Merge pull request #1031 from dhalbert/3.0.0-to-master

Merge 3.0.0 final bugfixes and changes to master

18 files changed, 87 insertions, 21 deletions

diff --git a/.gitmodules b/.gitmodules
index 7c477d975..37cee7e81 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -70,6 +70,9 @@
 [submodule "ports/atmel-samd/peripherals"]
 	path = ports/atmel-samd/peripherals
 	url = https://github.com/adafruit/samd-peripherals.git
+[submodule "frozen/Adafruit_CircuitPython_Crickit"]
+	path = frozen/Adafruit_CircuitPython_Crickit
+	url = https://github.com/adafruit/Adafruit_CircuitPython_Crickit
 [submodule "ports/nrf/nrfx"]
 	path = ports/nrf/nrfx
 	url = https://github.com/NordicSemiconductor/nrfx.git
diff --git a/docs/drivers.rst b/docs/drivers.rst
index 951967e09..37bebb46a 100644
--- a/docs/drivers.rst
+++ b/docs/drivers.rst
@@ -191,6 +191,7 @@ These provide functionality similar to `analogio`, `digitalio`, `pulseio`, and `
 
     Adafruit SeeSaw <https://circuitpython.readthedocs.io/projects/seesaw/en/latest/>
     ADS1x15 Analog-to-Digital Converter  <https://circuitpython.readthedocs.io/projects/ads1x15/en/latest/>
+    Crickit Robotics Boards <<https://circuitpython.readthedocs.io/projects/crickit/en/latest/>
     DS2413 OneWire GPIO Expander <https://circuitpython.readthedocs.io/projects/ds2413/en/latest/>
     FocalTech Capacitive Touch <https://circuitpython.readthedocs.io/projects/focaltouch/en/latest/>
     MCP230xx GPIO Expander <https://circuitpython.readthedocs.io/projects/mcp230xx/en/latest/>
@@ -200,7 +201,6 @@ These provide functionality similar to `analogio`, `digitalio`, `pulseio`, and `
     TLC59711 12 x 16-bit PWM Driver <https://circuitpython.readthedocs.io/projects/tlc59711/en/latest/>
     MPR121 Capacitive Touch Sensor <https://circuitpython.readthedocs.io/projects/mpr121/en/latest/>
 
-
 Miscellaneous
 ----------------
 
diff --git a/frozen/Adafruit_CircuitPython_BusDevice b/frozen/Adafruit_CircuitPython_BusDevice
-Subproject 376a80e62acb3ba8b9a1e5c11bb75d36352f219
+Subproject 07919641470edb602585c6a91f7b8eacf17e664
diff --git a/frozen/Adafruit_CircuitPython_CircuitPlayground b/frozen/Adafruit_CircuitPython_CircuitPlayground
-Subproject d0022de9d5e9b4c3d4998a5d708e59ee147f0a2
+Subproject d0aa6dc56d66decfae92daced7384c1e3518a66
diff --git a/frozen/Adafruit_CircuitPython_Crickit b/frozen/Adafruit_CircuitPython_Crickit
new file mode 160000
+Subproject 44f52c5dacd9fc605565e5794e95c9a785aaf69
diff --git a/frozen/Adafruit_CircuitPython_HID b/frozen/Adafruit_CircuitPython_HID
-Subproject 1da880cee3c2d64e2e7e4ca5082f3a74c4a37a5
+Subproject 5c2f6ef1ed80f24b6a3878067d40350d3725e19
diff --git a/frozen/Adafruit_CircuitPython_Motor b/frozen/Adafruit_CircuitPython_Motor
-Subproject 6da5d14b98ac3d929662731f73ce03c0c958b52
+Subproject e0b709f1710555da67705360870ba0d14ced7e0
diff --git a/frozen/Adafruit_CircuitPython_seesaw b/frozen/Adafruit_CircuitPython_seesaw
-Subproject 498f59bf926477b3a8fb8eb157ca05eb12c3e29
+Subproject 340cd17fad0c29d3a70d6e298a30ecc753df054
diff --git a/ports/atmel-samd/Makefile b/ports/atmel-samd/Makefile
index 9c14ac29c..249f003f9 100755
--- a/ports/atmel-samd/Makefile
+++ b/ports/atmel-samd/Makefile
@@ -119,6 +119,9 @@ else
   ifdef INTERNAL_FLASH_FILESYSTEM
     CFLAGS += -finline-limit=55
   endif
+  ifdef CFLAGS_INLINE_LIMIT
+    CFLAGS += -finline-limit=$(CFLAGS_INLINE_LIMIT)
+  endif
   CFLAGS += -flto
 endif
 
diff --git a/ports/atmel-samd/boards/circuitplayground_express_crickit/mpconfigboard.mk b/ports/atmel-samd/boards/circuitplayground_express_crickit/mpconfigboard.mk
index 0145bf785..972c4b10d 100644
--- a/ports/atmel-samd/boards/circuitplayground_express_crickit/mpconfigboard.mk
+++ b/ports/atmel-samd/boards/circuitplayground_express_crickit/mpconfigboard.mk
@@ -11,9 +11,12 @@ LONGINT_IMPL = NONE
 CHIP_VARIANT = SAMD21G18A
 CHIP_FAMILY = samd21
 
