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Merge pull request #4329 from jepler/rp2-rotaryio

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raspberrypi: Implement rotaryio, improve StateMachine
This commit is contained in:
Scott Shawcroft 2021-03-08 17:49:45 -08:00 committed by GitHub
commit 775f1b9e0d
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16 changed files with 422 additions and 11 deletions
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12
locale/circuitpython.pot
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@ -1042,10 +1042,6 @@ msgstr ""
msgid "Group already used"
msgstr ""
#: shared-module/displayio/Group.c
msgid "Group full"
msgstr ""
#: ports/mimxrt10xx/common-hal/busio/SPI.c ports/stm/common-hal/busio/I2C.c
#: ports/stm/common-hal/busio/SPI.c ports/stm/common-hal/canio/CAN.c
#: ports/stm/common-hal/sdioio/SDCard.c
@ -1787,6 +1783,10 @@ msgid ""
"constructor"
msgstr ""
#: ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
msgid "Pins must be sequential"
msgstr ""
#: ports/raspberrypi/common-hal/audiopwmio/PWMAudioOut.c
msgid "Pins must share PWM slice"
msgstr ""
@ -3743,6 +3743,10 @@ msgstr ""
msgid "pressing both buttons at start up.\n"
msgstr ""
#: ports/raspberrypi/common-hal/rp2pio/StateMachine.c
msgid "pull masks conflict with direction masks"
msgstr ""
#: ports/raspberrypi/bindings/rp2pio/StateMachine.c
msgid "pull_threshold must be between 1 and 32"
msgstr ""

30
ports/raspberrypi/bindings/rp2pio/StateMachine.c
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@ -69,6 +69,8 @@
//| initial_out_pin_direction: int = 0xffffffff,
//| first_in_pin: Optional[microcontroller.Pin] = None,
//| in_pin_count: int = 1,
//| pull_in_pin_up: int = 0,
//| pull_in_pin_down: int = 0,
//| first_set_pin: Optional[microcontroller.Pin] = None,
//| set_pin_count: int = 1,
//| initial_set_pin_state: int = 0,
@ -99,6 +101,8 @@
//| :param int initial_out_pin_direction: the initial output direction for out pins starting at first_out_pin
//| :param ~microcontroller.Pin first_in_pin: the first pin to use with the IN instruction
//| :param int in_pin_count: the count of consecutive pins to use with IN starting at first_in_pin
//| :param int pull_in_pin_up: a 1-bit in this mask sets pull up on the corresponding in pin
//| :param int pull_in_pin_down: a 1-bit in this mask sets pull up on the corresponding in pin. Setting both pulls enables a "bus keep" function, i.e. a weak pull to whatever is current high/low state of GPIO.
//| :param ~microcontroller.Pin first_set_pin: the first pin to use with the SET instruction
//| :param int set_pin_count: the count of consecutive pins to use with SET starting at first_set_pin
//| :param int initial_set_pin_state: the initial output value for set pins starting at first_set_pin
@ -133,6 +137,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
enum { ARG_program, ARG_frequency, ARG_init,
ARG_first_out_pin, ARG_out_pin_count, ARG_initial_out_pin_state, ARG_initial_out_pin_direction,
ARG_first_in_pin, ARG_in_pin_count,
