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-rw-r--r--ports/samd/mphalport.c47
-rw-r--r--ports/samd/mphalport.h54
2 files changed, 82 insertions, 19 deletions
diff --git a/ports/samd/mphalport.c b/ports/samd/mphalport.c
index beade14a6..e51f13ab7 100644
--- a/ports/samd/mphalport.c
+++ b/ports/samd/mphalport.c
@@ -4,6 +4,7 @@
* The MIT License (MIT)
*
* Copyright (c) 2019 Damien P. George
+ * Copyright (c) 2022 Robert Hammelrath
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,10 +28,13 @@
#include "py/runtime.h"
#include "py/mphal.h"
#include "py/stream.h"
+#include "shared/runtime/interrupt_char.h"
+#include "extmod/misc.h"
#include "samd_soc.h"
#include "tusb.h"
#if MICROPY_KBD_EXCEPTION
+int mp_interrupt_char = -1;
void tud_cdc_rx_wanted_cb(uint8_t itf, char wanted_char) {
(void)itf;
@@ -40,24 +44,47 @@ void tud_cdc_rx_wanted_cb(uint8_t itf, char wanted_char) {
}
void mp_hal_set_interrupt_char(int c) {
+ mp_interrupt_char = c;
tud_cdc_set_wanted_char(c);
}
#endif
+void mp_hal_set_pin_mux(mp_hal_pin_obj_t pin, uint8_t mux) {
+ int pin_grp = pin / 32;
+ int port_grp = (pin % 32) / 2;
+ PORT->Group[pin_grp].PINCFG[pin % 32].bit.PMUXEN = 1; // Enable Mux
+ if (pin & 1) {
+ PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXO = mux;
+ } else {
+ PORT->Group[pin_grp].PMUX[port_grp].bit.PMUXE = mux;
+ }
+}
+
+
void mp_hal_delay_ms(mp_uint_t ms) {
- ms += 1;
- uint32_t t0 = systick_ms;
- while (systick_ms - t0 < ms) {
- MICROPY_EVENT_POLL_HOOK
+ if (ms > 10) {
+ uint32_t t0 = systick_ms;
+ while (systick_ms - t0 < ms) {
+ MICROPY_EVENT_POLL_HOOK
+ }
+ } else {
+ mp_hal_delay_us(ms * 1000);
}
}
void mp_hal_delay_us(mp_uint_t us) {
- uint32_t ms = us / 1000 + 1;
- uint32_t t0 = systick_ms;
- while (systick_ms - t0 < ms) {
- __WFI();
+ if (us > 0) {
+ uint32_t start = mp_hal_ticks_us();
+ #if defined(MCU_SAMD21)
+ // SAMD21 counter has effective 32 bit width
+ while ((mp_hal_ticks_us() - start) < us) {
+ }
+ #elif defined(MCU_SAMD51)
+ // SAMD51 counter has effective 29 bit width
+ while (((mp_hal_ticks_us() - start) & (MICROPY_PY_UTIME_TICKS_PERIOD - 1)) < us) {
+ }
+ #endif
}
}
@@ -78,7 +105,7 @@ int mp_hal_stdin_rx_chr(void) {
return buf[0];
}
}
- __WFI();
+ MICROPY_EVENT_POLL_HOOK
}
}
@@ -90,7 +117,7 @@ void mp_hal_stdout_tx_strn(const char *str, mp_uint_t len) {
n = CFG_TUD_CDC_EP_BUFSIZE;
}
while (n > tud_cdc_write_available()) {
- __WFI();
+ MICROPY_EVENT_POLL_HOOK
}
uint32_t n2 = tud_cdc_write(str + i, n);
tud_cdc_write_flush();
diff --git a/ports/samd/mphalport.h b/ports/samd/mphalport.h
index 2bbde4390..b18aa2f9b 100644
--- a/ports/samd/mphalport.h
+++ b/ports/samd/mphalport.h
@@ -4,6 +4,7 @@
* The MIT License (MIT)
*
* Copyright (c) 2019-2021 Damien P. George
+ * Copyright (c) 2022 Robert Hammelrath
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
@@ -27,25 +28,49 @@
#define MICROPY_INCLUDED_SAMD_MPHALPORT_H
#include "py/mpconfig.h"
-#include "py/ringbuf.h"
// ASF4
#include "hal_gpio.h"
+#include "hpl_time_measure.h"
+#include "sam.h"
extern int mp_interrupt_char;
-extern ringbuf_t stdin_ringbuf;
extern volatile uint32_t systick_ms;
+extern volatile uint32_t systick_ms_upper;
void mp_hal_set_interrupt_char(int c);
+#define mp_hal_delay_us_fast mp_hal_delay_us
+
static inline mp_uint_t mp_hal_ticks_ms(void) {
return systick_ms;
}
+
static inline mp_uint_t mp_hal_ticks_us(void) {
+ #if defined(MCU_SAMD21)
+
+ return REG_TC4_COUNT32_COUNT;
+
+ #elif defined(MCU_SAMD51)
+
+ TC0->COUNT32.CTRLBSET.reg = TC_CTRLBSET_CMD_READSYNC;
+ while (TC0->COUNT32.CTRLBSET.reg != 0) {
+ }
+ return REG_TC0_COUNT32_COUNT >> 3;
+
+ #else
return systick_ms * 1000;
+ #endif
}
+
+// ticks_cpu is limited to a 1 ms period, since the CPU SysTick counter
+// is used for the 1 ms SysTick_Handler interrupt.
