Merge pull request #393 from tannewt/m4_neopixel

Now with more blinky!!!

12 files changed, 132 insertions, 33 deletions

diff --git a/main.c b/main.c
index d5680d05d..61ce2c6fb 100644
--- a/main.c
+++ b/main.c
@@ -146,7 +146,7 @@ bool start_mp(safe_mode_t safe_mode) {
     // Wait for connection or character.
     bool serial_connected_before_animation = false;
     rgb_status_animation_t animation;
-    prep_rgb_status_animation(&result, found_main, &animation);
+    prep_rgb_status_animation(&result, found_main, safe_mode, &animation);
     while (true) {
         #ifdef MICROPY_VM_HOOK_LOOP
             MICROPY_VM_HOOK_LOOP
diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile
index 2dd4802ba..bb5c39e99 100644
--- a/ports/atmel-samd/Makefile
+++ b/ports/atmel-samd/Makefile
@@ -251,6 +251,7 @@ SRC_COMMON_HAL = \
 	microcontroller/__init__.c \
 	microcontroller/Pin.c \
 	microcontroller/Processor.c \
+	neopixel_write/__init__.c \
 	os/__init__.c \
 	time/__init__.c
 #	analogio/__init__.c \
diff --git a/ports/atmel-samd/boards/circuitplayground_express/board.c b/ports/atmel-samd/boards/circuitplayground_express/board.c
index 4467180c7..eb7ffab4a 100644
--- a/ports/atmel-samd/boards/circuitplayground_express/board.c
+++ b/ports/atmel-samd/boards/circuitplayground_express/board.c
@@ -61,6 +61,6 @@ void reset_board(void) {
     common_hal_digitalio_digitalinout_construct(&neopixel_pin, &pin_PB23);
     common_hal_digitalio_digitalinout_switch_to_output(&neopixel_pin, false,
         DRIVE_MODE_PUSH_PULL);
-    // common_hal_neopixel_write(&neopixel_pin, empty, 30);
+    common_hal_neopixel_write(&neopixel_pin, empty, 30);
     common_hal_digitalio_digitalinout_deinit(&neopixel_pin);
 }
diff --git a/ports/atmel-samd/boards/metro_m4_express/board.c b/ports/atmel-samd/boards/metro_m4_express/board.c
index 8096b9b8e..a98385d29 100644
--- a/ports/atmel-samd/boards/metro_m4_express/board.c
+++ b/ports/atmel-samd/boards/metro_m4_express/board.c
@@ -26,8 +26,16 @@
 
 #include "boards/board.h"
 #include "mpconfigboard.h"
+#include "hal/include/hal_gpio.h"
 
 void board_init(void) {
+    gpio_set_pin_function(MICROPY_HW_LED_TX, GPIO_PIN_FUNCTION_OFF);
+    gpio_set_pin_direction(MICROPY_HW_LED_TX, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(MICROPY_HW_LED_TX, true);
+
+    gpio_set_pin_function(MICROPY_HW_LED_RX, GPIO_PIN_FUNCTION_OFF);
+    gpio_set_pin_direction(MICROPY_HW_LED_RX, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(MICROPY_HW_LED_RX, true);
 }
 
 bool board_requests_safe_mode(void) {
diff --git a/ports/atmel-samd/boards/metro_m4_express/mpconfigboard.h b/ports/atmel-samd/boards/metro_m4_express/mpconfigboard.h
index 27426940d..34a681607 100644
--- a/ports/atmel-samd/boards/metro_m4_express/mpconfigboard.h
+++ b/ports/atmel-samd/boards/metro_m4_express/mpconfigboard.h
@@ -6,7 +6,7 @@
 #define MICROPY_HW_LED_TX   PIN_PA27
 #define MICROPY_HW_LED_RX   PIN_PB06
 
-// #define MICROPY_HW_NEOPIXEL (&pin_PB17)
+#define MICROPY_HW_NEOPIXEL (&pin_PB17)
 
