Hopefully fix PulseIn

2 files changed, 65 insertions, 26 deletions

diff --git a/ports/nrf/common-hal/pulseio/PulseIn.c b/ports/nrf/common-hal/pulseio/PulseIn.c
index 9316121ba..a7d0fb28e 100644
--- a/ports/nrf/common-hal/pulseio/PulseIn.c
+++ b/ports/nrf/common-hal/pulseio/PulseIn.c
@@ -29,6 +29,7 @@
 #include <stdint.h>
 #include <string.h>
 
+#include "nrf/timers.h"
 #include "py/mpconfig.h"
 #include "py/gc.h"
 #include "py/runtime.h"
@@ -41,6 +42,20 @@
 // obj array to map pin -> self since nrfx hide the mapping
 static pulseio_pulsein_obj_t* _objs[GPIOTE_CH_NUM];
 
+// A single timer is shared amongst all PulseIn objects as a common high speed clock reference.
+static uint8_t refcount = 0;
+static nrfx_timer_t *timer = NULL;
+
+static uint32_t overflow_count = 0;
+
+static void timer_overflow_event_handler(nrf_timer_event_t event_type, void *p_context) {
+    if (event_type != NRF_TIMER_EVENT_COMPARE0) {
+        // Other event.
+        return;
+    }
+    overflow_count++;
+}
+
 // return index of the object in array
 static int _find_pulsein_obj(pulseio_pulsein_obj_t* obj) {
     for(size_t i = 0; i < NRFX_ARRAY_SIZE(_objs); i++ ) {
@@ -54,13 +69,8 @@ static int _find_pulsein_obj(pulseio_pulsein_obj_t* obj) {
 
 static void _pulsein_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
     // Grab the current time first.
-    uint32_t current_us = 0;
-    uint64_t current_ms = 0;
-    // FIXME! We need a higher resolution clock to measure against.
-    //current_tick(&current_ms, &current_us);
-
-    // current_tick gives us the remaining us until the next tick but we want the number since the last ms.
-    current_us = 1000 - current_us;
+    uint32_t current_overflow = overflow_count;
+    uint32_t current_count = nrfx_timer_capture(timer, 1);
 
     pulseio_pulsein_obj_t* self = NULL;
     for(size_t i = 0; i < NRFX_ARRAY_SIZE(_objs); i++ ) {
@@ -78,18 +88,16 @@ static void _pulsein_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action
             self->first_edge = false;
         }
     }else {
-        uint32_t ms_diff = current_ms - self->last_ms;
-        uint16_t us_diff = current_us - self->last_us;
-        uint32_t total_diff = us_diff;
-
-        if (self->last_us > current_us) {
-            total_diff = 1000 + current_us - self->last_us;
-            if (ms_diff > 1) {
-                total_diff += (ms_diff - 1) * 1000;
-            }
-        } else {
-            total_diff += ms_diff * 1000;
+        // Wrapped around a number of times.
+        uint32_t total_diff = 0xffff;
+        // Wrapped around once so
+        if (self->last_overflow == current_overflow - 1) {
+            total_diff = current_count + (0xffffffff - self->last_count);
+        } else if (self->last_overflow == current_overflow) {
+            total_diff = current_count - self->last_count;
         }
+
+        // Cap duration at 16 bits.
         uint16_t duration = 0xffff;
         if (total_diff < duration) {
             duration = total_diff;
@@ -104,8 +112,8 @@ static void _pulsein_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action
         }
     }
 
-    self->last_ms = current_ms;
-    self->last_us = current_us;
+    self->last_overflow = current_overflow;
+    self->last_count = current_count;
 }
 
 void pulsein_reset(void) {
@@ -114,6 +122,11 @@ void pulsein_reset(void) {
     }
     nrfx_gpiote_init(NRFX_GPIOTE_CONFIG_IRQ_PRIORITY);
 
+    if (timer != NULL) {
+        nrf_peripherals_free_timer(timer);
+    }
+    refcount = 0;
+
     memset(_objs, 0, sizeof(_objs));
 }
 
@@ -129,6 +142,27 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self, const mcu
         mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"), maxlen * sizeof(uint16_t));
     }
 
+    if (refcount == 0) {
+        timer = nrf_peripherals_allocate_timer();
+        if (timer == NULL) {
+            mp_raise_RuntimeError(translate("All timers in use"));
+        }
+        overflow_count = 0;
+
+        nrfx_timer_config_t timer_config = {
+            // PulseIn durations are in microseconds, so this is convenient.
+            .frequency = NRF_TIMER_FREQ_1MHz,
+            .mode = NRF_TIMER_MODE_TIMER,
+            .bit_width = NRF_TIMER_BIT_WIDTH_32,
+            .interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
+        };
+
+        nrfx_timer_init(timer, &timer_config, &timer_overflow_event_handler);
+        // Interrupt on overflow so we can track when it rolls over.
+        nrfx_timer_compare(timer, 0, 0, true);
+    }
+    refcount++;
+
     self->pin = pin->number;
     self->maxlen = maxlen;
     self->idle_state = idle_state;
@@ -136,8 +170,8 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self, const mcu
     self->len = 0;
     self->first_edge = true;
     self->paused = false;
-    self->last_us = 0;
-    self->last_ms = 0;
+    self->last_overflow = 0;
+    self->last_count = 0;
 
     claim_pin(pin);
 
@@ -173,6 +207,11 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
 
     reset_pin_number(self->pin);
     self->pin = NO_PIN;
+
+    refcount--;
+    if (refcount == 0) {
+        nrf_peripherals_free_timer(timer);
+    }
 }
 
 void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
@@ -207,8 +246,8 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self, uint16_t tri
 
     self->first_edge = true;
     self->paused = false;
-    self->last_ms = 0;
-    self->last_us = 0;
+    self->last_overflow = 0;
+    self->last_count = 0;
 
     nrfx_gpiote_in_event_enable(self->pin, true);
 }
diff --git a/ports/nrf/common-hal/pulseio/PulseIn.h b/ports/nrf/common-hal/pulseio/PulseIn.h
index 4b2c6eee3..da5263ac9 100644
--- a/ports/nrf/common-hal/pulseio/PulseIn.h
+++ b/ports/nrf/common-hal/pulseio/PulseIn.h
@@ -44,8 +44,8 @@ typedef struct {
 
     volatile uint16_t start;
     volatile uint16_t len;
-    volatile uint16_t last_us;
-    volatile uint64_t last_ms;
+    volatile size_t last_overflow;
+    volatile size_t last_count;
 } pulseio_pulsein_obj_t;
 
 void pulsein_reset(void);