zephyrCommon.cpp

/*
 * Copyright (c) 2022 Dhruva Gole
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <Arduino.h>

namespace {

/*
 * Calculate GPIO ports/pins number statically from devicetree configuration
 */

template <class N, class Head> constexpr const N sum_of_list(const N sum, const Head &head)
{
  return sum + head;
}

template <class N, class Head, class... Tail>
constexpr const N sum_of_list(const N sum, const Head &head, const Tail &...tail)
{
  return sum_of_list(sum + head, tail...);
}

template <class N, class Head> constexpr const N max_in_list(const N max, const Head &head)
{
  return (max >= head) ? max : head;
}

template <class N, class Head, class... Tail>
constexpr const N max_in_list(const N max, const Head &head, const Tail &...tail)
{
  return max_in_list((max >= head) ? max : head, tail...);
}

template <class Query, class Head>
constexpr const size_t is_first_appearance(const size_t &idx, const size_t &at, const size_t &found,
             const Query &query, const Head &head)
{
  return ((found == ((size_t)-1)) && (query == head) && (idx == at)) ? 1 : 0;
}

template <class Query, class Head, class... Tail>
constexpr const size_t is_first_appearance(const size_t &idx, const size_t &at, const size_t &found,
             const Query &query, const Head &head,
             const Tail &...tail)
{
  return ((found == ((size_t)-1)) && (query == head) && (idx == at))
           ? 1
           : is_first_appearance(idx + 1, at, (query == head ? idx : found), query,
               tail...);
}

#define GET_DEVICE_VARGS(n, p, i, _) DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(n, p, i))
#define FIRST_APPEARANCE(n, p, i)                                                                  \
  is_first_appearance(0, i, ((size_t)-1), DEVICE_DT_GET(DT_GPIO_CTLR_BY_IDX(n, p, i)),       \
          DT_FOREACH_PROP_ELEM_SEP_VARGS(n, p, GET_DEVICE_VARGS, (, ), 0))
const int port_num =
  sum_of_list(0, DT_FOREACH_PROP_ELEM_SEP(DT_PATH(zephyr_user), digital_pin_gpios,
            FIRST_APPEARANCE, (, )));

#define GPIO_NGPIOS(n, p, i) DT_PROP(DT_GPIO_CTLR_BY_IDX(n, p, i), ngpios)
const int max_ngpios = max_in_list(
  0, DT_FOREACH_PROP_ELEM_SEP(DT_PATH(zephyr_user), digital_pin_gpios, GPIO_NGPIOS, (, )));

/*
 * GPIO callback implementation
 */

struct gpio_port_callback {
  struct gpio_callback callback;
  voidFuncPtr handlers[max_ngpios];
  gpio_port_pins_t pins;
  const struct device *dev;
} port_callback[port_num] = {0};

struct gpio_port_callback *find_gpio_port_callback(const struct device *dev)
{
  for (size_t i = 0; i < ARRAY_SIZE(port_callback); i++) {
    if (port_callback[i].dev == dev) {
      return &port_callback[i];
    }
    if (port_callback[i].dev == nullptr) {
      port_callback[i].dev = dev;
      return &port_callback[i];
    }
  }

  return nullptr;
}

void setInterruptHandler(pin_size_t pinNumber, voidFuncPtr func)
{
  struct gpio_port_callback *pcb = find_gpio_port_callback(arduino_pins[pinNumber].port);

  if (pcb) {
    pcb->handlers[BIT(arduino_pins[pinNumber].pin)] = func;
  }
}

void handleGpioCallback(const struct device *port, struct gpio_callback *cb, uint32_t pins)
{
  struct gpio_port_callback *pcb = (struct gpio_port_callback *)cb;

  for (uint32_t i = 0; i < max_ngpios; i++) {
    if (pins & BIT(i)) {
      pcb->handlers[BIT(i)]();
    }
  }
}

