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circuitpython/ports/atmel-samd/supervisor/port.c
Scott Shawcroft 8137e2d6d2
Switch all ports to auto-growing split heap 
This simplifies allocating outside of the VM because the VM doesn't
take up all remaining memory by default.

On ESP we delegate to the IDF for allocations. For all other ports,
we use TLSF to manage an outer "port" heap. The IDF uses TLSF
internally and we use their fork for the other ports.

This also removes the dynamic C stack sizing. It wasn't often used
and is not possible with a fixed outer heap.

Fixes #8512. Fixes #7334.
2023-11-01 15:24:16 -07:00

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2017 Scott Shawcroft 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 <string.h>
#include <stdlib.h>
#include "supervisor/board.h"
#include "supervisor/port.h"
// ASF 4
#include "atmel_start_pins.h"
#include "peripheral_clk_config.h"
#include "hal/include/hal_delay.h"
#include "hal/include/hal_flash.h"
#include "hal/include/hal_gpio.h"
#include "hal/include/hal_init.h"
#include "hpl/gclk/hpl_gclk_base.h"
#include "hpl/pm/hpl_pm_base.h"
#if defined(SAMD21)
#include "hri/hri_pm_d21.h"
#elif defined(SAME54)
#include "hri/hri_rstc_e54.h"
#elif defined(SAME51)
#include "sam.h"
#include "hri/hri_rstc_e51.h"
#elif defined(SAMD51)
#include "hri/hri_rstc_d51.h"
#else
#error Unknown chip family
#endif
#if CIRCUITPY_ANALOGIO
#include "common-hal/analogio/AnalogIn.h"
#include "common-hal/analogio/AnalogOut.h"
#endif
#if CIRCUITPY_AUDIOBUSIO
#include "common-hal/audiobusio/PDMIn.h"
#include "common-hal/audiobusio/I2SOut.h"
#endif
#if CIRCUITPY_AUDIOIO
#include "common-hal/audioio/AudioOut.h"
#endif
#if CIRCUITPY_BUSIO
#include "common-hal/busio/__init__.h"
#endif
#if CIRCUITPY_FREQUENCYIO
#include "common-hal/frequencyio/FrequencyIn.h"
#endif
#include "common-hal/microcontroller/Pin.h"
#if CIRCUITPY_PULSEIO
#include "common-hal/pulseio/PulseIn.h"
#include "common-hal/pulseio/PulseOut.h"
#endif
#if CIRCUITPY_PWMIO
#include "common-hal/pwmio/PWMOut.h"
#endif
#if CIRCUITPY_PS2IO
#include "common-hal/ps2io/Ps2.h"
#endif
#if CIRCUITPY_RTC
#include "common-hal/rtc/RTC.h"
#endif
#if CIRCUITPY_ALARM
#include "common-hal/alarm/__init__.h"
#include "common-hal/alarm/time/TimeAlarm.h"
#include "common-hal/alarm/pin/PinAlarm.h"
#endif
#if CIRCUITPY_TOUCHIO_USE_NATIVE
#include "common-hal/touchio/TouchIn.h"
#endif
#include "samd/cache.h"
#include "samd/clocks.h"
#include "samd/events.h"
#include "samd/external_interrupts.h"
#include "samd/dma.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/rtc/__init__.h"
#include "shared_timers.h"
#include "reset.h"
#include "common-hal/pulseio/PulseIn.h"
#include "supervisor/background_callback.h"
#include "supervisor/shared/safe_mode.h"
#include "supervisor/shared/stack.h"
#include "supervisor/shared/tick.h"
#include "tusb.h"
#if CIRCUITPY_PEW
#include "common-hal/_pew/PewPew.h"
#endif
static volatile bool sleep_ok = true;
#ifdef SAMD21
static uint8_t _tick_event_channel = EVSYS_SYNCH_NUM;
static bool tick_enabled(void) {
return _tick_event_channel != EVSYS_SYNCH_NUM;
}
// Sleeping requires a register write that can stall interrupt handling. Turning
// off sleeps allows for more accurate interrupt timing. (Python still thinks
// it is sleeping though.)
void rtc_start_pulse(void) {
sleep_ok = false;
}
void rtc_end_pulse(void) {
sleep_ok = true;
}
#endif // SAMD21
static void reset_ticks(void) {
#ifdef SAMD21
_tick_event_channel = EVSYS_SYNCH_NUM;
#endif
}
extern volatile bool mp_msc_enabled;
#if defined(SAMD21) && defined(ENABLE_MICRO_TRACE_BUFFER)
// Stores 2 ^ TRACE_BUFFER_MAGNITUDE_PACKETS packets.
