Merge pull request #589 from arturo182/nrf_gamepad

nrf: Implement ticks, add gamepad module and example

11 files changed, 176 insertions, 94 deletions

diff --git a/ports/nrf/Makefile b/ports/nrf/Makefile
index 563578d10..9049bdb64 100644
--- a/ports/nrf/Makefile
+++ b/ports/nrf/Makefile
@@ -139,6 +139,7 @@ SRC_C += \
 	pin_named_pins.c \
 	fatfs_port.c \
 	fifo.c \
+	tick.c \
 	drivers/softpwm.c \
 	drivers/ticker.c \
 	drivers/bluetooth/ble_drv.c \
@@ -230,22 +231,24 @@ SRC_SHARED_MODULE = \
 	os/__init__.c \
 	random/__init__.c \
 	storage/__init__.c \
+	gamepad/__init__.c \
+	gamepad/GamePad.c
 
 #  bitbangio/__init__.c \
 	bitbangio/I2C.c \
 	bitbangio/OneWire.c \
 	bitbangio/SPI.c \
 	busio/OneWire.c \
-	gamepad/__init__.c \
-	gamepad/GamePad.c \
 	struct/__init__.c \
 	uheap/__init__.c \
 	ustack/__init__.c
 
-#SRC_SHARED_MODULE_EXPANDED = $(addprefix shared-bindings/, $(SRC_SHARED_MODULE)) \
-                             $(addprefix shared-module/, $(SRC_SHARED_MODULE))
+SRC_SHARED_BINDINGS = \
+	gamepad/__init__.c \
+	gamepad/GamePad.c
 
-SRC_SHARED_MODULE_EXPANDED = $(addprefix shared-module/, $(SRC_SHARED_MODULE))
+SRC_SHARED_MODULE_EXPANDED = $(addprefix shared-bindings/, $(SRC_SHARED_BINDINGS)) \
+                             $(addprefix shared-module/, $(SRC_SHARED_MODULE))
 
 FROZEN_MPY_PY_FILES := $(shell find -L $(FROZEN_MPY_DIR) -type f -name '*.py')
 FROZEN_MPY_MPY_FILES := $(addprefix $(BUILD)/,$(FROZEN_MPY_PY_FILES:.py=.mpy))
diff --git a/ports/nrf/boards/board.h b/ports/nrf/boards/board.h
index fecc0fb57..ec98f04fb 100644
--- a/ports/nrf/boards/board.h
+++ b/ports/nrf/boards/board.h
@@ -31,8 +31,6 @@
 
 #include <stdbool.h>
 
-extern volatile uint32_t ticks_ms;
-
 // Initializes board related state once on start up.
 void board_init(void);
 
diff --git a/ports/nrf/boards/feather52/board.c b/ports/nrf/boards/feather52/board.c
index c550e9061..c0f344597 100644
--- a/ports/nrf/boards/feather52/board.c
+++ b/ports/nrf/boards/feather52/board.c
@@ -35,52 +35,10 @@
 #define BOOTLOADER_VERSION_REGISTER     NRF_TIMER2->CC[0]
 uint32_t bootloaderVersion = 0;
 
