delay_us(mp_uint_t us) {
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if (us == 0) {
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return;
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}
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register uint32_t delay __ASM("r0") = us;
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__ASM volatile (
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"1:\n"
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#ifdef NRF51
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" SUB %0, %0, #1\n"
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#else
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" SUBS %0, %0, #1\n"
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#endif
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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#if defined(NRF52) || defined(NRF9160_XXAA)
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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" NOP\n"
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#endif
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" BNE 1b\n"
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: "+r" (delay));
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}
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void mp_hal_delay_ms(mp_uint_t ms) {
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for (mp_uint_t i = 0; i < ms; i++)
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{
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mp_hal_delay_us(999);
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}
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}
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#endif
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#if defined(NRFX_LOG_ENABLED) && (NRFX_LOG_ENABLED == 1)
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static const char nrfx_error_unknown[1] = "";
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static const char nrfx_error_success[] = "NRFX_SUCCESS";
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static const char nrfx_error_internal[] = "NRFX_ERROR_INTERNAL";
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static const char nrfx_error_no_mem[] = "NRFX_ERROR_NO_MEM";
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static const char nrfx_error_not_supported[] = "NRFX_ERROR_NOT_SUPPORTED";
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static const char nrfx_error_invalid_param[] = "NRFX_ERROR_INVALID_PARAM";
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static const char nrfx_error_invalid_state[] = "NRFX_ERROR_INVALID_STATE";
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static const char nrfx_error_invalid_length[] = "NRFX_ERROR_INVALID_LENGTH";
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static const char nrfx_error_timeout[] = "NRFX_ERROR_TIMEOUT";
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static const char nrfx_error_forbidden[] = "NRFX_ERROR_FORBIDDEN";
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static const char nrfx_error_null[] = "NRFX_ERROR_NULL";
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static const char nrfx_error_invalid_addr[] = "NRFX_ERROR_INVALID_ADDR";
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static const char nrfx_error_busy[] = "NRFX_ERROR_BUSY";
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static const char nrfx_error_already_initalized[] = "NRFX_ERROR_ALREADY_INITIALIZED";
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static const char *nrfx_error_strings[13] = {
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nrfx_error_success,
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nrfx_error_internal,
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nrfx_error_no_mem,
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nrfx_error_not_supported,
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nrfx_error_invalid_param,
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nrfx_error_invalid_state,
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nrfx_error_invalid_length,
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nrfx_error_timeout,
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nrfx_error_forbidden,
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nrfx_error_null,
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nrfx_error_invalid_addr,
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nrfx_error_busy,
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nrfx_error_already_initalized
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};
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static const char nrfx_drv_error_twi_err_overrun[] = "NRFX_ERROR_DRV_TWI_ERR_OVERRUN";
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static const char nrfx_drv_error_twi_err_anack[] = "NRFX_ERROR_DRV_TWI_ERR_ANACK";
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static const char nrfx_drv_error_twi_err_dnack[] = "NRFX_ERROR_DRV_TWI_ERR_DNACK";
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static const char *nrfx_drv_error_strings[3] = {
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nrfx_drv_error_twi_err_overrun,
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nrfx_drv_error_twi_err_anack,
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nrfx_drv_error_twi_err_dnack
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};
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const char *nrfx_error_code_lookup(uint32_t err_code) {
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if (err_code >= NRFX_ERROR_BASE_NUM && err_code <= NRFX_ERROR_BASE_NUM + 13) {
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return nrfx_error_strings[err_code - NRFX_ERROR_BASE_NUM];
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} else if (err_code >= NRFX_ERROR_DRIVERS_BASE_NUM && err_code <= NRFX_ERROR_DRIVERS_BASE_NUM + 3) {
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return nrfx_drv_error_strings[err_code - NRFX_ERROR_DRIVERS_BASE_NUM];
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}
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return nrfx_error_unknown;
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}
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#endif // NRFX_LOG_ENABLED
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