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, 256 insertions, 0 deletions

diff --git a/atmel-samd/usb.c b/atmel-samd/usb.c
new file mode 100644
index 000000000..11be282a2
--- /dev/null
+++ b/atmel-samd/usb.c
@@ -0,0 +1,256 @@
+/*
+ * This file is part of the Micro Python 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 "usb.h"
+
+#include <stdint.h>
+
+#include "hal/include/hal_gpio.h"
+#include "usb/class/cdc/device/cdcdf_acm.h"
+// #include "hiddf_mouse.h"
+// #include "hiddf_keyboard.h"
+#include "usb/class/hid/device/hiddf_generic.h"
+#include "usb/class/composite/device/composite_desc.h"
+#include "peripheral_clk_config.h"
+#include "hpl/pm/hpl_pm_base.h"
+#include "hpl/gclk/hpl_gclk_base.h"
+
+#include "lib/utils/interrupt_char.h"
+
+#include "supervisor/shared/autoreload.h"
+
+// Store received characters on our own so that we can filter control characters
+// and act immediately on CTRL-C for example.
+
+// Receive buffer
+static uint8_t usb_rx_buf[USB_RX_BUF_SIZE];
+
+// Receive buffer head
+static volatile uint8_t usb_rx_buf_head;
+
+// Receive buffer tail
+static volatile uint8_t usb_rx_buf_tail;
+
+// Number of bytes in receive buffer
+volatile uint8_t usb_rx_count;
+
+volatile bool mp_cdc_enabled = false;
+
+static uint8_t multi_desc_bytes[] = {
+ /* Device descriptors and Configuration descriptors list. */
+ COMPOSITE_DESCES_LS_FS,
+};
+
+static struct usbd_descriptors multi_desc = {multi_desc_bytes, multi_desc_bytes + sizeof(multi_desc_bytes)};
+
+/** Ctrl endpoint buffer */
+static uint8_t ctrl_buffer[64];
+
+static void init_hardware(void) {
+    #ifdef SAMD21
+    _pm_enable_bus_clock(PM_BUS_APBB, USB);
+    _pm_enable_bus_clock(PM_BUS_AHB, USB);
+    _gclk_enable_channel(USB_GCLK_ID, GCLK_CLKCTRL_GEN_GCLK0_Val);
+    #endif
+
+    #ifdef SAMD51
+    hri_gclk_write_PCHCTRL_reg(GCLK, USB_GCLK_ID, CONF_GCLK_USB_SRC | GCLK_PCHCTRL_CHEN);
+    hri_mclk_set_AHBMASK_USB_bit(MCLK);
+    hri_mclk_set_APBBMASK_USB_bit(MCLK);
+    #endif
+
+    usb_d_init();
+
+    gpio_set_pin_direction(PIN_PA24, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(PIN_PA24, false);
+    gpio_set_pin_pull_mode(PIN_PA24, GPIO_PULL_OFF);
+    gpio_set_pin_direction(PIN_PA25, GPIO_DIRECTION_OUT);
+    gpio_set_pin_level(PIN_PA25, false);
+    gpio_set_pin_pull_mode(PIN_PA25, GPIO_PULL_OFF);
+    #ifdef SAMD21
+    gpio_set_pin_function(PIN_PA24, PINMUX_PA24G_USB_DM);
+    gpio_set_pin_function(PIN_PA25, PINMUX_PA25G_USB_DP);
+    #endif
+    #ifdef SAMD51
+    gpio_set_pin_function(PIN_PA24, PINMUX_PA24H_USB_DM);
+    gpio_set_pin_function(PIN_PA25, PINMUX_PA25H_USB_DP);
+    #endif
+}
+
+extern uint32_t *_usb_ep1_cache;
+static bool usb_device_cb_bulk_out(const uint8_t ep, const enum usb_xfer_code rc, const uint32_t count)
+{
+    volatile hal_atomic_t flags;
+    atomic_enter_critical(&flags);
+    // If our buffer can't fit the data received, then error out.
+    if (count > (uint8_t) (USB_RX_BUF_SIZE - usb_rx_count)) {
+        atomic_leave_critical(&flags);
+        return true;
+    }
+
+    // We read the data but ignore it later. The data itself isn't correct but
+    // it does mark it as read so further data is received ok.
+    // TODO(tannewt): Get ASF4 fixed so the data is correct and then stop using
+    // _usb_ep1_cache directly below.