// 7 -> 128 packets
#define TRACE_BUFFER_MAGNITUDE_PACKETS 7
// Size in uint32_t. Two per packet.
#define TRACE_BUFFER_SIZE (1 << (TRACE_BUFFER_MAGNITUDE_PACKETS + 1))
// Size in bytes. 4 bytes per uint32_t.
#define TRACE_BUFFER_SIZE_BYTES (TRACE_BUFFER_SIZE << 2)
__attribute__((__aligned__(TRACE_BUFFER_SIZE_BYTES))) uint32_t mtb[TRACE_BUFFER_SIZE] = {0};
#endif
#if CALIBRATE_CRYSTALLESS
static void save_usb_clock_calibration(void) {
// If we are on USB lets double check our fine calibration for the clock and
// save the new value if its different enough.
SYSCTRL->DFLLSYNC.bit.READREQ = 1;
uint16_t saved_calibration = 0x1ff;
if (strcmp((char *)CIRCUITPY_INTERNAL_CONFIG_START_ADDR, "CIRCUITPYTHON1") == 0) {
saved_calibration = ((uint16_t *)CIRCUITPY_INTERNAL_CONFIG_START_ADDR)[8];
}
while (SYSCTRL->PCLKSR.bit.DFLLRDY == 0) {
// TODO(tannewt): Run the mass storage stuff if this takes a while.
}
int16_t current_calibration = SYSCTRL->DFLLVAL.bit.FINE;
if (abs(current_calibration - saved_calibration) > 10) {
// Copy the full internal config page to memory.
uint8_t page_buffer[NVMCTRL_ROW_SIZE];
memcpy(page_buffer, (uint8_t *)CIRCUITPY_INTERNAL_CONFIG_START_ADDR, NVMCTRL_ROW_SIZE);
// Modify it.
memcpy(page_buffer, "CIRCUITPYTHON1", 15);
// First 16 bytes (0-15) are ID. Little endian!
page_buffer[16] = current_calibration & 0xff;
page_buffer[17] = current_calibration >> 8;
// Write it back.
// We don't use features that use any advanced NVMCTRL features so we can fake the descriptor
// whenever we need it instead of storing it long term.
struct flash_descriptor desc;
desc.dev.hw = NVMCTRL;
flash_write(&desc, (uint32_t)CIRCUITPY_INTERNAL_CONFIG_START_ADDR, page_buffer, NVMCTRL_ROW_SIZE);
}
}
#endif
static void rtc_continuous_mode(void) {
#ifdef SAMD21
while (RTC->MODE0.STATUS.bit.SYNCBUSY) {
}
RTC->MODE0.READREQ.reg = RTC_READREQ_RCONT | 0x0010;
while (RTC->MODE0.STATUS.bit.SYNCBUSY) {
}
// Do the first request and wait for it.
RTC->MODE0.READREQ.reg = RTC_READREQ_RREQ | RTC_READREQ_RCONT | 0x0010;
while (RTC->MODE0.STATUS.bit.SYNCBUSY) {
}
#endif
}
static void rtc_init(void) {
#ifdef SAMD21
_gclk_enable_channel(RTC_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK2_Val);
RTC->MODE0.CTRL.bit.SWRST = true;
while (RTC->MODE0.CTRL.bit.SWRST != 0) {
}
// Turn on periodic events to use as tick. We control whether it interrupts
// us with the EVSYS INTEN register.
RTC->MODE0.EVCTRL.reg = RTC_MODE0_EVCTRL_PEREO2;
RTC->MODE0.CTRL.reg = RTC_MODE0_CTRL_ENABLE |
RTC_MODE0_CTRL_MODE_COUNT32 |
RTC_MODE0_CTRL_PRESCALER_DIV2;
// Turn on continuous sync of the count register. This will speed up all
// tick reads.
