Fix autoreload, neopixel, monotonic_ns and sleep w/o SD

9 files changed, 80 insertions, 42 deletions

diff --git a/main.c b/main.c
index 52870cc8e..c60cded16 100755
--- a/main.c
+++ b/main.c
@@ -428,7 +428,7 @@ int __attribute__((used)) main(void) {
     filesystem_init(safe_mode == NO_SAFE_MODE, false);
 
     // displays init after filesystem, since they could share the flash SPI
-    board_init(); 
+    board_init();
 
     // Reset everything and prep MicroPython to run boot.py.
     reset_port();
diff --git a/ports/nrf/common-hal/neopixel_write/__init__.c b/ports/nrf/common-hal/neopixel_write/__init__.c
index 4d961621e..8062937f4 100644
--- a/ports/nrf/common-hal/neopixel_write/__init__.c
+++ b/ports/nrf/common-hal/neopixel_write/__init__.c
@@ -27,6 +27,7 @@
 #include "py/mphal.h"
 #include "py/mpstate.h"
 #include "shared-bindings/neopixel_write/__init__.h"
+#include "supervisor/port.h"
 #include "nrf_pwm.h"
 
 // https://github.com/adafruit/Adafruit_NeoPixel/blob/master/Adafruit_NeoPixel.cpp
@@ -103,8 +104,7 @@ void neopixel_write_reset(void) {
     pixels_pattern_heap_size = 0;
 }
 
-uint64_t next_start_tick_ms = 0;
-uint32_t next_start_tick_us = 1000;
+uint64_t next_start_raw_ticks = 0;
 
 void common_hal_neopixel_write (const digitalio_digitalinout_obj_t* digitalinout, uint8_t *pixels, uint32_t numBytes) {
     // To support both the SoftDevice + Neopixels we use the EasyDMA
@@ -173,8 +173,9 @@ void common_hal_neopixel_write (const digitalio_digitalinout_obj_t* digitalinout
         }
     }
 
-    // Wait to make sure we don't append onto the last transmission.
-    // wait_until(next_start_tick_ms, next_start_tick_us);
+    // Wait to make sure we don't append onto the last transmission. This should only be a tick or
+    // two.
+    while (port_get_raw_ticks(NULL) < next_start_raw_ticks) {}
 
     // Use the identified device to choose the implementation
     // If a PWM device is available and we have a buffer, use DMA.
@@ -321,11 +322,5 @@ void common_hal_neopixel_write (const digitalio_digitalinout_obj_t* digitalinout
     }
 
     // Update the next start.
-    // 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;
-    // }
+    next_start_raw_ticks = port_get_raw_ticks(NULL) + 4;
 }
diff --git a/ports/nrf/common-hal/rtc/RTC.c b/ports/nrf/common-hal/rtc/RTC.c
index 9ffd2e8a3..6b582ef26 100644
--- a/ports/nrf/common-hal/rtc/RTC.c
+++ b/ports/nrf/common-hal/rtc/RTC.c
@@ -40,12 +40,12 @@
 static uint32_t rtc_offset = 0;
 
 void common_hal_rtc_get_time(timeutils_struct_time_t *tm) {
-    uint64_t ticks_s = port_get_raw_ticks() / 1024;
+    uint64_t ticks_s = port_get_raw_ticks(NULL) / 1024;
     timeutils_seconds_since_2000_to_struct_time(rtc_offset + ticks_s, tm);
 }
 
 void common_hal_rtc_set_time(timeutils_struct_time_t *tm) {
-    uint64_t ticks_s = port_get_raw_ticks() / 1024;
+    uint64_t ticks_s = port_get_raw_ticks(NULL) / 1024;
     uint32_t epoch_s = timeutils_seconds_since_2000(
         tm->tm_year, tm->tm_mon, tm->tm_mday, tm->tm_hour, tm->tm_min, tm->tm_sec
     );
diff --git a/ports/nrf/common-hal/time/__init__.c b/ports/nrf/common-hal/time/__init__.c
index 3ec5cf683..21fe98926 100644
--- a/ports/nrf/common-hal/time/__init__.c
+++ b/ports/nrf/common-hal/time/__init__.c
@@ -25,18 +25,18 @@
  */
 