ARG_pull_in_pin_up, ARG_pull_in_pin_down,
ARG_first_set_pin, ARG_set_pin_count, ARG_initial_set_pin_state, ARG_initial_set_pin_direction,
ARG_first_sideset_pin, ARG_sideset_pin_count, ARG_initial_sideset_pin_state, ARG_initial_sideset_pin_direction,
ARG_exclusive_pin_use,
@ -151,6 +156,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
{ MP_QSTR_first_in_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_in_pin_count, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
{ MP_QSTR_pull_in_pin_up, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_pull_in_pin_down, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_first_set_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_set_pin_count, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
@ -233,7 +240,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
args[ARG_frequency].u_int,
init_bufinfo.buf, init_bufinfo.len / 2,
first_out_pin, args[ARG_out_pin_count].u_int, args[ARG_initial_out_pin_state].u_int, args[ARG_initial_out_pin_direction].u_int,
first_in_pin, args[ARG_in_pin_count].u_int,
first_in_pin, args[ARG_in_pin_count].u_int, args[ARG_pull_in_pin_up].u_int, args[ARG_pull_in_pin_down].u_int,
first_set_pin, args[ARG_set_pin_count].u_int, args[ARG_initial_set_pin_state].u_int, args[ARG_initial_set_pin_direction].u_int,
first_sideset_pin, args[ARG_sideset_pin_count].u_int, args[ARG_initial_sideset_pin_state].u_int, args[ARG_initial_sideset_pin_direction].u_int,
args[ARG_exclusive_pin_use].u_bool,
@ -548,6 +555,24 @@ const mp_obj_property_t rp2pio_statemachine_rxstall_obj = {
(mp_obj_t)&mp_const_none_obj},
};
//| in_waiting: int
//| """The number of words available to readinto"""
//|
STATIC mp_obj_t rp2pio_statemachine_obj_get_in_waiting(mp_obj_t self_in) {
rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return MP_OBJ_NEW_SMALL_INT(common_hal_rp2pio_statemachine_get_in_waiting(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(rp2pio_statemachine_get_in_waiting_obj, rp2pio_statemachine_obj_get_in_waiting);
const mp_obj_property_t rp2pio_statemachine_in_waiting_obj = {
.base.type = &mp_type_property,
.proxy = {(mp_obj_t)&rp2pio_statemachine_get_in_waiting_obj,
(mp_obj_t)&mp_const_none_obj,
(mp_obj_t)&mp_const_none_obj},
};
STATIC const mp_rom_map_elem_t rp2pio_statemachine_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rp2pio_statemachine_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
@ -563,7 +588,8 @@ STATIC const mp_rom_map_elem_t rp2pio_statemachine_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&rp2pio_statemachine_write_readinto_obj) },
{ MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&rp2pio_statemachine_frequency_obj) },
{ MP_ROM_QSTR(MP_QSTR_rxstall), MP_ROM_PTR(&rp2pio_statemachine_rxstall_obj) }
{ MP_ROM_QSTR(MP_QSTR_rxstall), MP_ROM_PTR(&rp2pio_statemachine_rxstall_obj) },
{ MP_ROM_QSTR(MP_QSTR_in_waiting), MP_ROM_PTR(&rp2pio_statemachine_in_waiting_obj) },
};
STATIC MP_DEFINE_CONST_DICT(rp2pio_statemachine_locals_dict, rp2pio_statemachine_locals_dict_table);

