Move to ASF4 and introduce SAMD51 support. (#258)3.0.0-alpha.0

* atmel-samd: Remove ASF3. This will break builds.

* atmel-samd: Add ASF4 for the SAMD21 and SAMD51.

* Introduce the supervisor concept to facilitate porting.

The supervisor is the code which runs individual MicroPython VMs. By
splitting it out we make it more consistent and easier to find.

This also adds very basic SAMD21 and SAMD51 support using the
supervisor. Only the REPL currently works.

This begins the work for #178.

1 files changed, 263 insertions, 0 deletions

diff --git a/atmel-samd/asf4/samd51/hal/src/hal_timer.c b/atmel-samd/asf4/samd51/hal/src/hal_timer.c
new file mode 100644
index 000000000..db0bbb8da
--- /dev/null
+++ b/atmel-samd/asf4/samd51/hal/src/hal_timer.c
@@ -0,0 +1,263 @@
+/**
+ * \file
+ *
+ * \brief Timer functionality implementation.
+ *
+ * Copyright (C) 2014 - 2016 Atmel Corporation. All rights reserved.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ *
+ * 3. The name of Atmel may not be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * 4. This software may only be redistributed and used in connection with an
+ *    Atmel microcontroller product.
+ *
+ * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
+ * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR
+ * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ * \asf_license_stop
+ *
+ */
+
+#include "hal_timer.h"
+#include <utils_assert.h>
+#include <utils.h>
+#include <hal_atomic.h>
+#include <hpl_irq.h>
+
+/**
+ * \brief Driver version
+ */
+#define DRIVER_VERSION 0x00000001u
+
+/**
+ * \brief Timer flags
+ */
+#define TIMER_FLAG_QUEUE_IS_TAKEN 1
+#define TIMER_FLAG_INTERRUPT_TRIGERRED 2
+
+static void timer_add_timer_task(struct list_descriptor *list, struct timer_task *const new_task, const uint32_t time);
+static void timer_process_counted(struct _timer_device *device);
+
+/**
+ * \brief Initialize timer
+ */
+int32_t timer_init(struct timer_descriptor *const descr, void *const hw, struct _timer_hpl_interface *const func)
+{
+	ASSERT(descr && hw);
+	_timer_init(&descr->device, hw);
+	descr->time                           = 0;
+	descr->device.timer_cb.period_expired = timer_process_counted;
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Deinitialize timer
+ */
+int32_t timer_deinit(struct timer_descriptor *const descr)
+{
+	ASSERT(descr);
+	_timer_deinit(&descr->device);
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Start timer
+ */
+int32_t timer_start(struct timer_descriptor *const descr)
+{
+	ASSERT(descr);
+	if (_timer_is_started(&descr->device)) {
+		return ERR_DENIED;
+	}
+	_timer_start(&descr->device);
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Stop timer
+ */
+int32_t timer_stop(struct timer_descriptor *const descr)
+{
+	ASSERT(descr);
+	if (!_timer_is_started(&descr->device)) {
+		return ERR_DENIED;
+	}
+	_timer_stop(&descr->device);
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Set amount of clock cycler per timer tick
+ */
+int32_t timer_set_clock_cycles_per_tick(struct timer_descriptor *const descr, const uint32_t clock_cycles)
+{
+	ASSERT(descr);
+	_timer_set_period(&descr->device, clock_cycles);
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Add timer task
+ */
+int32_t timer_add_task(struct timer_descriptor *const descr, struct timer_task *const task)
+{
+	ASSERT(descr && task);
+
+	descr->flags |= TIMER_FLAG_QUEUE_IS_TAKEN;
+	if (is_list_element(&descr->tasks, task)) {