 #include "py/mphal.h"
+#include "supervisor/port.h"
 
 uint64_t common_hal_time_monotonic(void) {
     return supervisor_ticks_ms64();
 }
 
 uint64_t common_hal_time_monotonic_ns(void) {
-    uint64_t ms = 0;
-    uint32_t us_until_ms = 0;
-    // FIXME! Re-implement this.
-    // current_tick(&ms, &us_until_ms);
-    // us counts down.
-    return 1000 * (ms * 1000 + (1000 - us_until_ms));
+    uint8_t subticks = 0;
+    uint64_t ticks = port_get_raw_ticks(&subticks);
+    // A tick is 976562.5 nanoseconds so multiply it by the base and add half instead of doing float
+    // math.
+    return 976562 * ticks + ticks / 2 + 30518 * subticks;
 }
 
 void common_hal_time_delay_ms(uint32_t delay) {
diff --git a/ports/nrf/supervisor/port.c b/ports/nrf/supervisor/port.c
index 85978cc07..2a4604091 100644
--- a/ports/nrf/supervisor/port.c
+++ b/ports/nrf/supervisor/port.c
@@ -68,7 +68,7 @@ static void power_warning_handler(void) {
 const nrfx_rtc_t rtc_instance = NRFX_RTC_INSTANCE(2);
 
 const nrfx_rtc_config_t rtc_config = {
-    .prescaler = RTC_FREQ_TO_PRESCALER(1024),
+    .prescaler = RTC_FREQ_TO_PRESCALER(0x8000),
     .reliable = 0,
     .tick_latency = 0,
     .interrupt_priority = 6
@@ -79,10 +79,11 @@ static volatile uint64_t overflowed_ticks = 0;
 void rtc_handler(nrfx_rtc_int_type_t int_type) {
     if (int_type == NRFX_RTC_INT_OVERFLOW) {
         overflowed_ticks += (1L<<24);
-    }
-    // Do things common to all ports when the tick occurs
-    if (int_type == NRFX_RTC_INT_TICK) {
+    } else if (int_type == NRFX_RTC_INT_TICK && nrfx_rtc_counter_get(&rtc_instance) % 32 == 0) {
+        // Do things common to all ports when the tick occurs
         supervisor_tick();
+    } else if (int_type == NRFX_RTC_INT_COMPARE0) {
+        nrfx_rtc_cc_set(&rtc_instance, 0, 0, false);
     }
 }
 
@@ -195,8 +196,12 @@ uint32_t port_get_saved_word(void) {
     return _ebss;
 }
 
-uint64_t port_get_raw_ticks(void) {
-    return overflowed_ticks + nrfx_rtc_counter_get(&rtc_instance);
+uint64_t port_get_raw_ticks(uint8_t* subticks) {
+    uint32_t rtc = nrfx_rtc_counter_get(&rtc_instance);
+    if (subticks != NULL) {
+        *subticks = (rtc % 32);
+    }
+    return overflowed_ticks + rtc / 32;
 }
 
 // Enable 1/1024 second tick.
@@ -213,7 +218,10 @@ void port_interrupt_after_ticks(uint32_t ticks) {
     uint32_t current_ticks = nrfx_rtc_counter_get(&rtc_instance);
     uint32_t diff = 3;
     if (ticks > diff) {
-        diff = ticks;
+        diff = ticks * 32;
+    }
+    if (diff > 0xffffff) {
+        diff = 0xffffff;
     }
     nrfx_rtc_cc_set(&rtc_instance, 0, current_ticks + diff, true);
 }
@@ -225,7 +233,15 @@ void port_sleep_until_interrupt(void) {
         (void) __get_FPSCR();
         NVIC_ClearPendingIRQ(FPU_IRQn);
     }
-    sd_app_evt_wait();
+    uint8_t sd_enabled;
+
+    sd_softdevice_is_enabled(&sd_enabled);
+    if (sd_enabled) {
+        sd_app_evt_wait();
+    } else {
+        // Call wait for interrupt ourselves if the SD isn't enabled.
+        __WFI();
+    }
 }
 
 
diff --git a/supervisor/port.h b/supervisor/port.h
index dd7093f43..ccbb314ad 100644
--- a/supervisor/port.h
+++ b/supervisor/port.h
@@ -70,9 +70,10 @@ uint32_t *port_heap_get_top(void);
 void port_set_saved_word(uint32_t);
 uint32_t port_get_saved_word(void);
 
-// Get the raw tick count since start up. A tick is 1/32768 of a second, a common low frequency
-// clock rate.
-uint64_t port_get_raw_ticks(void);
+// Get the raw tick count since start up. A tick is 1/1024 of a second, a common low frequency
+// clock rate. If subticks is not NULL then the port will fill in the number of subticks where each
+// tick is 32 subticks (for a resolution of 1/32768 or 30.5ish microseconds.)
+uint64_t port_get_raw_ticks(uint8_t* subticks);
 
 // Enable 1/1024 second tick.
 void port_enable_tick(void);
@@ -80,7 +81,8 @@ void port_enable_tick(void);
 // Disable 1/1024 second tick.
 void port_disable_tick(void);
 
-// Wake the CPU after the given number of ticks or sooner.
+// Wake the CPU after the given number of ticks or sooner. Only the last call to this will apply.
+// Only the common sleep routine should use it.
 void port_interrupt_after_ticks(uint32_t ticks);
 
