PulseOut working

13 files changed, 277 insertions, 39 deletions

diff --git a/ports/nrf/Makefile b/ports/nrf/Makefile
index 93ca78376..8b84f43df 100755
--- a/ports/nrf/Makefile
+++ b/ports/nrf/Makefile
@@ -90,6 +90,7 @@ LIBS += -L $(dir $(LIBGCC_FILE_NAME)) -lgcc
 SRC_NRFX = $(addprefix nrfx/,\
 	drivers/src/nrfx_power.c \
 	drivers/src/nrfx_spim.c \
+	drivers/src/nrfx_timer.c \
 	drivers/src/nrfx_twim.c \
 	drivers/src/nrfx_uarte.c \
 	)
@@ -123,6 +124,7 @@ SRC_C += \
 	peripherals/nrf/clocks.c \
 	peripherals/nrf/$(MCU_CHIP)/pins.c \
 	peripherals/nrf/$(MCU_CHIP)/power.c \
+	peripherals/nrf/timers.c \
 	supervisor/shared/memory.c
 
 DRIVERS_SRC_C += $(addprefix modules/,\
diff --git a/ports/nrf/common-hal/analogio/AnalogOut.c b/ports/nrf/common-hal/analogio/AnalogOut.c
index dc0f53740..7c60e324d 100644
--- a/ports/nrf/common-hal/analogio/AnalogOut.c
+++ b/ports/nrf/common-hal/analogio/AnalogOut.c
@@ -3,14 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2013, 2014 Damien P. George
- *
- * 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:
+ * Copyright (c) 2018 Dan Halbert for Adafruit Industries
  *
  * The above copyright notice and this permission notice shall be included in
  * all copies or substantial portions of the Software.
diff --git a/ports/nrf/common-hal/board/__init__.c b/ports/nrf/common-hal/board/__init__.c
index 287f546d5..350f2eea5 100644
--- a/ports/nrf/common-hal/board/__init__.c
+++ b/ports/nrf/common-hal/board/__init__.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2013, 2014 Damien P. George
+ * Copyright (c) 2018 Dan Halbert 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
diff --git a/ports/nrf/common-hal/busio/I2C.c b/ports/nrf/common-hal/busio/I2C.c
index c2a6cab70..4c42e58cd 100644
--- a/ports/nrf/common-hal/busio/I2C.c
+++ b/ports/nrf/common-hal/busio/I2C.c
@@ -56,6 +56,7 @@ STATIC twim_peripheral_t twim_peripherals[] = {
 
 void i2c_reset(void) {
     for (size_t i = 0 ; i < MP_ARRAY_SIZE(twim_peripherals); i++) {
+        nrf_twim_disable(twim_peripherals[i].twim.p_twim);
         twim_peripherals[i].in_use = false;
     }
 }
diff --git a/ports/nrf/common-hal/busio/UART.c b/ports/nrf/common-hal/busio/UART.c
index b2dbb56a1..b9e79381a 100644
--- a/ports/nrf/common-hal/busio/UART.c
+++ b/ports/nrf/common-hal/busio/UART.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2016 Damien P. George
+ * Copyright (c) 2018 Ha Thach 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
@@ -179,7 +179,7 @@ size_t common_hal_busio_uart_read(busio_uart_obj_t *self, uint8_t *data, size_t
         self->rx_count = -1;
         _VERIFY_ERR(nrfx_uarte_rx(&self->uarte, self->buffer, cnt));
     }
-    
+
     // queue 1-byte transfer for rx_characters_available()
     if ( self->rx_count == 0 ) {
         self->rx_count = -1;
diff --git a/ports/nrf/common-hal/pulseio/PWMOut.c b/ports/nrf/common-hal/pulseio/PWMOut.c
index 5d94bab79..f321f848d 100644
--- a/ports/nrf/common-hal/pulseio/PWMOut.c
+++ b/ports/nrf/common-hal/pulseio/PWMOut.c
@@ -3,8 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
- * Copyright (c) 2016 Damien P. George
+ * Copyright (c) 2018 Dan Halbert 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
@@ -168,6 +167,7 @@ void common_hal_pulseio_pwmout_construct(pulseio_pwmout_obj_t* self,
     self->frequency = frequency;
     self->variable_frequency = variable_frequency;
 
+    // Note this is standard, not strong drive.
     nrf_gpio_cfg_output(self->pin_number);
 