-volatile uint32_t ticks_ms = 0;
-
-#define HAL_LFCLK_FREQ (32768UL)
-#define HAL_RTC_FREQ   (1024UL)
-#define HAL_RTC_COUNTER_PRESCALER ((HAL_LFCLK_FREQ/HAL_RTC_FREQ)-1)
-
-/* Maximum RTC ticks */
-#define portNRF_RTC_MAXTICKS   ((1U<<24)-1U)
-
 void board_init(void)
 {
   // Retrieve bootloader version
   bootloaderVersion = BOOTLOADER_VERSION_REGISTER;
-
-  // 32Khz XTAL
-  NRF_CLOCK->LFCLKSRC = (uint32_t)((CLOCK_LFCLKSRC_SRC_Xtal << CLOCK_LFCLKSRC_SRC_Pos) & CLOCK_LFCLKSRC_SRC_Msk);
-  NRF_CLOCK->TASKS_LFCLKSTART = 1UL;
-
-  // Set up RTC1 as tick timer
-  NVIC_DisableIRQ(RTC1_IRQn);
-  NRF_RTC1->EVTENCLR    = RTC_EVTEN_COMPARE0_Msk;
-  NRF_RTC1->INTENCLR    = RTC_INTENSET_COMPARE0_Msk;
-  NRF_RTC1->TASKS_STOP  = 1;
-  NRF_RTC1->TASKS_CLEAR = 1;
-
-  ticks_ms = 0;
-
-  NRF_RTC1->PRESCALER = HAL_RTC_COUNTER_PRESCALER;
-  NRF_RTC1->INTENSET = RTC_INTENSET_TICK_Msk;
-  NRF_RTC1->TASKS_START = 1;
-  NRF_RTC1->EVTENSET = RTC_EVTEN_OVRFLW_Msk;
-  NVIC_SetPriority(RTC1_IRQn, 0xf); // lowest priority
-  NVIC_EnableIRQ(RTC1_IRQn);
-}
-
-void RTC1_IRQHandler(void)
-{
-  // Clear event
-  NRF_RTC1->EVENTS_TICK = 0;
-  volatile uint32_t dummy = NRF_RTC1->EVENTS_TICK;
-  (void) dummy;
-
-  // Tick correction
-  uint32_t systick_counter = NRF_RTC1->COUNTER;
-  uint32_t diff = (systick_counter - ticks_ms) & portNRF_RTC_MAXTICKS;
-  ticks_ms += diff;
 }
 
 // Check the status of the two buttons on CircuitPlayground Express. If both are
diff --git a/ports/nrf/boards/pca10056/board.c b/ports/nrf/boards/pca10056/board.c
index 8ca87759b..5ad81c21d 100644
--- a/ports/nrf/boards/pca10056/board.c
+++ b/ports/nrf/boards/pca10056/board.c
@@ -31,49 +31,8 @@
 
 #include "boards/board.h"
 
-volatile uint32_t ticks_ms = 0;
+void board_init(void) {
 
-#define HAL_LFCLK_FREQ (32768UL)
-#define HAL_RTC_FREQ   (1024UL)
-#define HAL_RTC_COUNTER_PRESCALER ((HAL_LFCLK_FREQ/HAL_RTC_FREQ)-1)
-
-/* Maximum RTC ticks */
-#define portNRF_RTC_MAXTICKS   ((1U<<24)-1U)
-
-void board_init(void)
-{
-  // 32Khz XTAL
-  NRF_CLOCK->LFCLKSRC = (uint32_t)((CLOCK_LFCLKSRC_SRC_Xtal << CLOCK_LFCLKSRC_SRC_Pos) & CLOCK_LFCLKSRC_SRC_Msk);
-  NRF_CLOCK->TASKS_LFCLKSTART = 1UL;
-
-  // Set up RTC1 as tick timer
-  NVIC_DisableIRQ(RTC1_IRQn);
-  NRF_RTC1->EVTENCLR    = RTC_EVTEN_COMPARE0_Msk;
-  NRF_RTC1->INTENCLR    = RTC_INTENSET_COMPARE0_Msk;
-  NRF_RTC1->TASKS_STOP  = 1;
-  NRF_RTC1->TASKS_CLEAR = 1;
-
-  ticks_ms = 0;
-
-  NRF_RTC1->PRESCALER = HAL_RTC_COUNTER_PRESCALER;
-  NRF_RTC1->INTENSET = RTC_INTENSET_TICK_Msk;
-  NRF_RTC1->TASKS_START = 1;
-  NRF_RTC1->EVTENSET = RTC_EVTEN_OVRFLW_Msk;
-  NVIC_SetPriority(RTC1_IRQn, 0xf); // lowest priority
-  NVIC_EnableIRQ(RTC1_IRQn);
-}
-
-void RTC1_IRQHandler(void)
-{
-  // Clear event
-  NRF_RTC1->EVENTS_TICK = 0;
-  volatile uint32_t dummy = NRF_RTC1->EVENTS_TICK;
-  (void) dummy;
-  //
-  //// Tick correction
-  uint32_t systick_counter = NRF_RTC1->COUNTER;
-  uint32_t diff = (systick_counter - ticks_ms) & portNRF_RTC_MAXTICKS;
-  ticks_ms += diff;
 }
 