+CFLAGS_INLINE_LIMIT = 55
+
 # Include these Python libraries in firmware.
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_CircuitPlayground
+FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Crickit
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_LIS3DH
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Motor
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel
diff --git a/ports/atmel-samd/boards/feather_m0_express_crickit/mpconfigboard.mk b/ports/atmel-samd/boards/feather_m0_express_crickit/mpconfigboard.mk
index 4096560c2..7ff5337a3 100644
--- a/ports/atmel-samd/boards/feather_m0_express_crickit/mpconfigboard.mk
+++ b/ports/atmel-samd/boards/feather_m0_express_crickit/mpconfigboard.mk
@@ -10,8 +10,11 @@ LONGINT_IMPL = MPZ
 CHIP_VARIANT = SAMD21G18A
 CHIP_FAMILY = samd21
 
+CFLAGS_INLINE_LIMIT = 55
+
 # Include these Python libraries in firmware.
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice
+FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Crickit
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Motor
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel
 FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_seesaw
diff --git a/ports/atmel-samd/common-hal/digitalio/DigitalInOut.c b/ports/atmel-samd/common-hal/digitalio/DigitalInOut.c
index cd0e3f91e..c5c8f48e9 100644
--- a/ports/atmel-samd/common-hal/digitalio/DigitalInOut.c
+++ b/ports/atmel-samd/common-hal/digitalio/DigitalInOut.c
@@ -40,8 +40,9 @@ digitalinout_result_t common_hal_digitalio_digitalinout_construct(
     claim_pin(pin);
     self->pin = pin;
 
-    gpio_set_pin_pull_mode(pin->pin, GPIO_PULL_OFF);
+    // Must set pull after setting direction.
     gpio_set_pin_direction(pin->pin, GPIO_DIRECTION_IN);
+    gpio_set_pin_pull_mode(pin->pin, GPIO_PULL_OFF);
     return DIGITALINOUT_OK;
 }
 
@@ -60,7 +61,7 @@ void common_hal_digitalio_digitalinout_deinit(digitalio_digitalinout_obj_t* self
 void common_hal_digitalio_digitalinout_switch_to_input(
         digitalio_digitalinout_obj_t* self, digitalio_pull_t pull) {
     self->output = false;
-
+    // This also sets direction to input.
     common_hal_digitalio_digitalinout_set_pull(self, pull);
 }
 
@@ -69,13 +70,13 @@ void common_hal_digitalio_digitalinout_switch_to_output(
         digitalio_drive_mode_t drive_mode) {
     const uint8_t pin = self->pin->pin;
     gpio_set_pin_pull_mode(pin, GPIO_PULL_OFF);
-    gpio_set_pin_direction(pin, GPIO_DIRECTION_OUT);
-
     // Turn on "strong" pin driving (more current available). See DRVSTR doc in datasheet.
     hri_port_set_PINCFG_DRVSTR_bit(PORT, (enum gpio_port)GPIO_PORT(pin), GPIO_PIN(pin));
 
     self->output = true;
     self->open_drain = drive_mode == DRIVE_MODE_OPEN_DRAIN;
+
+    // Direction is set in set_value. We don't need to do it here.
     common_hal_digitalio_digitalinout_set_value(self, value);
 }
 
@@ -86,16 +87,22 @@ digitalio_direction_t common_hal_digitalio_digitalinout_get_direction(
 
