circuitpython/ports/raspberrypi/common-hal/pulseio/PulseOut.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
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* Copyright (c) 2021 Dave Putz for Adafruit Industries
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*
* 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 "mpconfigport.h"
#include "py/runtime.h"
#include "shared-bindings/pulseio/PulseOut.h"
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#include "shared-bindings/pwmio/PWMOut.h"
#include "shared-bindings/microcontroller/__init__.h"
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#include "common-hal/pwmio/PWMOut.h"
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#include "supervisor/shared/translate.h"
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#include "src/rp2040/hardware_structs/include/hardware/structs/pwm.h"
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#include "src/rp2_common/hardware_pwm/include/hardware/pwm.h"
#include "src/common/pico_time/include/pico/time.h"
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static uint8_t refcount = 0;
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volatile alarm_id_t cur_alarm = 0;
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void turn_off(uint8_t slice) {
// Set the current counter value near the top so that the output is low. The
// - 2 gives us a little wiggle room for enabling and disabling the slice.
// The top + 1 ensure we don't end up lower than the cc (and therefore high.)
uint32_t top = MAX(pwm_hw->slice[slice].cc + 1, pwm_hw->slice[slice].top - 2);
// Disable interrupts so this happens as fast as possible.
common_hal_mcu_disable_interrupts();
pwm_hw->slice[slice].ctr = top;
// Enable for at least one cycle so that the new counter value takes effect.
pwm_hw->slice[slice].csr = PWM_CH0_CSR_EN_BITS;
pwm_hw->slice[slice].csr = 0;
common_hal_mcu_enable_interrupts();
}
void pulse_finish(pulseio_pulseout_obj_t *self) {
self->pulse_index++;
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// Turn pwm pin off by setting duty cyle to 1.
common_hal_pwmio_pwmout_set_duty_cycle(&self->carrier, 1);
if (self->pulse_index >= self->pulse_length) {
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return;
}
if (self->pulse_index % 2 == 0) {
common_hal_pwmio_pwmout_set_duty_cycle(&self->carrier, self->current_duty_cycle);
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}
uint64_t delay = self->pulse_buffer[self->pulse_index];
if (delay < self->min_pulse) {
delay = self->min_pulse;
}
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cur_alarm = 0;
// if the alarm cannot be set, try again with a longer delay
while (cur_alarm == 0) {
cur_alarm = add_alarm_in_us(delay, pulseout_interrupt_handler, self, false);
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delay = delay + 1;
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}
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}
int64_t pulseout_interrupt_handler(alarm_id_t id, void *user_data) {
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pulse_finish(user_data);
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return 0;
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}
void pulseout_reset() {
}
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void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t *self,
const mcu_pin_obj_t *pin,
uint32_t frequency,
uint16_t duty_cycle) {
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pwmout_result_t result = common_hal_pwmio_pwmout_construct(
&self->carrier, pin, duty_cycle, frequency, false);
// This will raise an exception and not return if needed.
common_hal_pwmio_pwmout_raise_error(result);
self->current_duty_cycle = duty_cycle;
pwm_set_enabled(self->carrier.slice, false);
turn_off(self->carrier.slice);
common_hal_pwmio_pwmout_set_duty_cycle(&self->carrier, 1);
self->pin = self->carrier.pin->number;
self->slice = self->carrier.slice;
self->min_pulse = (1000000 / self->carrier.actual_frequency);
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}
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bool common_hal_pulseio_pulseout_deinited(pulseio_pulseout_obj_t *self) {
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return self->pin == NO_PIN;
}
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void common_hal_pulseio_pulseout_deinit(pulseio_pulseout_obj_t *self) {
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if (common_hal_pulseio_pulseout_deinited(self)) {
return;
}
common_hal_pwmio_pwmout_deinit(&self->carrier);
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self->pin = NO_PIN;
}
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void common_hal_pulseio_pulseout_send(pulseio_pulseout_obj_t *self, uint16_t *pulses, uint16_t length) {
self->pulse_buffer = pulses;
self->pulse_index = 0;
self->pulse_length = length;
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common_hal_pwmio_pwmout_set_duty_cycle(&self->carrier, self->current_duty_cycle);
pwm_set_enabled(self->slice, true);
uint64_t delay = self->pulse_buffer[0];
if (delay < self->min_pulse) {
delay = self->min_pulse;
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}
cur_alarm = 0;
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// if the alarm cannot be set, try again with a longer delay
while (cur_alarm == 0) {
cur_alarm = add_alarm_in_us(delay, pulseout_interrupt_handler, self, false);
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delay = delay + 1;
}
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while (self->pulse_index < length) {
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// Do other things while we wait. The interrupts will handle sending the
// signal.
RUN_BACKGROUND_TASKS;
}
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// Ensure pin is left low
turn_off(self->slice);
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pwm_set_enabled(self->slice,false);
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}