 bool board_requests_safe_mode(void) {
diff --git a/ports/nrf/boards/pca10056/examples/buttons.py b/ports/nrf/boards/pca10056/examples/buttons.py
new file mode 100644
index 000000000..9f4a7cfd4
--- /dev/null
+++ b/ports/nrf/boards/pca10056/examples/buttons.py
@@ -0,0 +1,26 @@
+import board
+import digitalio
+import gamepad
+import time
+
+pad = gamepad.GamePad(
+    digitalio.DigitalInOut(board.PA11),
+    digitalio.DigitalInOut(board.PA12),
+    digitalio.DigitalInOut(board.PA24),
+    digitalio.DigitalInOut(board.PA25),
+)
+
+prev_buttons = 0
+
+while True:
+    buttons = pad.get_pressed()
+
+    if buttons != prev_buttons:
+        for i in range(0, 4):
+            bit = (1 << i)
+            if (buttons & bit) != (prev_buttons & bit):
+                print('Button %d %s' % (i + 1, 'pressed' if buttons & bit else 'released'))
+
+        prev_buttons = buttons
+
+    time.sleep(0.1)
diff --git a/ports/nrf/common-hal/time/__init__.c b/ports/nrf/common-hal/time/__init__.c
index dc29e2d6d..ec77354a9 100644
--- a/ports/nrf/common-hal/time/__init__.c
+++ b/ports/nrf/common-hal/time/__init__.c
@@ -27,7 +27,7 @@
 #include "py/mphal.h"
 
 #include "shared-bindings/time/__init__.h"
-#include "boards/board.h"
+#include "tick.h"
 
 inline uint64_t common_hal_time_monotonic() {
   return ticks_ms;
diff --git a/ports/nrf/mpconfigport.h b/ports/nrf/mpconfigport.h
index a02ebd3f1..63fe5e3b4 100644
--- a/ports/nrf/mpconfigport.h
+++ b/ports/nrf/mpconfigport.h
@@ -181,6 +181,9 @@
 #define MICROPY_ENABLE_EMERGENCY_EXCEPTION_BUF   (1)
 #define MICROPY_EMERGENCY_EXCEPTION_BUF_SIZE     (0)
 
+// Scan gamepad every 32ms
+#define CIRCUITPY_GAMEPAD_TICKS 0x1f
+
 // if sdk is in use, import configuration
 #if BLUETOOTH_SD
 #include "bluetooth_conf.h"
@@ -223,6 +226,7 @@ extern const struct _mp_obj_module_t random_module;
 extern const struct _mp_obj_module_t storage_module;
 extern const struct _mp_obj_module_t time_module;
 extern const struct _mp_obj_module_t supervisor_module;
+extern const struct _mp_obj_module_t gamepad_module;
 
 extern const struct _mp_obj_module_t pyb_module;
 extern const struct _mp_obj_module_t machine_module;
@@ -269,6 +273,7 @@ extern const struct _mp_obj_module_t ble_module;
     { MP_OBJ_NEW_QSTR (MP_QSTR_random          ), (mp_obj_t)&random_module          }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_storage         ), (mp_obj_t)&storage_module         },\
     { MP_OBJ_NEW_QSTR (MP_QSTR_supervisor      ), (mp_obj_t)&supervisor_module      }, \
+    { MP_OBJ_NEW_QSTR (MP_QSTR_gamepad         ), (mp_obj_t)&gamepad_module         }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_time            ), (mp_obj_t)&time_module            }, \
     { MP_ROM_QSTR     (MP_QSTR_pyb             ), MP_ROM_PTR(&pyb_module)           }, \
     { MP_ROM_QSTR     (MP_QSTR_utime           ), MP_ROM_PTR(&mp_module_utime)      }, \
diff --git a/ports/nrf/supervisor/port.c b/ports/nrf/supervisor/port.c
index 4ac9c08e0..c72ed7cc3 100644
--- a/ports/nrf/supervisor/port.c
+++ b/ports/nrf/supervisor/port.c
@@ -28,16 +28,18 @@
 #include "supervisor/port.h"
 #include "boards/board.h"
 