rtc_continuous_mode();
#endif
#ifdef SAM_D5X_E5X
hri_mclk_set_APBAMASK_RTC_bit(MCLK);
#if CIRCUITPY_ALARM
// Cache TAMPID for wake up cause
(void)alarm_get_wakeup_cause();
#endif
RTC->MODE0.CTRLA.bit.SWRST = true;
while (RTC->MODE0.SYNCBUSY.bit.SWRST != 0) {
}
RTC->MODE0.CTRLA.reg = RTC_MODE0_CTRLA_ENABLE |
RTC_MODE0_CTRLA_MODE_COUNT32 |
RTC_MODE0_CTRLA_PRESCALER_DIV2 |
RTC_MODE0_CTRLA_COUNTSYNC;
#endif
// Set all peripheral interrupt priorities to the lowest priority by default.
for (uint16_t i = 0; i < PERIPH_COUNT_IRQn; i++) {
NVIC_SetPriority(i, (1UL << __NVIC_PRIO_BITS) - 1UL);
}
// Bump up the rtc interrupt so nothing else interferes with timekeeping.
NVIC_SetPriority(RTC_IRQn, 0);
#ifdef SAMD21
NVIC_SetPriority(USB_IRQn, 1);
#endif
#ifdef SAM_D5X_E5X
NVIC_SetPriority(USB_0_IRQn, 1);
NVIC_SetPriority(USB_1_IRQn, 1);
NVIC_SetPriority(USB_2_IRQn, 1);
NVIC_SetPriority(USB_3_IRQn, 1);
#endif
NVIC_ClearPendingIRQ(RTC_IRQn);
NVIC_EnableIRQ(RTC_IRQn);
#if CIRCUITPY_RTC
rtc_reset();
#endif
}
safe_mode_t port_init(void) {
#if defined(SAMD21)
// Set brownout detection.
// Disable while changing level.
SYSCTRL->BOD33.bit.ENABLE = 0;
SYSCTRL->BOD33.bit.LEVEL = SAMD21_BOD33_LEVEL;
SYSCTRL->BOD33.bit.ENABLE = 1;
#ifdef ENABLE_MICRO_TRACE_BUFFER
REG_MTB_POSITION = ((uint32_t)(mtb - REG_MTB_BASE)) & 0xFFFFFFF8;
REG_MTB_FLOW = (((uint32_t)mtb - REG_MTB_BASE) + TRACE_BUFFER_SIZE_BYTES) & 0xFFFFFFF8;
REG_MTB_MASTER = 0x80000000 + (TRACE_BUFFER_MAGNITUDE_PACKETS - 1);
#else
// Triple check that the MTB is off. Switching between debug and non-debug
// builds can leave it set over reset and wreak havok as a result.
REG_MTB_MASTER = 0x00000000 + 6;
#endif
#endif
#if defined(SAM_D5X_E5X)
// Set brownout detection.
// Disable while changing level.
SUPC->BOD33.bit.ENABLE = 0;
SUPC->BOD33.bit.LEVEL = SAMD5x_E5x_BOD33_LEVEL;
SUPC->BOD33.bit.ENABLE = 1;
// MPU (Memory Protection Unit) setup.
// We hoped we could make the QSPI region be non-cachable with the MPU,
// but the CMCC doesn't seem to pay attention to the MPU settings.
// Leaving this code here disabled,
// because it was hard enough to figure out, and maybe there's
// a mistake that could make it work in the future.
#if 0
// Designate QSPI memory mapped region as not cacheable.
// Turn off MPU in case it is on.
MPU->CTRL = 0;
// Configure region 0.
MPU->RNR = 0;
// Region base: start of QSPI mapping area.
// QSPI region runs from 0x04000000 up to and not including 0x05000000: 16 megabytes
MPU->RBAR = QSPI_AHB;
MPU->RASR =
0b011 << MPU_RASR_AP_Pos | // full read/write access for privileged and user mode
0b000 << MPU_RASR_TEX_Pos | // caching not allowed, strongly ordered
1 << MPU_RASR_S_Pos | // sharable
0 << MPU_RASR_C_Pos | // not cacheable
0 << MPU_RASR_B_Pos | // not bufferable
0b10111 << MPU_RASR_SIZE_Pos | // 16MB region size
1 << MPU_RASR_ENABLE_Pos // enable this region
;
// Turn off regions 1-7.
for (uint32_t i = 1; i < 8; i++) {
MPU->RNR = i;
MPU->RBAR = 0;
MPU->RASR = 0;
}
// Turn on MPU. Turn on PRIVDEFENA, which defines a default memory
// map for all privileged access, so we don't have to set up other regions
// besides QSPI.