 #define SPI_FLASH_BAUDRATE  (1000000)
 
diff --git a/ports/atmel-samd/common-hal/neopixel_write/__init__.c b/ports/atmel-samd/common-hal/neopixel_write/__init__.c
index 27dc7d6ad..fbe7a2ff6 100644
--- a/ports/atmel-samd/common-hal/neopixel_write/__init__.c
+++ b/ports/atmel-samd/common-hal/neopixel_write/__init__.c
@@ -23,13 +23,27 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  * THE SOFTWARE.
  */
+#include "hpl_gpio.h"
 
-#include "mphalport.h"
+#include "py/mphal.h"
 
 #include "shared-bindings/neopixel_write/__init__.h"
 
-#include "asf/common2/services/delay/delay.h"
-#include "asf/sam0/drivers/port/port.h"
+#include "tick.h"
+
+#ifdef SAMD51
+static inline void delay_cycles(uint8_t cycles) {
+    uint32_t start = SysTick->VAL;
+    uint32_t stop = start - cycles;
+    if (start < cycles) {
+        stop = 0xffffff + start - cycles;
+    }
+    while (SysTick->VAL > stop) {}
+}
+#endif
+
+uint64_t next_start_tick_ms = 0;
+uint32_t next_start_tick_us = 1000;
 
 void common_hal_neopixel_write(const digitalio_digitalinout_obj_t* digitalinout, uint8_t *pixels, uint32_t numBytes) {
     // This is adapted directly from the Adafruit NeoPixel library SAMD21G18A code:
@@ -38,14 +52,21 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t* digitalinout,
     uint32_t  pinMask;
     PortGroup* port;
 
+    // This must be called while interrupts are on in case we're waiting for a
+    // future ms tick.
+    wait_until(next_start_tick_ms, next_start_tick_us);
+
     // Turn off interrupts of any kind during timing-sensitive code.
     mp_hal_disable_all_interrupts();
 
+    #ifdef SAMD21
     // Make sure the NVM cache is consistently timed.
     NVMCTRL->CTRLB.bit.READMODE = NVMCTRL_CTRLB_READMODE_DETERMINISTIC_Val;
+    #endif
+
 
     uint32_t pin = digitalinout->pin->pin;
-    port    =  port_get_group_from_gpio_pin(pin);
+    port    =  &PORT->Group[GPIO_PORT(pin)];  // Convert GPIO # to port register
     pinMask =  (1UL << (pin % 32));  // From port_pin_set_output_level ASF code.
     ptr     =  pixels;
     end     =  ptr + numBytes;
@@ -57,31 +78,75 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t* digitalinout,
 
     for(;;) {
         *set = pinMask;
+        // This is the time where the line is always high regardless of the bit.
+        // For the SK6812 its 0.3us +- 0.15us
+        #ifdef SAMD21
         asm("nop; nop;");
+        #endif
+        #ifdef SAMD51
+        delay_cycles(18);
+        #endif
         if(p & bitMask) {
+            // This is the high delay unique to a one bit.
+            // For the SK6812 its 0.3us
+            #ifdef SAMD21
             asm("nop; nop; nop; nop; nop; nop; nop;");
+            #endif
+            #ifdef SAMD51
+            delay_cycles(25);
+            #endif
             *clr = pinMask;
         } else {
             *clr = pinMask;
+            // This is the low delay unique to a zero bit.
+            // For the SK6812 its 0.3us
+            #ifdef SAMD21
             asm("nop; nop;");
+            #endif
+            #ifdef SAMD51
+            delay_cycles(25);
+            #endif
         }
         if((bitMask >>= 1) != 0) {
+            // This is the delay between bits in a byte and is the 1 code low
+            // level time from the datasheet.
+            // For the SK6812 its 0.6us +- 0.15us
+            #ifdef SAMD21
             asm("nop; nop; nop; nop; nop;");
+            #endif
+            #ifdef SAMD51
+            delay_cycles(44);
+            #endif
         } else {
             if(ptr >= end) break;
             p       = *ptr++;
             bitMask = 0x80;
+            // This is the delay between bytes. Its similar to the other branch
+            // in the if statement except its tuned to account for the time the
+            // above operations take.
+            // For the SK6812 its 0.6us +- 0.15us
+            #ifdef SAMD51
+            delay_cycles(50);
+            #endif
         }
     }
 