+		descr->flags &= ~TIMER_FLAG_QUEUE_IS_TAKEN;
+		ASSERT(false);
+		return ERR_ALREADY_INITIALIZED;
+	}
+	task->time_label = descr->time;
+	timer_add_timer_task(&descr->tasks, task, descr->time);
+
+	descr->flags &= ~TIMER_FLAG_QUEUE_IS_TAKEN;
+	if (descr->flags & TIMER_FLAG_INTERRUPT_TRIGERRED) {
+		CRITICAL_SECTION_ENTER()
+		descr->flags &= ~TIMER_FLAG_INTERRUPT_TRIGERRED;
+		_timer_set_irq(&descr->device);
+		CRITICAL_SECTION_LEAVE()
+	}
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Remove timer task
+ */
+int32_t timer_remove_task(struct timer_descriptor *const descr, const struct timer_task *const task)
+{
+	ASSERT(descr && task);
+
+	descr->flags |= TIMER_FLAG_QUEUE_IS_TAKEN;
+	if (!is_list_element(&descr->tasks, task)) {
+		descr->flags &= ~TIMER_FLAG_QUEUE_IS_TAKEN;
+		ASSERT(false);
+		return ERR_NOT_FOUND;
+	}
+	list_delete_element(&descr->tasks, task);
+
+	descr->flags &= ~TIMER_FLAG_QUEUE_IS_TAKEN;
+	if (descr->flags & TIMER_FLAG_INTERRUPT_TRIGERRED) {
+		CRITICAL_SECTION_ENTER()
+		descr->flags &= ~TIMER_FLAG_INTERRUPT_TRIGERRED;
+		_timer_set_irq(&descr->device);
+		CRITICAL_SECTION_LEAVE()
+	}
+
+	return ERR_NONE;
+}
+
+/**
+ * \brief Retrieve the amount of clock cycles in a tick
+ */
+int32_t timer_get_clock_cycles_in_tick(const struct timer_descriptor *const descr, uint32_t *const cycles)
+{
+	ASSERT(descr && cycles);
+	*cycles = _timer_get_period(&descr->device);
+	return ERR_NONE;
+}
+
+/**
+ * \brief Retrieve the current driver version
+ */
+uint32_t timer_get_version(void)
+{
+	return DRIVER_VERSION;
+}
+
+/**
+ * \internal Insert a timer task into sorted timer's list
+ *
+ * \param[in] head The pointer to the head of timer task list
+ * \param[in] task The pointer to task to add
+ * \param[in] time Current timer time
+ */
+static void timer_add_timer_task(struct list_descriptor *list, struct timer_task *const new_task, const uint32_t time)
+{
+	struct timer_task *it, *prev = NULL, *head = (struct timer_task *)list_get_head(list);
+
+	if (!head) {
+		list_insert_as_head(list, new_task);
+		return;
+	}
+
+	for (it = head; it; it = (struct timer_task *)list_get_next_element(it)) {
+		uint32_t time_left;
+
+		if (it->time_label <= time) {
+			time_left = it->interval - (time - it->time_label);
+		} else {
+			time_left = it->interval - (0xFFFFFFFF - it->time_label) - time;
+		}
+		if (time_left >= new_task->interval)
+			break;
+		prev = it;
+	}
+
+	if (it == head) {
+		list_insert_as_head(list, new_task);
+	} else {
+		list_insert_after(prev, new_task);
+	}
+}
+
+/**
+ * \internal Process interrupts
+ */
+static void timer_process_counted(struct _timer_device *device)
+{
+	#pragma GCC diagnostic push
+	#pragma GCC diagnostic ignored "-Wcast-align"
+	struct timer_descriptor *timer = CONTAINER_OF(device, struct timer_descriptor, device);
+	#pragma GCC diagnostic pop
+	struct timer_task *      it    = (struct timer_task *)list_get_head(&timer->tasks);
+	uint32_t                 time  = ++timer->time;
+
+	if ((timer->flags & TIMER_FLAG_QUEUE_IS_TAKEN) || (timer->flags & TIMER_FLAG_INTERRUPT_TRIGERRED)) {
+		timer->flags |= TIMER_FLAG_INTERRUPT_TRIGERRED;
+		return;
+	}
+
+	while (it && ((time - it->time_label) >= it->interval)) {
+		struct timer_task *tmp = it;
+
+		list_remove_head(&timer->tasks);
+		if (TIMER_TASK_REPEAT == tmp->mode) {
+			tmp->time_label = time;
+			timer_add_timer_task(&timer->tasks, tmp, time);
+		}
+		it = (struct timer_task *)list_get_head(&timer->tasks);
+
+		tmp->cb(tmp);
+	}
+}