pulsein compiles but doesn't work

2 files changed, 207 insertions, 66 deletions

diff --git a/ports/atmel-samd/common-hal/pulseio/PulseIn.c b/ports/atmel-samd/common-hal/pulseio/PulseIn.c
index 5f7ec7a09..d8d3e56c9 100644
--- a/ports/atmel-samd/common-hal/pulseio/PulseIn.c
+++ b/ports/atmel-samd/common-hal/pulseio/PulseIn.c
@@ -28,6 +28,7 @@
 
 #include <stdint.h>
 
+#include "atmel_start_pins.h"
 #include "hal/include/hal_gpio.h"
 
 #include "mpconfigport.h"
@@ -45,84 +46,94 @@ static uint16_t last_us[EIC_EXTINT_NUM];
 
 void pulsein_reset(void) {
     for (int i = 0; i < EIC_EXTINT_NUM; i++) {
-        if (active_pulseins[i] != NULL) {
-            //extint_chan_disable_callback(i, EXTINT_CALLBACK_TYPE_DETECT);
-        }
         active_pulseins[i] = NULL;
         last_ms[i] = 0;
         last_us[i] = 0;
+        #ifdef SAMD51
+        NVIC_DisableIRQ(EIC_0_IRQn + i);
+        NVIC_ClearPendingIRQ(EIC_0_IRQn + i);
+        #endif
     }
+    EIC->CTRLA.bit.SWRST = true;
+    while (EIC->SYNCBUSY.bit.SWRST != 0) {}
+    #ifdef SAMD21
+    NVIC_DisableIRQ(EIC_IRQn);
+    NVIC_ClearPendingIRQ(EIC_IRQn);
+    #endif
 }
 
 static void pulsein_set_config(pulseio_pulsein_obj_t* self, bool first_edge) {
-    // struct extint_chan_conf config;
-    // extint_chan_get_config_defaults(&config);
-    // config.gpio_pin            = self->pin;
-    // config.gpio_pin_pull       = EXTINT_PULL_NONE;
-    // config.filter_input_signal = true;
-
+    uint8_t sense_setting = EIC_CONFIG_FILTEN0;
     if (!first_edge) {
-        //config.detection_criteria  = EXTINT_DETECT_BOTH;
+        sense_setting |= EIC_CONFIG_SENSE0_BOTH_Val;
     } else if (self->idle_state) {
-        //config.detection_criteria  = EXTINT_DETECT_FALLING;
+        sense_setting |= EIC_CONFIG_SENSE0_FALL_Val;
     } else {
-        //config.detection_criteria  = EXTINT_DETECT_RISING;
+        sense_setting |= EIC_CONFIG_SENSE0_RISE_Val;
     }
-    //extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
-    //extint_chan_set_config(self->channel, &config);
-    // Clear any interrupts that may have triggered without notifying the CPU.
-    EIC->INTFLAG.reg |=  (1UL << self->channel);
-    //extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
+    EIC->CTRLA.bit.ENABLE = false;
+    while (EIC->SYNCBUSY.bit.ENABLE != 0) {}
+    uint8_t config_index = self->channel / 8;
+    uint8_t position = (self->channel % 8) * 4;
+    uint32_t masked_value = EIC->CONFIG[config_index].reg & ~(0xf << position);
+    EIC->CONFIG[config_index].reg = masked_value | (sense_setting << position);
+    EIC->CTRLA.bit.ENABLE = true;
+    while (EIC->SYNCBUSY.bit.ENABLE != 0) {}
+    // This won't actually block long enough in Rev A of SAMD51 and will miss edges in the first
+    // three cycles of the peripheral clock. See the errata for details. It shouldn't impact us.
 }
 