+    #ifdef SAMD21
     // Speed up! (But inconsistent timing.)
     NVMCTRL->CTRLB.bit.READMODE = NVMCTRL_CTRLB_READMODE_NO_MISS_PENALTY_Val;
+    #endif
+
+    // ticks_ms may be out of date at this point because we stopped the
+    // interrupt. We'll risk it anyway.
+    current_tick(&next_start_tick_ms, &next_start_tick_us);
+    if (next_start_tick_us < 100) {
+        next_start_tick_ms += 1;
+        next_start_tick_us = 100 - next_start_tick_us;
+    } else {
+        next_start_tick_us -= 100;
+    }
 
     // Turn on interrupts after timing-sensitive code.
     mp_hal_enable_all_interrupts();
 
-    // 50us delay to let pixels latch to the data that was just sent.
-    // This could be optimized to only occur before pixel writes when necessary,
-    // like in the Arduino library.
-    delay_us(50);
 }
diff --git a/ports/atmel-samd/mpconfigport.h b/ports/atmel-samd/mpconfigport.h
index 37840e0ad..88a467c20 100644
--- a/ports/atmel-samd/mpconfigport.h
+++ b/ports/atmel-samd/mpconfigport.h
@@ -215,7 +215,6 @@ extern const struct _mp_obj_module_t usb_hid_module;
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_analogio), (mp_obj_t)&analogio_module },
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_busio), (mp_obj_t)&busio_module },
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_gamepad),(mp_obj_t)&gamepad_module },
-//    { MP_OBJ_NEW_QSTR(MP_QSTR_neopixel_write),(mp_obj_t)&neopixel_write_module },
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_usb_hid),(mp_obj_t)&usb_hid_module },
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_storage), (mp_obj_t)&storage_module },
 //    { MP_OBJ_NEW_QSTR(MP_QSTR_samd),(mp_obj_t)&samd_module },
@@ -225,6 +224,7 @@ extern const struct _mp_obj_module_t usb_hid_module;
     { MP_OBJ_NEW_QSTR(MP_QSTR_board), (mp_obj_t)&board_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_digitalio), (mp_obj_t)&digitalio_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_microcontroller), (mp_obj_t)&microcontroller_module }, \
+    { MP_OBJ_NEW_QSTR(MP_QSTR_neopixel_write),(mp_obj_t)&neopixel_write_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_os), (mp_obj_t)&os_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_random), (mp_obj_t)&random_module }, \
     { MP_OBJ_NEW_QSTR(MP_QSTR_struct), (mp_obj_t)&struct_module }, \
diff --git a/ports/atmel-samd/tick.c b/ports/atmel-samd/tick.c
index ecef96992..f5fd57f5d 100644
--- a/ports/atmel-samd/tick.c
+++ b/ports/atmel-samd/tick.c
@@ -66,5 +66,17 @@ void tick_delay(uint32_t us) {
         start_ms = ticks_ms;
         us_between_ticks = 1000;
     }
-    while (SysTick->VAL > ((1000 - us) * ticks_per_us)) {}
+    while (SysTick->VAL > ((us_between_ticks - us) * ticks_per_us)) {}
+}
+
+// us counts down!
+void current_tick(uint64_t* ms, uint32_t* us_until_ms) {
+    uint32_t ticks_per_us = common_hal_mcu_processor_get_frequency() / 1000 / 1000;
+    *ms = ticks_ms;
+    *us_until_ms = SysTick->VAL / ticks_per_us;
+}
+
+void wait_until(uint64_t ms, uint32_t us_until_ms) {
+    uint32_t ticks_per_us = common_hal_mcu_processor_get_frequency() / 1000 / 1000;
+    while(ticks_ms <= ms && SysTick->VAL / ticks_per_us >= us_until_ms) {}
 }
diff --git a/ports/atmel-samd/tick.h b/ports/atmel-samd/tick.h
index a987ff7ad..80e7bc9af 100644
--- a/ports/atmel-samd/tick.h
+++ b/ports/atmel-samd/tick.h
@@ -36,4 +36,9 @@ void tick_init(void);
 
 void tick_delay(uint32_t us);
 