MPU->CTRL = MPU_CTRL_PRIVDEFENA_Msk | MPU_CTRL_ENABLE_Msk;
#endif
samd_peripherals_enable_cache();
#endif
#ifdef SAMD21
hri_nvmctrl_set_CTRLB_RWS_bf(NVMCTRL, 2);
_pm_init();
#endif
#if CALIBRATE_CRYSTALLESS
uint32_t fine = DEFAULT_DFLL48M_FINE_CALIBRATION;
// The fine calibration data is stored in an NVM page after the text and data storage but before
// the optional file system. The first 16 bytes are the identifier for the section.
if (strcmp((char *)CIRCUITPY_INTERNAL_CONFIG_START_ADDR, "CIRCUITPYTHON1") == 0) {
fine = ((uint16_t *)CIRCUITPY_INTERNAL_CONFIG_START_ADDR)[8];
}
clock_init(BOARD_HAS_CRYSTAL, BOARD_XOSC_FREQ_HZ, BOARD_XOSC_IS_CRYSTAL, fine);
#else
// Use a default fine value
clock_init(BOARD_HAS_CRYSTAL, BOARD_XOSC_FREQ_HZ, BOARD_XOSC_IS_CRYSTAL, DEFAULT_DFLL48M_FINE_CALIBRATION);
#endif
rtc_init();
init_shared_dma();
// Reset everything into a known state before board_init.
reset_port();
#ifdef SAMD21
if (PM->RCAUSE.bit.BOD33 == 1 || PM->RCAUSE.bit.BOD12 == 1) {
return SAFE_MODE_BROWNOUT;
}
#endif
#ifdef SAM_D5X_E5X
if (RSTC->RCAUSE.bit.BODVDD == 1 || RSTC->RCAUSE.bit.BODCORE == 1) {
return SAFE_MODE_BROWNOUT;
}
#endif
if (board_requests_safe_mode()) {
return SAFE_MODE_USER;
}
return SAFE_MODE_NONE;
}
void reset_port(void) {
#if CIRCUITPY_BUSIO
reset_sercoms();
#endif
#if CIRCUITPY_AUDIOIO
audio_dma_reset();
audioout_reset();
#endif
#if CIRCUITPY_AUDIOBUSIO
pdmin_reset();
#endif
#if CIRCUITPY_AUDIOBUSIO_I2SOUT
i2sout_reset();
#endif
#if CIRCUITPY_FREQUENCYIO
frequencyin_reset();
#endif
#if CIRCUITPY_TOUCHIO && CIRCUITPY_TOUCHIO_USE_NATIVE
touchin_reset();
#endif
eic_reset();
#if CIRCUITPY_PULSEIO
pulsein_reset();
pulseout_reset();
#endif
#if CIRCUITPY_PWMIO
pwmout_reset();
#endif
#if CIRCUITPY_PWMIO || CIRCUITPY_AUDIOIO || CIRCUITPY_FREQUENCYIO
reset_timers();
#endif
#if CIRCUITPY_ANALOGIO
analogin_reset();
analogout_reset();
#endif
#if CIRCUITPY_WATCHDOG
watchdog_reset();
#endif
reset_gclks();
#if CIRCUITPY_PEW
pew_reset();
#endif
#ifdef SAMD21
if (!tick_enabled())
// SAMD21 ticks depend on the event system, so don't disturb the event system if we need ticks,
// such as for a display that lives across VM instantiations.
#endif
{
reset_event_system();
reset_ticks();
}
reset_all_pins();
// Output clocks for debugging.
// not supported by SAMD51G; uncomment for SAMD51J or update for 51G
// #ifdef SAM_D5X_E5X
// gpio_set_pin_function(PIN_PA10, GPIO_PIN_FUNCTION_M); // GCLK4, D3
// gpio_set_pin_function(PIN_PA11, GPIO_PIN_FUNCTION_M); // GCLK5, A4
// gpio_set_pin_function(PIN_PB14, GPIO_PIN_FUNCTION_M); // GCLK0, D5
// gpio_set_pin_function(PIN_PB15, GPIO_PIN_FUNCTION_M); // GCLK1, D6
// #endif
#if CALIBRATE_CRYSTALLESS
if (tud_cdc_connected()) {
save_usb_clock_calibration();
}
#endif
}
void reset_to_bootloader(void) {
_bootloader_dbl_tap = DBL_TAP_MAGIC;
reset();
}
void reset_cpu(void) {
reset();
}
uint32_t *port_stack_get_limit(void) {
return port_stack_get_top() - (CIRCUITPY_DEFAULT_STACK_SIZE + CIRCUITPY_EXCEPTION_STACK_SIZE) / sizeof(uint32_t);
}
uint32_t *port_stack_get_top(void) {
return &_estack;
}
// Used for the shared heap allocator.
uint32_t *port_heap_get_bottom(void) {
return &_ebss;
}
uint32_t *port_heap_get_top(void) {
return port_stack_get_limit();
}
// Place the word to save 8k from the end of RAM so we and the bootloader don't clobber it.