static inline mp_uint_t mp_hal_ticks_cpu(void) {
- return 0;
+ return (system_time_t)SysTick->VAL;
+}
+
+static inline uint64_t mp_hal_time_ns(void) {
+ return ((uint64_t)systick_ms + (uint64_t)systick_ms_upper * 0x100000000) * 1000000;
}
// C-level pin HAL
@@ -55,9 +80,10 @@ static inline mp_uint_t mp_hal_ticks_cpu(void) {
#define MP_HAL_PIN_FMT "%u"
#define mp_hal_pin_obj_t uint
-extern uint32_t machine_pin_open_drain_mask;
+extern uint32_t machine_pin_open_drain_mask[];
mp_hal_pin_obj_t mp_hal_get_pin_obj(mp_obj_t pin_in);
+void mp_hal_set_pin_mux(mp_hal_pin_obj_t pin, uint8_t mux);
static inline unsigned int mp_hal_pin_name(mp_hal_pin_obj_t pin) {
return pin;
@@ -65,18 +91,22 @@ static inline unsigned int mp_hal_pin_name(mp_hal_pin_obj_t pin) {
static inline void mp_hal_pin_input(mp_hal_pin_obj_t pin) {
gpio_set_pin_direction(pin, GPIO_DIRECTION_IN);
- machine_pin_open_drain_mask &= ~(1 << pin);
+ machine_pin_open_drain_mask[pin / 32] &= ~(1 << (pin % 32));
}
static inline void mp_hal_pin_output(mp_hal_pin_obj_t pin) {
gpio_set_pin_direction(pin, GPIO_DIRECTION_OUT);
- machine_pin_open_drain_mask &= ~(1 << pin);
+ machine_pin_open_drain_mask[pin / 32] &= ~(1 << (pin % 32));
}
static inline void mp_hal_pin_open_drain(mp_hal_pin_obj_t pin) {
gpio_set_pin_direction(pin, GPIO_DIRECTION_IN);
gpio_set_pin_level(pin, 0);
- machine_pin_open_drain_mask |= 1 << pin;
+ machine_pin_open_drain_mask[pin / 32] |= 1 << (pin % 32);
+}
+
+static inline unsigned int mp_hal_get_pin_direction(mp_hal_pin_obj_t pin) {
+ return (PORT->Group[pin / 32].DIR.reg & (1 << (pin % 32))) >> (pin % 32);
}
static inline int mp_hal_pin_read(mp_hal_pin_obj_t pin) {
@@ -87,7 +117,14 @@ static inline void mp_hal_pin_write(mp_hal_pin_obj_t pin, int v) {
gpio_set_pin_level(pin, v);
}
-/*
+static inline void mp_hal_pin_low(mp_hal_pin_obj_t pin) {
+ gpio_set_pin_level(pin, 0);
+}
+
+static inline void mp_hal_pin_high(mp_hal_pin_obj_t pin) {
+ gpio_set_pin_level(pin, 1);
+}
+
static inline void mp_hal_pin_od_low(mp_hal_pin_obj_t pin) {
gpio_set_pin_direction(pin, GPIO_DIRECTION_OUT);
}
@@ -95,6 +132,5 @@ static inline void mp_hal_pin_od_low(mp_hal_pin_obj_t pin) {
static inline void mp_hal_pin_od_high(mp_hal_pin_obj_t pin) {
gpio_set_pin_direction(pin, GPIO_DIRECTION_IN);
}
-*/
#endif // MICROPY_INCLUDED_SAMD_MPHALPORT_H
generated by cgit v1.2.3 (git 2.46.0) at 2025-11-20 13:36:43 +0000