+void current_tick(uint64_t* ms, uint32_t* us_until_ms);
+// Do not call this with interrupts disabled because it may be waiting for
+// ticks_ms to increment.
+void wait_until(uint64_t ms, uint32_t us_until_ms);
+
 #endif  // MICROPY_INCLUDED_ATMEL_SAMD_TICK_H
diff --git a/ports/atmel-samd/usb_mass_storage.c b/ports/atmel-samd/usb_mass_storage.c
index 3e96c3787..c8301228c 100644
--- a/ports/atmel-samd/usb_mass_storage.c
+++ b/ports/atmel-samd/usb_mass_storage.c
@@ -309,8 +309,7 @@ void usb_msc_background(void) {
         // Load more blocks from USB if they are needed.
         if (active_nblocks > 0) {
             int32_t result = mscdf_xfer_blocks(false, sector_buffer, 1);
-            while (result != ERR_NONE) {}
-            usb_busy = true;
+            usb_busy = result != ERR_NONE;
         } else {
             mscdf_xfer_blocks(false, NULL, 0);
             active_write = false;
diff --git a/supervisor/shared/rgb_led_status.c b/supervisor/shared/rgb_led_status.c
index 15150f18b..0f29b254a 100644
--- a/supervisor/shared/rgb_led_status.c
+++ b/supervisor/shared/rgb_led_status.c
@@ -199,12 +199,15 @@ void set_rgb_status_brightness(uint8_t level){
       rgb_status_brightness = level;
 }
 
-void prep_rgb_status_animation(const pyexec_result_t* result, bool found_main, rgb_status_animation_t* status) {
+void prep_rgb_status_animation(const pyexec_result_t* result,
+                               bool found_main,
+                               safe_mode_t safe_mode,
+                               rgb_status_animation_t* status) {
     #if defined(MICROPY_HW_NEOPIXEL) || (defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK))
     new_status_color(ALL_DONE);
     status->pattern_start = ticks_ms;
-
-    uint32_t total_exception_cycle = 0;
+    status->safe_mode = safe_mode;
+    status->total_exception_cycle = 0;
     status->ones = result->exception_line % 10;
     status->ones += status->ones > 0 ? 1 : 0;
     status->tens = (result->exception_line / 10) % 10;
@@ -224,7 +227,7 @@ void prep_rgb_status_animation(const pyexec_result_t* result, bool found_main, r
     }
     status->ok = result->return_code != PYEXEC_EXCEPTION;
     if (!status->ok) {
-        status->total_exception_cycle = EXCEPTION_TYPE_LENGTH_MS * 3 + LINE_NUMBER_TOGGLE_LENGTH * digit_sum + LINE_NUMBER_TOGGLE_LENGTH * num_places;
+        status->total_exception_cycle = EXCEPTION_TYPE_LENGTH_MS * 3 + LINE_NUMBER_TOGGLE_LENGTH * status->digit_sum + LINE_NUMBER_TOGGLE_LENGTH * num_places;
     }
     if (mp_obj_is_subclass_fast(result->exception_type, &mp_type_IndentationError)) {
         status->exception_color = INDENTATION_ERROR;
@@ -244,11 +247,11 @@ void prep_rgb_status_animation(const pyexec_result_t* result, bool found_main, r
 
 void tick_rgb_status_animation(rgb_status_animation_t* status) {
     #if defined(MICROPY_HW_NEOPIXEL) || (defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK))
-    uint32_t tick_diff = ticks_ms - pattern_start;
+    uint32_t tick_diff = ticks_ms - status->pattern_start;
     if (status->ok) {
         // All is good. Ramp ALL_DONE up and down.
         if (tick_diff > ALL_GOOD_CYCLE_MS) {
-            pattern_start = ticks_ms;
+            status->pattern_start = ticks_ms;
             tick_diff = 0;
         }
 