     // disable before mapping pin channel
diff --git a/ports/nrf/common-hal/pulseio/PulseOut.c b/ports/nrf/common-hal/pulseio/PulseOut.c
index 3495f38f7..044c4d3a8 100644
--- a/ports/nrf/common-hal/pulseio/PulseOut.c
+++ b/ports/nrf/common-hal/pulseio/PulseOut.c
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2016 Damien P. George
+ * Copyright (c) 2018 Dan Halbert 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
@@ -29,31 +29,136 @@
 #include <stdint.h>
 
 #include "mpconfigport.h"
+#include "nrf/pins.h"
+#include "nrf/timers.h"
 #include "py/gc.h"
 #include "py/runtime.h"
-
 #include "shared-bindings/pulseio/PulseOut.h"
+#include "shared-bindings/pulseio/PWMOut.h"
+#include "supervisor/shared/translate.h"
 
-//void pulse_finish(struct tc_module *const module) {
-//
-//}
+// A single timer is shared amongst all PulseOut objects under the assumption that
+// the code is single threaded.
+static uint8_t refcount = 0;
 
-void pulseout_reset() {
+static nrfx_timer_t *timer = NULL;
+
+static uint16_t *pulse_array = NULL;
+static volatile uint16_t pulse_array_index = 0;
+static uint16_t pulse_array_length;
+
+static void turn_on(pulseio_pulseout_obj_t *pulseout) {
+    pulseout->pwmout->pwm->PSEL.OUT[0] = pulseout->pwmout->pin_number;
+}
+
+static void turn_off(pulseio_pulseout_obj_t *pulseout) {
+    // Disconnect pin from PWM.
+    pulseout->pwmout->pwm->PSEL.OUT[0] = 0xffffffff;
+    // Make sure pin is low.
+    nrf_gpio_pin_clear(pulseout->pwmout->pin_number);
+}
+
+static void start_timer(void) {
+    nrfx_timer_clear(timer);
+    // true enables interrupt.
+    nrfx_timer_compare(timer, NRF_TIMER_CC_CHANNEL0, pulse_array[pulse_array_index], true);
+    nrfx_timer_resume(timer);
+}
+
+static void pulseout_event_handler(nrf_timer_event_t event_type, void *p_context) {
+    pulseio_pulseout_obj_t *pulseout = (pulseio_pulseout_obj_t*) p_context;
+    if (event_type != NRF_TIMER_EVENT_COMPARE0) {
+        // Spurious event.
+        return;
+    }
+    nrfx_timer_pause(timer);
+
+    pulse_array_index++;
 
+    // No more pulses. Turn off output and don't restart.
+    if (pulse_array_index >= pulse_array_length) {
+        turn_off(pulseout);
+        return;
+    }
+
+    // Alternate on and off, starting with on.
+    if (pulse_array_index % 2 == 0) {
+        turn_on(pulseout);
+    } else {
+        turn_off(pulseout);
+    }
+
+    // Count up to the next given value.
+    start_timer();
 }
 
-void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self, const pulseio_pwmout_obj_t* carrier) {
-    mp_raise_NotImplementedError(NULL);
+void pulseout_reset() {
+    if (timer != NULL) {
+        nrf_peripherals_free_timer(timer);
+    }
+    refcount = 0;
+}
+
+void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self,
+                                           const pulseio_pwmout_obj_t* carrier) {
+    if (refcount == 0) {
+        timer = nrf_peripherals_allocate_timer();
+        if (timer == NULL) {
+            mp_raise_RuntimeError(translate("All timers in use"));
+        }
+    }
+    refcount++;
+
+    nrfx_timer_config_t timer_config = {
+        // PulseOut 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,
+        .p_context = self,
+    };
+
+    self->pwmout = carrier;
+
+    nrfx_timer_init(timer, &timer_config, &pulseout_event_handler);
+    turn_off(self);
 }
 
 bool common_hal_pulseio_pulseout_deinited(pulseio_pulseout_obj_t* self) {
-  return 1;
+    return self->pwmout == NULL;
 }
 
 void common_hal_pulseio_pulseout_deinit(pulseio_pulseout_obj_t* self) {
+    if (common_hal_pulseio_pulseout_deinited(self)) {
+        return;
+    }
+    turn_on(self);
+    self->pwmout = NULL;
 