#ifdef CONFIG_PWM

#define PWM_DT_SPEC(n,p,i) PWM_DT_SPEC_GET_BY_IDX(n, i),
#define PWM_PINS(n, p, i) \
	DIGITAL_PIN_GPIOS_FIND_PIN( \
                DT_REG_ADDR(DT_PHANDLE_BY_IDX(DT_PATH(zephyr_user), p, i)),        \
                DT_PHA_BY_IDX(DT_PATH(zephyr_user), p, i, pin)),

const struct pwm_dt_spec arduino_pwm[] =
	{ DT_FOREACH_PROP_ELEM(DT_PATH(zephyr_user), pwms, PWM_DT_SPEC) };

/* pwm-pins node provides a mapping digital pin numbers to pwm channels */
const pin_size_t arduino_pwm_pins[] =
	{ DT_FOREACH_PROP_ELEM(DT_PATH(zephyr_user), pwm_pin_gpios, PWM_PINS) };

size_t pwm_pin_index(pin_size_t pinNumber) {
  for(size_t i=0; i<ARRAY_SIZE(arduino_pwm_pins); i++) {
    if (arduino_pwm_pins[i] == pinNumber) {
      return i;
    }
  }
  return (size_t)-1;
}

#endif //CONFIG_PWM

#ifdef CONFIG_ADC

#define ADC_DT_SPEC(n,p,i) ADC_DT_SPEC_GET_BY_IDX(n, i),
#define ADC_PINS(n, p, i) \
	DIGITAL_PIN_GPIOS_FIND_PIN( \
                DT_REG_ADDR(DT_PHANDLE_BY_IDX(DT_PATH(zephyr_user), p, i)),        \
                DT_PHA_BY_IDX(DT_PATH(zephyr_user), p, i, pin)),
#define ADC_CH_CFG(n,p,i) arduino_adc[i].channel_cfg,

const struct adc_dt_spec arduino_adc[] =
  { DT_FOREACH_PROP_ELEM(DT_PATH(zephyr_user), io_channels, ADC_DT_SPEC) };

/* io-channel-pins node provides a mapping digital pin numbers to adc channels */
const pin_size_t arduino_analog_pins[] =
  { DT_FOREACH_PROP_ELEM(DT_PATH(zephyr_user), adc_pin_gpios, ADC_PINS) };

struct adc_channel_cfg channel_cfg[ARRAY_SIZE(arduino_analog_pins)] =
  { DT_FOREACH_PROP_ELEM(DT_PATH(zephyr_user), io_channels, ADC_CH_CFG) };

size_t analog_pin_index(pin_size_t pinNumber) {
  for(size_t i=0; i<ARRAY_SIZE(arduino_analog_pins); i++) {
    if (arduino_analog_pins[i] == pinNumber) {
      return i;
    }
  }
  return (size_t)-1;
}

#endif //CONFIG_ADC

}

void yield(void) {
  k_yield();
}

/*
 *  The ACTIVE_HIGH flag is set so that A low physical
 *  level on the pin will be interpreted as value 0.
 *  A high physical level will be interpreted as value 1
 */
void pinMode(pin_size_t pinNumber, PinMode pinMode) {
  if (pinMode == INPUT) { // input mode
    gpio_pin_configure_dt(&arduino_pins[pinNumber],
                          GPIO_INPUT | GPIO_ACTIVE_HIGH);
  } else if (pinMode == INPUT_PULLUP) { // input with internal pull-up
    gpio_pin_configure_dt(&arduino_pins[pinNumber],
                          GPIO_INPUT | GPIO_PULL_UP | GPIO_ACTIVE_HIGH);
  } else if (pinMode == INPUT_PULLDOWN) { // input with internal pull-down
    gpio_pin_configure_dt(&arduino_pins[pinNumber],
                          GPIO_INPUT | GPIO_PULL_DOWN | GPIO_ACTIVE_HIGH);
  } else if (pinMode == OUTPUT) { // output mode
    gpio_pin_configure_dt(&arduino_pins[pinNumber],
                          GPIO_OUTPUT_LOW | GPIO_ACTIVE_HIGH);
  }
}

void digitalWrite(pin_size_t pinNumber, PinStatus status) {
  gpio_pin_set_dt(&arduino_pins[pinNumber], status);
}