+    uint8_t buf[count];
+    int32_t result = cdcdf_acm_read(buf, count);
+    if (result != ERR_NONE) {
+        return true;
+    }
+
+    for (uint16_t i = 0; i < count; i++) {
+        uint8_t c = ((uint8_t*) &_usb_ep1_cache)[i];
+        if (c == mp_interrupt_char) {
+            atomic_leave_critical(&flags);
+            mp_keyboard_interrupt();
+            // Don't put the interrupt into the buffer, just continue.
+            return false;
+        } else {
+            // The count of characters present in receive buffer is
+            // incremented.
+            usb_rx_count++;
+            usb_rx_buf[usb_rx_buf_tail] = c;
+            usb_rx_buf_tail++;
+            if (usb_rx_buf_tail == USB_RX_BUF_SIZE) {
+                // Reached the end of buffer, revert back to beginning of
+                // buffer.
+                usb_rx_buf_tail = 0x00;
+            }
+        }
+    }
+    atomic_leave_critical(&flags);
+
+    /* No error. */
+    return false;
+}
+
+static bool usb_device_cb_bulk_in(const uint8_t ep, const enum usb_xfer_code rc, const uint32_t count)
+{
+    /* No error. */
+    return false;
+}
+
+static bool usb_device_cb_state_c(usb_cdc_control_signal_t state)
+{
+    //uint8_t buf[64];
+    if (state.rs232.DTR) {
+        // Start Rx and throw away packet.
+        //cdcdf_acm_read((uint8_t *)buf, 64);
+    }
+
+    /* No error. */
+    return false;
+}
+
+// static void usbd_sof_event(void)
+// {
+//     // Triggers button state checks and HID response.
+// }
+
+void init_usb(void) {
+    init_hardware();
+
+    usbdc_init(ctrl_buffer);
+
+    /* usbdc_register_funcion inside */
+    cdcdf_acm_init();
+    // hiddf_mouse_init();
+    // hiddf_keyboard_init();
+
+    int32_t result = usbdc_start(&multi_desc);
+    while (result != ERR_NONE) {}
+    usbdc_attach();
+}
+
+static inline bool cdc_enabled(void) {
+    if (mp_cdc_enabled) {
+        return true;
+    }
+    if (!cdcdf_acm_is_enabled()) {
+        return false;
+    }
+    cdcdf_acm_register_callback(CDCDF_ACM_CB_READ, (FUNC_PTR)usb_device_cb_bulk_out);
+    cdcdf_acm_register_callback(CDCDF_ACM_CB_WRITE, (FUNC_PTR)usb_device_cb_bulk_in);
+    cdcdf_acm_register_callback(CDCDF_ACM_CB_STATE_C, (FUNC_PTR)usb_device_cb_state_c);
+    mp_cdc_enabled = true;
+
+    // Ignored read.
+    uint8_t buf[64];
+    cdcdf_acm_read(buf, 64);
+    return true;
+}
+
+bool usb_bytes_available(void) {
+    if (usb_rx_count == 0) {
+        cdc_enabled();
+        return false;
+    }
+    return usb_rx_count > 0;
+}
+
+int usb_read(void) {
+    if (!cdc_enabled() || usb_rx_count == 0) {
+        return 0;
+    }
+
+    // Disable autoreload if someone is using the repl.
+    // TODO(tannewt): Check that we're actually in the REPL. It could be an
+    // input() call from a script.
+    autoreload_disable();
+
+    // Copy from head.
+    int data;
+    CRITICAL_SECTION_ENTER();
+    data = usb_rx_buf[usb_rx_buf_head];
+    usb_rx_buf_head++;
+    usb_rx_count--;
+    if ((USB_RX_BUF_SIZE) == usb_rx_buf_head) {
+      usb_rx_buf_head = 0;
+    }
+    CRITICAL_SECTION_LEAVE();
+
+    //usb_write((uint8_t *)&data, 1);
+
+    return data;
+}
+
+void usb_write(const char* buffer, uint32_t len) {
+    if (!cdc_enabled()) {
+        return;
+    }
+    int32_t result = cdcdf_acm_write((uint8_t *)buffer, len);
+    while (result == USB_BUSY) {
+        #ifdef MICROPY_VM_HOOK_LOOP
+            MICROPY_VM_HOOK_LOOP
+        #endif
+        result = cdcdf_acm_write((uint8_t *)buffer, len);
+    }
+    while (result != ERR_NONE) {}
+}
+
+bool usb_connected(void) {
+    return cdc_enabled();
+}