+    refcount--;
+    if (refcount == 0) {
+        nrf_peripherals_free_timer(timer);
+    }
 }
 
 void common_hal_pulseio_pulseout_send(pulseio_pulseout_obj_t* self, uint16_t* pulses, uint16_t length) {
+    pulse_array = pulses;
+    pulse_array_index = 0;
+    pulse_array_length = length;
+
+    nrfx_timer_enable(timer);
+
+    turn_on(self);
+    // Count up to the next given value.
+    start_timer();
+
+    while(pulse_array_index < length) {
+        // Do other things while we wait. The interrupts will handle sending the
+        // signal.
+        #ifdef MICROPY_VM_HOOK_LOOP
+            MICROPY_VM_HOOK_LOOP
+        #endif
+    }
 
+    nrfx_timer_disable(timer);
 }
diff --git a/ports/nrf/common-hal/pulseio/PulseOut.h b/ports/nrf/common-hal/pulseio/PulseOut.h
index 9a764e302..42ec52e30 100644
--- a/ports/nrf/common-hal/pulseio/PulseOut.h
+++ b/ports/nrf/common-hal/pulseio/PulseOut.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2017 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2018 Dan Halbert 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
@@ -28,13 +28,13 @@
 #define MICROPY_INCLUDED_NRF_COMMON_HAL_PULSEIO_PULSEOUT_H
 
 #include "common-hal/microcontroller/Pin.h"
+#include "common-hal/pulseio/PWMOut.h"
 
 #include "py/obj.h"
 
 typedef struct {
     mp_obj_base_t base;
-//    __IO PORT_PINCFG_Type *pincfg;
-    uint8_t pin;
+    const pulseio_pwmout_obj_t *pwmout;
 } pulseio_pulseout_obj_t;
 
 void pulseout_reset(void);
diff --git a/ports/nrf/nrfx_config.h b/ports/nrf/nrfx_config.h
index f217cb053..69b8e6a0c 100644
--- a/ports/nrf/nrfx_config.h
+++ b/ports/nrf/nrfx_config.h
@@ -27,8 +27,10 @@
 
 // Enable SPIM2 and SPIM3 (if available)
 #define NRFX_SPIM2_ENABLED 1
-#ifdef NRF52840_XXAA
+#ifdef NRF_SPIM3
     #define NRFX_SPIM3_ENABLED 1
+#else
+    #define NRFX_SPIM3_ENABLED 0
 #endif
 