#ifdef SAMD21
uint32_t *safe_word = (uint32_t *)(HMCRAMC0_ADDR + HMCRAMC0_SIZE - 0x2000);
#endif
#ifdef SAM_D5X_E5X
uint32_t *safe_word = (uint32_t *)(HSRAM_ADDR + HSRAM_SIZE - 0x2000);
#endif
void port_set_saved_word(uint32_t value) {
*safe_word = value;
}
uint32_t port_get_saved_word(void) {
return *safe_word;
}
// TODO: Move this to an RTC backup register so we can preserve it when only the BACKUP power domain
// is enabled.
static volatile uint64_t overflowed_ticks = 0;
static uint32_t rtc_old_count;
static uint32_t _get_count(uint64_t *overflow_count) {
#ifdef SAM_D5X_E5X
while ((RTC->MODE0.SYNCBUSY.reg & (RTC_MODE0_SYNCBUSY_COUNTSYNC | RTC_MODE0_SYNCBUSY_COUNT)) != 0) {
}
#endif
// SAMD21 does continuous sync so we don't need to wait here.
uint32_t count = RTC->MODE0.COUNT.reg;
if (count < rtc_old_count) {
// Our RTC is 32 bits and we're clocking it at 16.384khz which is 16 (2 ** 4) subticks per
// tick.
overflowed_ticks += (1L << (32 - 4));
}
rtc_old_count = count;
if (overflow_count != NULL) {
*overflow_count = overflowed_ticks;
}
return count;
}
volatile bool _woken_up;
void RTC_Handler(void) {
uint32_t intflag = RTC->MODE0.INTFLAG.reg;
#ifdef SAM_D5X_E5X
if (intflag & RTC_MODE0_INTFLAG_PER2) {
RTC->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_PER2;
// Do things common to all ports when the tick occurs
supervisor_tick();
}
#if CIRCUITPY_ALARM
if (intflag & RTC_MODE0_INTFLAG_CMP1) {
// Likely TimeAlarm fake sleep wake
time_alarm_callback();
RTC->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP1;
}
if (intflag & RTC_MODE0_INTFLAG_TAMPER) {
// Likely PinAlarm fake sleep wake
pin_alarm_callback(1); // TODO: set channel?
RTC->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_TAMPER;
}
#endif
#endif
if (intflag & RTC_MODE0_INTFLAG_CMP0) {
// Clear the interrupt because we may have hit a sleep
RTC->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
_woken_up = true;
// SAMD21 ticks are handled by EVSYS
#ifdef SAM_D5X_E5X
RTC->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_CMP0;
#endif
}
}
uint64_t port_get_raw_ticks(uint8_t *subticks) {
uint64_t overflow_count;
uint32_t current_ticks = _get_count(&overflow_count);
if (subticks != NULL) {
*subticks = (current_ticks % 16) * 2;
}
return overflow_count + current_ticks / 16;
}
static void evsyshandler_common(void) {
#ifdef SAMD21
if (_tick_event_channel < EVSYS_SYNCH_NUM && event_interrupt_active(_tick_event_channel)) {
supervisor_tick();
}
#endif
#if CIRCUITPY_AUDIOIO || CIRCUITPY_AUDIOBUSIO
audio_dma_evsys_handler();
#endif
#if CIRCUITPY_AUDIOBUSIO
pdmin_evsys_handler();
#endif
}
#ifdef SAM_D5X_E5X
void EVSYS_0_Handler(void) {
evsyshandler_common();
}
void EVSYS_1_Handler(void) {
evsyshandler_common();
}
void EVSYS_2_Handler(void) {
evsyshandler_common();
}
void EVSYS_3_Handler(void) {
evsyshandler_common();
}
void EVSYS_4_Handler(void) {
evsyshandler_common();
}
#else
void EVSYS_Handler(void) {
evsyshandler_common();
}
#endif
// Enable 1/1024 second tick.
void port_enable_tick(void) {
#ifdef SAM_D5X_E5X
// PER2 will generate an interrupt every 32 ticks of the source 32.768 clock.