 void common_hal_digitalio_digitalinout_set_value(
         digitalio_digitalinout_obj_t* self, bool value) {
+    const uint8_t pin = self->pin->pin;
+    const uint8_t port = GPIO_PORT(pin);
+    const uint32_t pin_mask = 1U << GPIO_PIN(pin);
     if (value) {
         if (self->open_drain) {
-            gpio_set_pin_direction(self->pin->pin, GPIO_DIRECTION_IN);
+            // Assertion: pull is off, so the pin is floating in this case.
+            // We do open-drain high output (no sinking of current)
+            // by changing the direction to input with no pulls.
+            hri_port_clear_DIR_DIR_bf(PORT, port, pin_mask);
         } else {
-            gpio_set_pin_level(self->pin->pin, true);
-            gpio_set_pin_direction(self->pin->pin, GPIO_DIRECTION_OUT);
+            hri_port_set_DIR_DIR_bf(PORT, port, pin_mask);
+            hri_port_set_OUT_OUT_bf(PORT, port, pin_mask);
         }
     } else {
-        gpio_set_pin_level(self->pin->pin, false);
-        gpio_set_pin_direction(self->pin->pin, GPIO_DIRECTION_OUT);
+        hri_port_set_DIR_DIR_bf(PORT, port, pin_mask);
+        hri_port_clear_OUT_OUT_bf(PORT,port, pin_mask);
     }
 }
 
@@ -105,10 +112,10 @@ bool common_hal_digitalio_digitalinout_get_value(
     if (!self->output) {
         return gpio_get_pin_level(pin);
     } else {
-        if (self->open_drain && hri_port_get_DIR_reg(PORT, (enum gpio_port)GPIO_PORT(pin), 1U << GPIO_PIN(pin)) == 0) {
+        if (self->open_drain && hri_port_get_DIR_reg(PORT, GPIO_PORT(pin), 1U << GPIO_PIN(pin)) == 0) {
             return true;
         } else {
-            return hri_port_get_OUT_reg(PORT, (enum gpio_port)GPIO_PORT(pin), 1U << GPIO_PIN(pin));
+            return hri_port_get_OUT_reg(PORT, GPIO_PORT(pin), 1U << GPIO_PIN(pin));
         }
     }
 }
@@ -119,7 +126,7 @@ void common_hal_digitalio_digitalinout_set_drive_mode(
     bool value = common_hal_digitalio_digitalinout_get_value(self);
     self->open_drain = drive_mode == DRIVE_MODE_OPEN_DRAIN;
     // True is implemented differently between modes so reset the value to make
-    // sure its correct for the new mode.
+    // sure it's correct for the new mode.
     if (value) {
         common_hal_digitalio_digitalinout_set_value(self, value);
     }
@@ -148,6 +155,8 @@ void common_hal_digitalio_digitalinout_set_pull(
         default:
             break;
     }
+    // Must set pull after setting direction.
+    gpio_set_pin_direction(self->pin->pin, GPIO_DIRECTION_IN);
     gpio_set_pin_pull_mode(self->pin->pin, asf_pull);
 }
 
@@ -158,9 +167,9 @@ digitalio_pull_t common_hal_digitalio_digitalinout_get_pull(
         mp_raise_AttributeError("Cannot get pull while in output mode");
         return PULL_NONE;
     } else {
-        if (hri_port_get_PINCFG_PULLEN_bit(PORT, (enum gpio_port)GPIO_PORT(pin), GPIO_PIN(pin)) == 0) {
+        if (hri_port_get_PINCFG_PULLEN_bit(PORT, GPIO_PORT(pin), GPIO_PIN(pin)) == 0) {
             return PULL_NONE;
-        } if (hri_port_get_OUT_reg(PORT, (enum gpio_port)GPIO_PORT(pin), 1U << GPIO_PIN(pin)) > 0) {
+        } if (hri_port_get_OUT_reg(PORT, GPIO_PORT(pin), 1U << GPIO_PIN(pin)) > 0) {
             return PULL_UP;
         } else {
             return PULL_DOWN;
diff --git a/ports/atmel-samd/mphalport.c b/ports/atmel-samd/mphalport.c
index c1b8ce550..a4eca1c74 100644
--- a/ports/atmel-samd/mphalport.c
+++ b/ports/atmel-samd/mphalport.c
@@ -1,3 +1,29 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2016 Scott Shawcroft
+ *
+ * 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 "lib/mp-readline/readline.h"
@@ -14,6 +40,7 @@
 #include "hal/include/hal_delay.h"
 #include "hal/include/hal_gpio.h"
 #include "hal/include/hal_sleep.h"
+#include "sam.h"
 
 #include "mpconfigboard.h"
 #include "mphalport.h"
@@ -22,6 +49,7 @@
 #include "usb.h"
 
 extern struct usart_module usart_instance;
+extern uint32_t common_hal_mcu_processor_get_frequency(void);
 
 int mp_hal_stdin_rx_chr(void) {
     for (;;) {
@@ -71,8 +99,23 @@ void mp_hal_delay_ms(mp_uint_t delay) {
     }
 }
 