@@ -256,14 +259,14 @@ void tick_rgb_status_animation(rgb_status_animation_t* status) {
         if (brightness > 255) {
             brightness = 511 - brightness;
         }
-        if (safe_mode == NO_SAFE_MODE) {
+        if (status->safe_mode == NO_SAFE_MODE) {
             new_status_color(color_brightness(ALL_DONE, brightness));
         } else {
             new_status_color(color_brightness(SAFE_MODE, brightness));
         }
     } else {
-        if (tick_diff > total_exception_cycle) {
-            pattern_start = ticks_ms;
+        if (tick_diff > status->total_exception_cycle) {
+            status->pattern_start = ticks_ms;
             tick_diff = 0;
         }
         // First flash the file color.
@@ -275,34 +278,34 @@ void tick_rgb_status_animation(rgb_status_animation_t* status) {
             }
         // Next flash the exception color.
         } else if (tick_diff < EXCEPTION_TYPE_LENGTH_MS * 2) {
-            new_status_color(exception_color);
+            new_status_color(status->exception_color);
         // Finally flash the line number digits from highest to lowest.
         // Zeroes will not produce a flash but can be read by the absence of
         // a color from the sequence.
-        } else if (tick_diff < (EXCEPTION_TYPE_LENGTH_MS * 2 + LINE_NUMBER_TOGGLE_LENGTH * digit_sum)) {
+        } else if (tick_diff < (EXCEPTION_TYPE_LENGTH_MS * 2 + LINE_NUMBER_TOGGLE_LENGTH * status->digit_sum)) {
             uint32_t digit_diff = tick_diff - EXCEPTION_TYPE_LENGTH_MS * 2;
             if ((digit_diff % LINE_NUMBER_TOGGLE_LENGTH) < (LINE_NUMBER_TOGGLE_LENGTH / 2)) {
                 new_status_color(BLACK);
-            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * thousands) {
+            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * status->thousands) {
                 if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH) {
                     new_status_color(BLACK);
                 } else {
                     new_status_color(THOUSANDS);
                 }
-            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds)) {
-                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + 1)) {
+            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (status->thousands + status->hundreds)) {
+                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (status->thousands + 1)) {
                     new_status_color(BLACK);
                 } else {
                     new_status_color(HUNDREDS);
                 }
-            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + tens)) {
-                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + 1)) {
+            } else if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (status->thousands + status->hundreds + status->tens)) {
+                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (status->thousands + status->hundreds + 1)) {
                     new_status_color(BLACK);
                 } else {
                     new_status_color(TENS);
                 }
             } else {
-                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (thousands + hundreds + tens + 1)) {
+                if (digit_diff < LINE_NUMBER_TOGGLE_LENGTH * (status->thousands + status->hundreds + status->tens + 1)) {
                     new_status_color(BLACK);
                 } else {
                     new_status_color(ONES);
diff --git a/supervisor/shared/rgb_led_status.h b/supervisor/shared/rgb_led_status.h
index 2ea00f4fe..24e071aac 100644
--- a/supervisor/shared/rgb_led_status.h
+++ b/supervisor/shared/rgb_led_status.h
@@ -31,6 +31,7 @@
 #include <stdbool.h>
 
 #include "lib/utils/pyexec.h"
+#include "supervisor/port.h"
 
 #include "mpconfigport.h"
 #include "rgb_led_colors.h"
@@ -59,6 +60,8 @@ typedef struct {
     bool ok;
     uint32_t pattern_start;
     uint32_t total_exception_cycle;
+    safe_mode_t safe_mode;
+    uint8_t digit_sum;
     uint8_t ones;
     uint8_t tens;
     uint8_t hundreds;
@@ -67,7 +70,10 @@ typedef struct {
     bool found_main;
 } rgb_status_animation_t;
 
-void prep_rgb_status_animation(const pyexec_result_t* result, bool found_main, rgb_status_animation_t* status);
+void prep_rgb_status_animation(const pyexec_result_t* result,
+                               bool found_main,
+                               safe_mode_t safe_mode,
+                               rgb_status_animation_t* status);
 void tick_rgb_status_animation(rgb_status_animation_t* status);
 
 #endif  // MICROPY_INCLUDED_SUPERVISOR_RGB_LED_STATUS_H