 // Sleep the CPU until an interrupt is received.
diff --git a/supervisor/shared/autoreload.c b/supervisor/shared/autoreload.c
index a6212c1a9..bc818e6b0 100644
--- a/supervisor/shared/autoreload.c
+++ b/supervisor/shared/autoreload.c
@@ -28,6 +28,7 @@
 
 #include "py/mphal.h"
 #include "py/reload.h"
+#include "supervisor/shared/tick.h"
 
 static volatile uint32_t autoreload_delay_ms = 0;
 static bool autoreload_enabled = false;
@@ -43,6 +44,7 @@ inline void autoreload_tick() {
         !autoreload_suspended && !reload_requested) {
         mp_raise_reload_exception();
         reload_requested = true;
+        supervisor_disable_tick();
     }
     autoreload_delay_ms--;
 }
@@ -69,6 +71,9 @@ inline bool autoreload_is_enabled() {
 }
 
 void autoreload_start() {
+    if (autoreload_delay_ms == 0) {
+        supervisor_enable_tick();
+    }
     autoreload_delay_ms = CIRCUITPY_AUTORELOAD_DELAY_MS;
 }
 
diff --git a/supervisor/shared/tick.c b/supervisor/shared/tick.c
index b8776f563..20ca3abb7 100644
--- a/supervisor/shared/tick.c
+++ b/supervisor/shared/tick.c
@@ -52,7 +52,7 @@ void supervisor_tick(void) {
     autoreload_tick();
 #endif
 #ifdef CIRCUITPY_GAMEPAD_TICKS
-    if (!(port_get_raw_ticks() & CIRCUITPY_GAMEPAD_TICKS)) {
+    if (!(port_get_raw_ticks(NULL) & CIRCUITPY_GAMEPAD_TICKS)) {
         #if CIRCUITPY_GAMEPAD
         gamepad_tick();
         #endif
@@ -66,7 +66,7 @@ void supervisor_tick(void) {
 uint64_t supervisor_ticks_ms64() {
     uint64_t result;
     common_hal_mcu_disable_interrupts();
-    result = port_get_raw_ticks();
+    result = port_get_raw_ticks(NULL);
     common_hal_mcu_enable_interrupts();
     result = result * 1000 / 1024;
     return result;
@@ -79,23 +79,24 @@ uint32_t supervisor_ticks_ms32() {
 extern void run_background_tasks(void);
 
 void PLACE_IN_ITCM(supervisor_run_background_tasks_if_tick)() {
-    // uint64_t now = port_get_raw_ticks();
+    uint8_t subticks;
+    uint64_t now = port_get_raw_ticks(&subticks);
 
-    // if (now == background_ticks) {
-    //     return;
-    // }
-    // background_ticks = now;
+    if (now == background_ticks && (subticks & 0x3) != 0) {
+        return;
+    }
+    background_ticks = now;
 
     run_background_tasks();
 }
 
 void supervisor_fake_tick() {
-    uint32_t now = port_get_raw_ticks();
+    uint32_t now = port_get_raw_ticks(NULL);
     background_ticks = (now - 1);
 }
 
 void mp_hal_delay_ms(mp_uint_t delay) {
-    uint64_t start_tick = port_get_raw_ticks();
+    uint64_t start_tick = port_get_raw_ticks(NULL);
     // Adjust the delay to ticks vs ms.
     delay = delay * 1024 / 1000;
     uint64_t duration = 0;
@@ -110,7 +111,23 @@ void mp_hal_delay_ms(mp_uint_t delay) {
         // Sleep until an interrupt happens.
         port_sleep_until_interrupt();
         // asm("bkpt");
-        duration = (port_get_raw_ticks() - start_tick);
+        duration = (port_get_raw_ticks(NULL) - start_tick);
+        port_interrupt_after_ticks(duration);
+    }
+}
+
+volatile size_t tick_enable_count = 0;
+extern void supervisor_enable_tick(void) {
+    if (tick_enable_count == 0) {
+        port_enable_tick();
+    }
+    tick_enable_count++;
+}
+
+extern void supervisor_disable_tick(void) {
+    tick_enable_count--;
+    if (tick_enable_count == 0) {
+        port_disable_tick();
     }
 }
 
diff --git a/supervisor/shared/tick.h b/supervisor/shared/tick.h
index 7ce8281ba..e7e808058 100644
--- a/supervisor/shared/tick.h
+++ b/supervisor/shared/tick.h
@@ -64,4 +64,7 @@ extern uint64_t supervisor_ticks_ms64(void);
  */
 extern void supervisor_run_background_if_tick(void);
 
+extern void supervisor_enable_tick(void);
+extern void supervisor_disable_tick(void);
+
 #endif