RTC->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_PER2;
#endif
#ifdef SAMD21
// reset_port() preserves the event system if ticks were still enabled after a VM finished,
// such as for an on-board display. Normally the event system would be reset between VM instantiations.
if (_tick_event_channel >= EVSYS_SYNCH_NUM) {
turn_on_event_system();
_tick_event_channel = find_sync_event_channel();
}
// This turns on both the event detected interrupt (EVD) and overflow (OVR).
init_event_channel_interrupt(_tick_event_channel, CORE_GCLK, EVSYS_ID_GEN_RTC_PER_2);
// Disable overflow interrupt because we ignore it.
if (_tick_event_channel >= 8) {
uint8_t value = 1 << (_tick_event_channel - 8);
EVSYS->INTENCLR.reg = EVSYS_INTENSET_OVRp8(value);
} else {
uint8_t value = 1 << _tick_event_channel;
EVSYS->INTENCLR.reg = EVSYS_INTENSET_OVR(value);
}
NVIC_EnableIRQ(EVSYS_IRQn);
#endif
}
// Disable 1/1024 second tick.
void port_disable_tick(void) {
#ifdef SAM_D5X_E5X
RTC->MODE0.INTENCLR.reg = RTC_MODE0_INTENCLR_PER2;
#endif
#ifdef SAMD21
if (_tick_event_channel == EVSYS_SYNCH_NUM) {
return;
}
if (_tick_event_channel >= 8) {
uint8_t value = 1 << (_tick_event_channel - 8);
EVSYS->INTENCLR.reg = EVSYS_INTENSET_EVDp8(value);
} else {
uint8_t value = 1 << _tick_event_channel;
EVSYS->INTENCLR.reg = EVSYS_INTENSET_EVD(value);
}
disable_event_channel(_tick_event_channel);
_tick_event_channel = EVSYS_SYNCH_NUM;
#endif
}
void port_interrupt_after_ticks(uint32_t ticks) {
uint32_t current_ticks = _get_count(NULL);
if (ticks > 1 << 28) {
// We'll interrupt sooner with an overflow.
return;
}
#ifdef SAMD21
if (!sleep_ok) {
return;
}
#endif
uint32_t target = current_ticks + (ticks << 4);
#ifdef SAMD21
// Try and avoid a bus stall when writing COMP by checking for an obvious
// existing sync.
while (RTC->MODE0.STATUS.bit.SYNCBUSY == 1) {
}
#endif
// Writing the COMP register can take up to 180us to synchronize. During
// this time, the bus will stall and no interrupts will be serviced.
RTC->MODE0.COMP[0].reg = target;
#ifdef SAM_D5X_E5X
while ((RTC->MODE0.SYNCBUSY.reg & (RTC_MODE0_SYNCBUSY_COMP0)) != 0) {
}
#endif
RTC->MODE0.INTFLAG.reg = RTC_MODE0_INTFLAG_CMP0;
RTC->MODE0.INTENSET.reg = RTC_MODE0_INTENSET_CMP0;
// Set continuous mode again because setting COMP may disable it.
rtc_continuous_mode();
current_ticks = _get_count(NULL);
_woken_up = current_ticks >= target;
}
void port_idle_until_interrupt(void) {
#ifdef SAM_D5X_E5X
// Clear the FPU interrupt because it can prevent us from sleeping.
if (__get_FPSCR() & ~(0x9f)) {
__set_FPSCR(__get_FPSCR() & ~(0x9f));
(void)__get_FPSCR();
}
#endif
common_hal_mcu_disable_interrupts();
if (!background_callback_pending() && sleep_ok && !_woken_up) {
__DSB();
__WFI();
}
common_hal_mcu_enable_interrupts();
}
/**
* \brief Default interrupt handler for unused IRQs.
*/
__attribute__((used)) void HardFault_Handler(void) {
#ifdef ENABLE_MICRO_TRACE_BUFFER
// Turn off the micro trace buffer so we don't fill it up in the infinite
// loop below.
REG_MTB_MASTER = 0x00000000 + 6;
#endif
reset_into_safe_mode(SAFE_MODE_HARD_FAULT);
while (true) {
asm ("nop;");
}
}
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