5
ports/raspberrypi/bindings/rp2pio/StateMachine.h
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@ -41,7 +41,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
size_t frequency,
const uint16_t* init, size_t init_len,
const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count, uint32_t initial_out_pin_state, uint32_t initial_out_pin_direction,
const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count, uint32_t pull_pin_up, uint32_t pull_pin_down,
const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count, uint32_t initial_set_pin_state, uint32_t initial_set_pin_direction,
const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count, uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
bool exclusive_pin_use,
@ -69,5 +69,8 @@ void common_hal_rp2pio_statemachine_set_frequency(rp2pio_statemachine_obj_t* sel
bool common_hal_rp2pio_statemachine_get_rxstall(rp2pio_statemachine_obj_t* self);
void common_hal_rp2pio_statemachine_clear_rxfifo(rp2pio_statemachine_obj_t *self);
size_t common_hal_rp2pio_statemachine_get_in_waiting(rp2pio_statemachine_obj_t *self);
void common_hal_rp2pio_statemachine_set_interrupt_handler(rp2pio_statemachine_obj_t *self, void(*handler)(void*), void *arg, int mask);
#endif // MICROPY_INCLUDED_RASPBERRYPI_BINDINGS_RP2PIO_STATEMACHINE_H

15
ports/raspberrypi/bindings/rp2pio/__init__.c
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@ -28,13 +28,28 @@
#include "py/runtime.h"
#include "bindings/rp2pio/StateMachine.h"
#include "bindings/rp2pio/__init__.h"
//| """Hardware interface to RP2 series' programmable IO (PIO) peripheral."""
//|
//| def pins_are_sequential(pins: List[microcontroller.Pin]) -> bool:
//| """Return True if the pins have sequential GPIO numbers, False otherwise"""
//| ...
//|
STATIC mp_obj_t rp2pio_pins_are_sequential(const mp_obj_t pins) {
size_t len;
mp_obj_t *items;
mp_obj_get_array(pins, &len, &items);
return mp_obj_new_bool(common_hal_rp2pio_pins_are_sequential(len, items));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(rp2pio_pins_are_sequential_obj, rp2pio_pins_are_sequential);
STATIC const mp_rom_map_elem_t rp2pio_module_globals_table[] = {
{ MP_ROM_QSTR(MP_QSTR___name__), MP_ROM_QSTR(MP_QSTR_rp2pio) },
{ MP_ROM_QSTR(MP_QSTR_StateMachine), MP_ROM_PTR(&rp2pio_statemachine_type) },
{ MP_ROM_QSTR(MP_QSTR_pins_are_sequential), MP_ROM_PTR(&rp2pio_pins_are_sequential_obj) },
};
STATIC MP_DEFINE_CONST_DICT(rp2pio_module_globals, rp2pio_module_globals_table);

29
ports/raspberrypi/bindings/rp2pio/__init__.h Normal file
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@ -0,0 +1,29 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2021 Jeff Epler 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.
*/
#pragma once
bool common_hal_rp2pio_pins_are_sequential(size_t len, mp_obj_t *items);

1
ports/raspberrypi/common-hal/audiobusio/I2SOut.c
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@ -122,6 +122,7 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t* self,
NULL, 0,
data, 1, 0, 0xffffffff, // out pin
NULL, 0, // in pins
0, 0, // in pulls
NULL, 0, 0, 0x1f, // set pins
bit_clock, 2, 0, 0x1f, // sideset pins
true, // exclusive pin use

2
ports/raspberrypi/common-hal/audiobusio/PDMIn.c
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@ -68,6 +68,7 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t* self,
NULL, 0,
NULL, 1, 0, 0xffffffff, // out pin
data_pin, 1, // in pins
0, 0, // in pulls
NULL, 0, 0, 0x1f, // set pins
clock_pin, 1, 0, 0x1f, // sideset pins
true, // exclusive pin use
@ -92,6 +93,7 @@ void common_hal_audiobusio_pdmin_deinit(audiobusio_pdmin_obj_t* self) {
if (common_hal_audiobusio_pdmin_deinited(self)) {
return;
}
return common_hal_rp2pio_statemachine_deinit(&self->state_machine);
}
uint8_t common_hal_audiobusio_pdmin_get_bit_depth(audiobusio_pdmin_obj_t* self) {

1
ports/raspberrypi/common-hal/neopixel_write/__init__.c
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@ -67,6 +67,7 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t* digitalinout,
NULL, 0, // init program
NULL, 1, // out
NULL, 1, // in
0, 0, // in pulls
NULL, 1, // set
digitalinout->pin, 1, // sideset
0, pins_we_use, // initial pin state