+// Use mp_hal_delay_us() for timing of less than 1ms.
+// Do a simple timing loop to wait for a certain number of microseconds.
+// Can be used when interrupts are disabled, which makes tick_delay() unreliable.
+//
+// Testing done at 48 MHz on SAMD21 and 120 MHz on SAMD51, multiplication and division cancel out.
+// But get the frequency just in case.
+#ifdef SAMD21
+#define DELAY_LOOP_ITERATIONS_PER_US ( (10U*48000000U) / common_hal_mcu_processor_get_frequency())
+#endif
+#ifdef SAMD51
+#define DELAY_LOOP_ITERATIONS_PER_US ( (30U*120000000U) / common_hal_mcu_processor_get_frequency())
+#endif
+
 void mp_hal_delay_us(mp_uint_t delay) {
-    tick_delay(delay);
+    for (uint32_t i = delay*DELAY_LOOP_ITERATIONS_PER_US; i > 0; i--) {
+        asm volatile("nop");
+    }
 }
 
 void mp_hal_disable_all_interrupts(void) {
diff --git a/ports/atmel-samd/mphalport.h b/ports/atmel-samd/mphalport.h
index 3b5955a4f..3bc824d4e 100644
--- a/ports/atmel-samd/mphalport.h
+++ b/ports/atmel-samd/mphalport.h
@@ -48,7 +48,6 @@ int receive_usb(void);
 void mp_hal_set_interrupt_char(int c);
 
 void mp_hal_disable_all_interrupts(void);
-
 void mp_hal_enable_all_interrupts(void);
 
 #endif // MICROPY_INCLUDED_ATMEL_SAMD_MPHALPORT_H
diff --git a/ports/atmel-samd/tick.c b/ports/atmel-samd/tick.c
index 9753a1a0c..149347793 100644
--- a/ports/atmel-samd/tick.c
+++ b/ports/atmel-samd/tick.c
@@ -64,8 +64,8 @@ void tick_init() {
     for (uint16_t i = 0; i < PERIPH_COUNT_IRQn; i++) {
         NVIC_SetPriority(i, (1UL << __NVIC_PRIO_BITS) - 1UL);
     }
-    // Bump up the systick interrupt.
-    NVIC_SetPriority(SysTick_IRQn, 1);
+    // Bump up the systick interrupt so nothing else interferes with timekeeping.
+    NVIC_SetPriority(SysTick_IRQn, 0);
     #ifdef SAMD21
     NVIC_SetPriority(USB_IRQn, 1);
     #endif
diff --git a/ports/nrf/common-hal/microcontroller/__init__.c b/ports/nrf/common-hal/microcontroller/__init__.c
index b63ee5a88..e88c74136 100644
--- a/ports/nrf/common-hal/microcontroller/__init__.c
+++ b/ports/nrf/common-hal/microcontroller/__init__.c
@@ -34,6 +34,8 @@
 #include "supervisor/filesystem.h"
 #include "nrfx_glue.h"
 
+// This routine should work even when interrupts are disabled. Used by OneWire
+// for precise timing.
 void common_hal_mcu_delay_us(uint32_t delay) {
     NRFX_DELAY_US(delay);
 }
@@ -60,4 +62,3 @@ const mcu_processor_obj_t common_hal_mcu_processor_obj = {
         .type = &mcu_processor_type,
     },
 };
-
diff --git a/ports/nrf/mphalport.h b/ports/nrf/mphalport.h
index 2aa2a4f30..f283cf38d 100644
--- a/ports/nrf/mphalport.h
+++ b/ports/nrf/mphalport.h
@@ -49,4 +49,3 @@ void mp_hal_delay_ms(mp_uint_t ms);
 #define mp_hal_delay_us(us)     NRFX_DELAY_US((uint32_t) (us))
 
 #endif
-
diff --git a/shared-module/bitbangio/OneWire.c b/shared-module/bitbangio/OneWire.c
index e77bdb3b2..f5f479087 100644
--- a/shared-module/bitbangio/OneWire.c
+++ b/shared-module/bitbangio/OneWire.c
@@ -49,6 +49,9 @@ void shared_module_bitbangio_onewire_deinit(bitbangio_onewire_obj_t* self) {
     common_hal_digitalio_digitalinout_deinit(&self->pin);
 }
 
+// We use common_hal_mcu_delay_us(). It should not be dependent on interrupts
+// to do accurate timekeeping, since we disable interrupts during the delays below.
+
 bool shared_module_bitbangio_onewire_reset(bitbangio_onewire_obj_t* self) {
     common_hal_mcu_disable_interrupts();
     common_hal_digitalio_digitalinout_switch_to_output(&self->pin, false, DRIVE_MODE_OPEN_DRAIN);