PinStatus digitalRead(pin_size_t pinNumber) {
  return (gpio_pin_get_dt(&arduino_pins[pinNumber]) == 1) ? HIGH : LOW;
}

void delay(unsigned long ms) { k_sleep(K_MSEC(ms)); }

void delayMicroseconds(unsigned int us) { k_sleep(K_USEC(us)); }

unsigned long micros(void) {
  return k_cyc_to_us_floor32(k_cycle_get_32());
}

unsigned long millis(void) { return k_uptime_get_32(); }

#ifdef CONFIG_PWM

void analogWrite(pin_size_t pinNumber, int value)
{
  size_t idx = pwm_pin_index(pinNumber);

  if (!pwm_is_ready_dt(&arduino_pwm[idx])) {
    return;
  }

  if (idx >= ARRAY_SIZE(arduino_pwm) ) {
    return;
  }

  if (((uint32_t)value) > arduino_pwm[idx].period) {
    value = arduino_pwm[idx].period;
  } else if (value < 0) {
    value = 0;
  }

  /*
   * A duty ratio determines by the period value defined in dts
   * and the value arguments. So usually the period value sets as 255.
   */
  (void)pwm_set_pulse_dt(&arduino_pwm[idx], value);
}

#endif

#ifdef CONFIG_ADC

void analogReference(uint8_t mode)
{
  /*
   * The Arduino API not clearly defined what means of
   * the mode argument of analogReference().
   * Treat the value as equivalent to zephyr's adc_reference.
   */
  size_t idx;
  for (size_t i=0; i<ARRAY_SIZE(channel_cfg); i++) {
    channel_cfg[i].reference = static_cast<adc_reference>(mode);
  }
}

int analogRead(pin_size_t pinNumber)
{
  int err;
  int16_t buf;
  struct adc_sequence seq = { .buffer = &buf, .buffer_size = sizeof(buf) };
  size_t idx = analog_pin_index(pinNumber);

  if (idx >= ARRAY_SIZE(arduino_adc) ) {
    return -EINVAL;
  }

  /*
   * ADC that is on MCU supported by Zephyr exists
   * only 16bit resolution, currently.
   */
  if (arduino_adc[idx].resolution > 16) {
    return -ENOTSUP;
  }

  err = adc_channel_setup(arduino_adc[idx].dev, &arduino_adc[idx].channel_cfg);
  if (err < 0) {
    return err;
  }

  seq.channels = BIT(arduino_adc[idx].channel_id);
  seq.resolution = arduino_adc[idx].resolution;
  seq.oversampling = arduino_adc[idx].oversampling;

  err = adc_read(arduino_adc[idx].dev, &seq);
  if (err < 0) {
    return err;
  }

  return buf;
}

#endif

void attachInterrupt(pin_size_t pinNumber, voidFuncPtr callback, PinStatus pinStatus)
{
  struct gpio_port_callback *pcb;
  gpio_flags_t intmode = 0;

  if (!callback) {
    return;
  }

  if (pinStatus == LOW) {
    intmode |= GPIO_INT_LEVEL_LOW;
  } else if (pinStatus == HIGH) {
    intmode |= GPIO_INT_LEVEL_HIGH;
  } else if (pinStatus == CHANGE) {
    intmode |= GPIO_INT_EDGE_BOTH;
  } else if (pinStatus == FALLING) {
    intmode |= GPIO_INT_EDGE_FALLING;
  } else if (pinStatus == RISING) {
    intmode |= GPIO_INT_EDGE_RISING;
  } else {
    return;
  }

  pcb = find_gpio_port_callback(arduino_pins[pinNumber].port);
  __ASSERT(pcb != nullptr, "gpio_port_callback not found");

  pcb->pins |= BIT(arduino_pins[pinNumber].pin);
  setInterruptHandler(pinNumber, callback);

  gpio_pin_interrupt_configure(arduino_pins[pinNumber].port, arduino_pins[pinNumber].pin, intmode);
  gpio_init_callback(&pcb->callback, handleGpioCallback, pcb->pins);
  gpio_add_callback(arduino_pins[pinNumber].port, &pcb->callback);
}

void detachInterrupt(pin_size_t pinNumber)
{
  setInterruptHandler(pinNumber, nullptr);
}