+#include "shared-module/gamepad/__init__.h"
 #include "common-hal/microcontroller/Pin.h"
 #include "common-hal/pulseio/PWMOut.h"
+#include "tick.h"
 
 safe_mode_t port_init(void) {
     board_init();
 
-#if 0
     // Configure millisecond timer initialization.
     tick_init();
 
+#if 0
     #ifdef CIRCUITPY_CANARY_WORD
     // Run in safe mode if the canary is corrupt.
     if (_ezero != CIRCUITPY_CANARY_WORD) {
@@ -54,6 +56,10 @@ safe_mode_t port_init(void) {
 }
 
 void reset_port(void) {
+ #ifdef CIRCUITPY_GAMEPAD_TICKS
+     gamepad_reset();
+ #endif
+
     pwmout_reset();
     reset_all_pins();
 }
diff --git a/ports/nrf/tick.c b/ports/nrf/tick.c
new file mode 100644
index 000000000..fccc8181d
--- /dev/null
+++ b/ports/nrf/tick.c
@@ -0,0 +1,81 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
+ *
+ * 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 "tick.h"
+
+#include "supervisor/shared/autoreload.h"
+#include "shared-module/gamepad/__init__.h"
+#include "shared-bindings/microcontroller/Processor.h"
+#include "nrf.h"
+
+// Global millisecond tick count
+volatile uint64_t ticks_ms = 0;
+
+void SysTick_Handler(void) {
+    // SysTick interrupt handler called when the SysTick timer reaches zero
+    // (every millisecond).
+    ticks_ms += 1;
+
+    #ifdef CIRCUITPY_AUTORELOAD_DELAY_MS
+        autoreload_tick();
+    #endif
+    #ifdef CIRCUITPY_GAMEPAD_TICKS
+    if (!(ticks_ms & CIRCUITPY_GAMEPAD_TICKS)) {
+        gamepad_tick();
+    }
+    #endif
+}
+
+void tick_init() {
+    uint32_t ticks_per_ms = common_hal_mcu_processor_get_frequency() / 1000;
+    SysTick_Config(ticks_per_ms);
+//    NVIC_EnableIRQ(SysTick_IRQn);
+}
+
+void tick_delay(uint32_t us) {
+    uint32_t ticks_per_us = common_hal_mcu_processor_get_frequency() / 1000 / 1000;
+    uint32_t us_between_ticks = SysTick->VAL / ticks_per_us;
+    uint64_t start_ms = ticks_ms;
+    while (us > 1000) {
+        while (ticks_ms == start_ms) {}
+        us -= us_between_ticks;
+        start_ms = ticks_ms;
+        us_between_ticks = 1000;
+    }
+    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/nrf/tick.h b/ports/nrf/tick.h
new file mode 100644
index 000000000..73f17d703
--- /dev/null
+++ b/ports/nrf/tick.h
@@ -0,0 +1,46 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
+ *
+ * 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.
+ */
+#ifndef MICROPY_INCLUDED_NRF_TICK_H
+#define MICROPY_INCLUDED_NRF_TICK_H
+
+#include "mpconfigport.h"
+
+#include <stdint.h>
+
+extern volatile uint64_t ticks_ms;
+
+extern struct timer_descriptor ms_timer;
+
+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_NRF_TICK_H
diff --git a/shared-bindings/index.rst b/shared-bindings/index.rst
index d1261dcd2..1813d5699 100644
--- a/shared-bindings/index.rst
+++ b/shared-bindings/index.rst
@@ -27,7 +27,7 @@ Module             Supported Ports
 `board`            **All Supported**
 `busio`            **All Supported**
 `digitalio`        **All Supported**
-`gamepad`          **SAMD Express**
+`gamepad`          **SAMD Express, nRF**
 `math`             **All Supported**
 `microcontroller`  **All Supported**
 `multiterminal`    **ESP8266**