170
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c Normal file
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@ -0,0 +1,170 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2018 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 "py/runtime.h"
#include <hardware/regs/pio.h>
#include "common-hal/rotaryio/IncrementalEncoder.h"
#include "bindings/rp2pio/__init__.h"
#include "bindings/rp2pio/StateMachine.h"
STATIC const uint16_t encoder[] = {
// again:
// in pins, 2
0x4002,
// mov x, isr
0xa026,
// jmp x!=y, push_data
0x00a5,
// mov isr, null
0xa0c3,
// jmp again
0x0000,
// push_data:
// push
0x8020,
// mov y, x
0xa041,
};
STATIC const uint16_t encoder_init[] = {
// set y, 31
0xe05f,
};
STATIC void incrementalencoder_interrupt_handler(void *self_in);
void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {
mp_obj_t pins[] = {MP_OBJ_FROM_PTR(pin_a), MP_OBJ_FROM_PTR(pin_b)};
if (!common_hal_rp2pio_pins_are_sequential(2, pins)) {
mp_raise_RuntimeError(translate("Pins must be sequential"));
}
self->position = 0;
self->quarter_count = 0;
common_hal_rp2pio_statemachine_construct(&self->state_machine,
encoder, MP_ARRAY_SIZE(encoder),
1000000,
encoder_init, MP_ARRAY_SIZE(encoder_init), // init
NULL, 1, 0, 0xffffffff, // out pin
pin_a, 2, // in pins
3, 0, // in pulls
NULL, 0, 0, 0x1f, // set pins
NULL, 0, 0, 0x1f, // sideset pins
true, // exclusive pin use
false, 32, false, // out settings
false, // Wait for txstall
false, 32, false); // in settings
common_hal_rp2pio_statemachine_run(&self->state_machine, encoder_init, MP_ARRAY_SIZE(encoder_init));
// We're guaranteed by the init code that some output will be available promptly
uint8_t state;
common_hal_rp2pio_statemachine_readinto(&self->state_machine, &state, 1, 1);
// Top two bits of self->last_state don't matter, because they'll be gone as soon as
// interrupt handler is called.
self->last_state = state & 3;
common_hal_rp2pio_statemachine_set_interrupt_handler(&self->state_machine, incrementalencoder_interrupt_handler, self, PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS);
}
bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) {
return common_hal_rp2pio_statemachine_deinited(&self->state_machine);
}
void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) {
if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
return;
}
common_hal_rp2pio_statemachine_deinit(&self->state_machine);
}
mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) {
return self->position;
}
void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self,
mp_int_t new_position) {
self->position = new_position;
}
STATIC void incrementalencoder_interrupt_handler(void *self_in) {
rotaryio_incrementalencoder_obj_t* self = self_in;
// This table also works for detent both at 11 and 00
// For 11 at detent:
// Turning cw: 11->01->00->10->11
// Turning ccw: 11->10->00->01->11
// For 00 at detent:
// Turning cw: 00->10->11->10->00
// Turning ccw: 00->01->11->10->00
// index table by state <oldA><oldB><newA><newB>
#define BAD 7
static const int8_t transitions[16] = {
0, // 00 -> 00 no movement
-1, // 00 -> 01 3/4 ccw (11 detent) or 1/4 ccw (00 at detent)
+1, // 00 -> 10 3/4 cw or 1/4 cw
BAD, // 00 -> 11 non-Gray-code transition
+1, // 01 -> 00 2/4 or 4/4 cw
0, // 01 -> 01 no movement
BAD, // 01 -> 10 non-Gray-code transition
-1, // 01 -> 11 4/4 or 2/4 ccw
-1, // 10 -> 00 2/4 or 4/4 ccw
BAD, // 10 -> 01 non-Gray-code transition
0, // 10 -> 10 no movement
+1, // 10 -> 11 4/4 or 2/4 cw
BAD, // 11 -> 00 non-Gray-code transition
+1, // 11 -> 01 1/4 or 3/4 cw
-1, // 11 -> 10 1/4 or 3/4 ccw
0, // 11 -> 11 no movement
};
while (common_hal_rp2pio_statemachine_get_in_waiting(&self->state_machine)) {
// Bypass all the logic of StateMachine.c:_transfer, we need something
// very simple and fast for an interrupt!
uint8_t new = self->state_machine.pio->rxf[self->state_machine.state_machine];
// Shift the old AB bits to the "old" position, and set the new AB bits.
self->last_state = (self->last_state & 0x3) << 2 | (new & 0x3);
int8_t quarter_incr = transitions[self->last_state];
if (quarter_incr == BAD) {
// Missed a transition. We don't know which way we're going, so do nothing.
return;
}
self->quarter_count += quarter_incr;
if (self->quarter_count >= 4) {
self->position += 1;
self->quarter_count = 0;
} else if (self->quarter_count <= -4) {
self->position -= 1;
self->quarter_count = 0;
}
}
}

40
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.h Normal file
View File

@ -0,0 +1,40 @@
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2018 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.
*/
#pragma once
#include "common-hal/rp2pio/StateMachine.h"
#include "common-hal/microcontroller/Pin.h"
#include "py/obj.h"
typedef struct {
mp_obj_base_t base;
rp2pio_statemachine_obj_t state_machine;
uint8_t last_state:4; // <old A><old B><new A><new B>
int8_t quarter_count:4; // count intermediate transitions between detents
mp_int_t position;
} rotaryio_incrementalencoder_obj_t;

1
ports/raspberrypi/common-hal/rotaryio/__init__.c Normal file
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@ -0,0 +1 @@
// No rotaryio module functions.