 
@@ -59,4 +61,24 @@
 #define NRFX_PWM3_ENABLED 0
 #endif
 
+// TIMERS
+#define NRFX_TIMER_ENABLED 1
+// Don't enable TIMER0: it's used by the SoftDevice.
+#define NRFX_TIMER1_ENABLED 1
+#define NRFX_TIMER2_ENABLED 1
+
+#ifdef NRFX_TIMER3
+#define NRFX_TIMER3_ENABLED 1
+#else
+#define NRFX_TIMER3_ENABLED 0
+#endif
+
+#ifdef NRFX_TIMER4
+#define NRFX_TIMER4_ENABLED 1
+#else
+#define NRFX_TIMER4_ENABLED 0
+#endif
+
+#define NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY 7
+
 #endif // NRFX_CONFIG_H__
diff --git a/ports/nrf/peripherals/nrf/pins.h b/ports/nrf/peripherals/nrf/pins.h
index 01aa9e956..33462d711 100644
--- a/ports/nrf/peripherals/nrf/pins.h
+++ b/ports/nrf/peripherals/nrf/pins.h
@@ -3,7 +3,7 @@
  *
  * The MIT License (MIT)
  *
- * Copyright (c) 2013, 2014 Damien P. George
+ * Copyright (c) 2018 Dan Halbert 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
diff --git a/ports/nrf/peripherals/nrf/timers.c b/ports/nrf/peripherals/nrf/timers.c
new file mode 100644
index 000000000..0027d526f
--- /dev/null
+++ b/ports/nrf/peripherals/nrf/timers.c
@@ -0,0 +1,88 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Dan Halbert 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 "common-hal/pulseio/PulseOut.h"
+
+#include <stdint.h>
+
+#include "nrfx.h"
+#include "nrfx_timer.h"
+
+#include "mpconfigport.h"
+#include "py/runtime.h"
+
+STATIC nrfx_timer_t nrfx_timers[] = {
+#if NRFX_CHECK(NRFX_TIMER0_ENABLED)
+    // Note that TIMER0 is reserved for use by the SoftDevice, so it should not usually be enabled.
+    NRFX_TIMER_INSTANCE(0),
+#endif
+#if NRFX_CHECK(NRFX_TIMER1_ENABLED)
+    NRFX_TIMER_INSTANCE(1),
+#endif
+#if NRFX_CHECK(NRFX_TIMER2_ENABLED)
+    NRFX_TIMER_INSTANCE(2),
+#endif
+#if NRFX_CHECK(NRFX_TIMER3_ENABLED)
+    NRFX_TIMER_INSTANCE(3),
+#endif
+#if NRFX_CHECK(NRFX_TIMER4_ENABLED)
+    NRFX_TIMER_INSTANCE(4),
+#endif
+};
+
+static bool nrfx_timer_allocated[ARRAY_SIZE(nrfx_timers)];
+
+void timers_reset(void) {
+    for (size_t i = 0; i < ARRAY_SIZE(nrfx_timers); i ++) {
+        nrfx_timer_uninit(&nrfx_timers[i]);
+        nrfx_timer_allocated[i] = false;
+    }
+}
+
+// Returns a free nrfx_timer instance, and marks it as allocated.
+// The caller should init as with the desired config.
+// Returns NULL if no timer is available.
+nrfx_timer_t* nrf_peripherals_allocate_timer(void) {
+    for (size_t i = 0; i < ARRAY_SIZE(nrfx_timers); i ++) {
+        if (!nrfx_timer_allocated[i]) {
+            nrfx_timer_allocated[i] = true;
+            return &nrfx_timers[i];
+        }
+    }
+    return NULL;
+}
+
+// Free a timer, which may or may not have been initialized.
+void nrf_peripherals_free_timer(nrfx_timer_t* timer) {
+    for (size_t i = 0; i < ARRAY_SIZE(nrfx_timers); i ++) {
+        if (timer == &nrfx_timers[i]) {
+            nrfx_timer_allocated[i] = false;
+            // Safe to call even if not initialized.
+            nrfx_timer_uninit(timer);
+            return;
+        }
+    }
+}
diff --git a/ports/nrf/peripherals/nrf/timers.h b/ports/nrf/peripherals/nrf/timers.h
new file mode 100644
index 000000000..7d3815579
--- /dev/null
+++ b/ports/nrf/peripherals/nrf/timers.h
@@ -0,0 +1,32 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Dan Halbert 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 "nrfx.h"
+#include "nrfx_timer.h"
+
+void timers_reset(void);
+nrfx_timer_t* nrf_peripherals_allocate_timer(void);
+void nrf_peripherals_free_timer(nrfx_timer_t* timer);
diff --git a/ports/nrf/supervisor/port.c b/ports/nrf/supervisor/port.c
index c858a3648..f98b05f5a 100644
--- a/ports/nrf/supervisor/port.c
+++ b/ports/nrf/supervisor/port.c
@@ -31,12 +31,14 @@
 #include "nrf/cache.h"
 #include "nrf/clocks.h"
 #include "nrf/power.h"
+#include "nrf/timers.h"
 
 #include "shared-module/gamepad/__init__.h"
 #include "common-hal/microcontroller/Pin.h"
 #include "common-hal/busio/I2C.h"
 #include "common-hal/busio/SPI.h"
 #include "common-hal/pulseio/PWMOut.h"
+#include "common-hal/pulseio/PulseOut.h"
 #include "tick.h"
 
 safe_mode_t port_init(void) {
@@ -81,6 +83,8 @@ void reset_port(void) {
     i2c_reset();
     spi_reset();
     pwmout_reset();
+    pulseout_reset();
+    timers_reset();
 
     reset_all_pins();
 }
@@ -88,16 +92,7 @@ void reset_port(void) {
 
 void HardFault_Handler(void)
 {
-//	static volatile uint32_t reg;
-//	static volatile uint32_t reg2;
-//	static volatile uint32_t bfar;
-//	reg = SCB->HFSR;
-//	reg2 = SCB->CFSR;
-//	bfar = SCB->BFAR;
-//	for (int i = 0; i < 0; i++)
-//	{
-//		(void)reg;
-//		(void)reg2;
-//		(void)bfar;
-//	}
+    while (true) {
+        asm("");
+    }
 }