-//static void pulsein_callback(void) {
+static void pulsein_interrupt_handler(uint8_t channel) {
     // Grab the current time first.
-    //uint16_t current_us = tc_get_count_value(&ms_timer);
-    // Add the overflow flag to account for tick interrupts that are blocked by
-    // this interrupt.
-    //uint64_t current_ms = ticks_ms + TC5->COUNT16.INTFLAG.bit.OVF;
-    //pulseio_pulsein_obj_t* self = active_pulseins[extint_get_current_channel()];
-    //current_us = current_us * 1000 / self->ticks_per_ms;
-    // if (self->first_edge) {
-    //     self->first_edge = false;
-    //     pulsein_set_config(self, false);
-    // } else {
-    //     uint32_t ms_diff = current_ms - last_ms[self->channel];
-    //     uint16_t us_diff = current_us - last_us[self->channel];
-    //     uint32_t total_diff = us_diff;
-    //     if (last_us[self->channel] > current_us) {
-    //         total_diff = 1000 + current_us - last_us[self->channel];
-    //         if (ms_diff > 1) {
-    //             total_diff += (ms_diff - 1) * 1000;
-    //         }
-    //     } else {
-    //         total_diff += ms_diff * 1000;
-    //     }
-    //     uint16_t duration = 0xffff;
-    //     if (total_diff < duration) {
-    //         duration = total_diff;
-    //     }
-    //
-    //     uint16_t i = (self->start + self->len) % self->maxlen;
-    //     self->buffer[i] = duration;
-    //     if (self->len < self->maxlen) {
-    //         self->len++;
-    //     } else {
-    //         self->start++;
-    //     }
-    // }
-//     last_ms[self->channel] = current_ms;
-//     last_us[self->channel] = current_us;
-// }
+    uint32_t current_us;
+    uint64_t current_ms;
+    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;
+    pulseio_pulsein_obj_t* self = active_pulseins[channel];
+    if (self->first_edge) {
+        self->first_edge = false;
+        pulsein_set_config(self, false);
+    } else {
+        uint32_t ms_diff = current_ms - last_ms[self->channel];
+        uint16_t us_diff = current_us - last_us[self->channel];
+        uint32_t total_diff = us_diff;
+        if (last_us[self->channel] > current_us) {
+            total_diff = 1000 + current_us - last_us[self->channel];
+            if (ms_diff > 1) {
+                total_diff += (ms_diff - 1) * 1000;
+            }
+        } else {
+            total_diff += ms_diff * 1000;
+        }
+        uint16_t duration = 0xffff;
+        if (total_diff < duration) {
+            duration = total_diff;
+        }
+
+        uint16_t i = (self->start + self->len) % self->maxlen;
+        self->buffer[i] = duration;
+        if (self->len < self->maxlen) {
+            self->len++;
+        } else {
+            self->start++;
+        }
+    }
+    last_ms[self->channel] = current_ms;
+    last_us[self->channel] = current_us;
+}
 
 void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
         const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) {
     if (!pin->has_extint) {
         mp_raise_RuntimeError("No hardware support on pin");
     }
-    // TODO(tannewt): Switch to checking actual extint peripheral state when other
-    // classes use extints.
-    if (active_pulseins[pin->extint_channel] != NULL) {
+    uint32_t mask = 1 << pin->extint_channel;
+    if (active_pulseins[pin->extint_channel] != NULL ||
+        (EIC->CTRLA.bit.ENABLE == 1 &&
+            ((EIC->INTENSET.bit.EXTINT & mask) != 0 ||
+             (EIC->EVCTRL.bit.EXTINTEO & mask) != 0))) {
         mp_raise_RuntimeError("EXTINT channel already in use");
     }
 
@@ -140,12 +151,39 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
 
     active_pulseins[pin->extint_channel] = self;
 
+    // Check to see if the EIC is enabled and start it up if its not.'
+    // SAMD51 EIC can only be clocked up to 100mhz so we use the 48mhz clock.
+    if (EIC->CTRLA.bit.ENABLE == 0) {
+        #ifdef SAMD51
+        MCLK->APBAMASK.bit.EIC_ = true;
+        hri_gclk_write_PCHCTRL_reg(GCLK, EIC_GCLK_ID,
+                                   GCLK_PCHCTRL_GEN_GCLK1_Val | (1 << GCLK_PCHCTRL_CHEN_Pos));
+        #endif
+
+        #ifdef SAMD21
+        PM->APBAMASK.bit.EIC = true;
+        _gclk_enable_channel(EIC_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK0_Val);
+        #endif
+
+
+        #ifdef SAMD21
+        NVIC_DisableIRQ(EIC_IRQn);
+        NVIC_ClearPendingIRQ(EIC_IRQn);
+        NVIC_EnableIRQ(EIC_IRQn);
+        #endif
+    }
+
+    gpio_set_pin_function(pin->pin, GPIO_PIN_FUNCTION_A);
+
+    #ifdef SAMD51
+    NVIC_DisableIRQ(EIC_0_IRQn + self->channel);
+    NVIC_ClearPendingIRQ(EIC_0_IRQn + self->channel);
+    NVIC_EnableIRQ(EIC_0_IRQn + self->channel);
+    #endif
+
+    // Set config will enable the EIC.
     pulsein_set_config(self, true);
-    //extint_register_callback(
-    //    pulsein_callback,
-    //    self->channel,
-    //    EXTINT_CALLBACK_TYPE_DETECT);
-    //extint_chan_enable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
+    EIC->INTENSET.reg = mask << EIC_INTENSET_EXTINT_Pos;
 }
 
 bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
@@ -156,14 +194,44 @@ void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
     if (common_hal_pulseio_pulsein_deinited(self)) {
         return;
     }
-    //extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
+    uint32_t mask = 1 << self->channel;
+    EIC->INTENCLR.reg = mask << EIC_INTENSET_EXTINT_Pos;
+    #ifdef SAMD51
+    NVIC_DisableIRQ(EIC_0_IRQn + self->channel);
+    NVIC_ClearPendingIRQ(EIC_0_IRQn + self->channel);
+    #endif
     active_pulseins[self->channel] = NULL;
     reset_pin(self->pin);
     self->pin = NO_PIN;
+
+    bool all_null = true;
+    for (uint8_t i = 0; all_null && i < 16; i++) {
+        all_null = all_null && active_pulseins[i] == NULL;
+    }
+    #ifdef SAMD21
+    if (all_null && EIC->INTENSET.reg == 0) {
+        NVIC_DisableIRQ(EIC_IRQn);
+        NVIC_ClearPendingIRQ(EIC_IRQn);
+    }
+    #endif
+    // Test if all channels are null and deinit everything if they are.
+    if (all_null && EIC->EVCTRL.reg == 0 && EIC->INTENSET.reg == 0) {
+        EIC->CTRLA.bit.ENABLE = 0;
+        #ifdef SAMD51
+        MCLK->APBAMASK.bit.EIC_ = false;
+        hri_gclk_write_PCHCTRL_reg(GCLK, EIC_GCLK_ID, 0);
+        #endif
+
+        #ifdef SAMD21
+        PM->APBAMASK.bit.EIC = false;
+        _gclk_disable_channel(EIC_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK0_Val);
+        #endif
+    }
 }
 
 void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
-    //extint_chan_disable_callback(self->channel, EXTINT_CALLBACK_TYPE_DETECT);
+    uint32_t mask = 1 << self->channel;
+    EIC->INTENCLR.reg = mask << EIC_INTENSET_EXTINT_Pos;
 }
 
 void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
@@ -184,6 +252,12 @@ void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
     last_ms[self->channel] = 0;
     last_us[self->channel] = 0;
     self->first_edge = true;
+    gpio_set_pin_function(self->pin, GPIO_PIN_FUNCTION_A);
+    uint32_t mask = 1 << self->channel;
+    // Clear previous interrupt state and re-enable it.
+    EIC->INTFLAG.reg = mask << EIC_INTFLAG_EXTINT_Pos;
+    EIC->INTENSET.reg = mask << EIC_INTENSET_EXTINT_Pos;
+
     pulsein_set_config(self, true);
 }
 
@@ -229,3 +303,69 @@ uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
     common_hal_mcu_enable_interrupts();
     return value;
 }
+
+void external_interrupt_handler(uint8_t channel) {
+    pulsein_interrupt_handler(channel);
+    EIC->INTFLAG.reg = (1 << channel) << EIC_INTFLAG_EXTINT_Pos;
+}
+
+#ifdef SAMD21
+void EIC_Handler(void) {
+    for (uint8_t i = 0; i < 16; i++) {
+        if ((EIC->INTFLAG.bit.EXTINT & (1 << i)) == 1) {
+            external_interrupt_handler(i);
+        }
+    }
+}
+#endif
+
+#ifdef SAMD51
+void EIC_0_Handler(void) {
+    external_interrupt_handler(0);
+}
+void EIC_1_Handler(void) {
+    external_interrupt_handler(1);
+}
+void EIC_2_Handler(void) {
+    external_interrupt_handler(2);
+}
+void EIC_3_Handler(void) {
+    external_interrupt_handler(3);
+}
+void EIC_4_Handler(void) {
+    external_interrupt_handler(4);
+}
+void EIC_5_Handler(void) {
+    external_interrupt_handler(5);
+}
+void EIC_6_Handler(void) {
+    external_interrupt_handler(6);
+}
+void EIC_7_Handler(void) {
+    external_interrupt_handler(7);
+}
+void EIC_8_Handler(void) {
+    external_interrupt_handler(8);
+}
+void EIC_9_Handler(void) {
+    external_interrupt_handler(9);
+}
+void EIC_10_Handler(void) {
+    external_interrupt_handler(10);
+}
+void EIC_11_Handler(void) {
+    external_interrupt_handler(11);
+}
+void EIC_12_Handler(void) {
+    external_interrupt_handler(12);
+}
+void EIC_13_Handler(void) {
+    external_interrupt_handler(13);
+}
+void EIC_14_Handler(void) {
+    external_interrupt_handler(14);
+}
+void EIC_15_Handler(void) {
+    external_interrupt_handler(15);
+}
+#endif
diff --git a/ports/atmel-samd/supervisor/port.c b/ports/atmel-samd/supervisor/port.c
index c120b0136..726a48d06 100644
--- a/ports/atmel-samd/supervisor/port.c
+++ b/ports/atmel-samd/supervisor/port.c
@@ -46,6 +46,7 @@
 #include "common-hal/analogio/AnalogIn.h"
 #include "common-hal/analogio/AnalogOut.h"
 #include "common-hal/microcontroller/Pin.h"
+#include "common-hal/pulseio/PulseIn.h"
 #include "common-hal/pulseio/PulseOut.h"
 #include "common-hal/pulseio/PWMOut.h"
 #include "tick.h"
@@ -206,8 +207,8 @@ void reset_port(void) {
 //     audioout_reset();
 //     touchin_reset();
 //     pdmin_reset();
-//     pulsein_reset();
 // #endif
+    pulsein_reset();
     pulseout_reset();
     pwmout_reset();