0
ports/raspberrypi/common-hal/rotaryio/__init__.h Normal file
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71
ports/raspberrypi/common-hal/rp2pio/StateMachine.c
View File

@ -27,6 +27,7 @@
#include "bindings/rp2pio/StateMachine.h"
#include "common-hal/microcontroller/__init__.h"
#include "shared-bindings/microcontroller/__init__.h"
#include "shared-bindings/microcontroller/Pin.h"
#include "src/rp2040/hardware_regs/include/hardware/platform_defs.h"
@ -52,6 +53,22 @@ STATIC uint32_t _current_pins[NUM_PIOS];
STATIC uint32_t _current_sm_pins[NUM_PIOS][NUM_PIO_STATE_MACHINES];
STATIC PIO pio_instances[2] = {pio0, pio1};
typedef void (*interrupt_handler_type)(void*);
STATIC interrupt_handler_type _interrupt_handler[NUM_PIOS][NUM_PIO_STATE_MACHINES];
STATIC void *_interrupt_arg[NUM_PIOS][NUM_PIO_STATE_MACHINES];
STATIC void rp2pio_statemachine_interrupt_handler(void);
static void rp2pio_statemachine_set_pull(uint32_t pull_pin_up, uint32_t pull_pin_down, uint32_t pins_we_use) {
for (int i=0; i<TOTAL_GPIO_COUNT; i++) {
bool used = pins_we_use & (1 << i);
if(used) {
bool pull_up = pull_pin_up & (1 << i);
bool pull_down = pull_pin_down & (1 << i);
gpio_set_pulls(i, pull_up, pull_down);
}
}
}
void _reset_statemachine(PIO pio, uint8_t sm, bool leave_pins) {
uint8_t pio_index = pio_get_index(pio);
@ -89,6 +106,7 @@ void _reset_statemachine(PIO pio, uint8_t sm, bool leave_pins) {
}
}
_current_sm_pins[pio_index][sm] = 0;
pio->inte0 &= ~((PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm);
pio_sm_unclaim(pio, sm);
}
@ -136,6 +154,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
const uint16_t* init, size_t init_len,
const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
uint32_t pull_pin_up, uint32_t pull_pin_down,
const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
uint32_t initial_pin_state, uint32_t initial_pin_direction,
@ -211,8 +230,11 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
pio_sm_set_pins_with_mask(self->pio, state_machine, initial_pin_state, pins_we_use);
pio_sm_set_pindirs_with_mask(self->pio, state_machine, initial_pin_direction, pins_we_use);
rp2pio_statemachine_set_pull(pull_pin_up, pull_pin_down, pins_we_use);
self->initial_pin_state = initial_pin_state;
self->initial_pin_direction = initial_pin_direction;
self->pull_pin_up = pull_pin_up;
self->pull_pin_down = pull_pin_down;
for (size_t pin_number = 0; pin_number < TOTAL_GPIO_COUNT; pin_number++) {
if ((pins_we_use & (1 << pin_number)) == 0) {
@ -302,6 +324,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
const uint16_t* init, size_t init_len,
const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count, uint32_t initial_out_pin_state, uint32_t initial_out_pin_direction,
const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
uint32_t pull_pin_up, uint32_t pull_pin_down,
const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count, uint32_t initial_set_pin_state, uint32_t initial_set_pin_direction,
const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count, uint32_t initial_sideset_pin_state, uint32_t initial_sideset_pin_direction,
bool exclusive_pin_use,
@ -444,12 +467,19 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
initial_pin_state = (initial_pin_state & ~sideset_mask) | mask_and_rotate(first_sideset_pin, sideset_pin_count, initial_sideset_pin_state);
initial_pin_direction = (initial_pin_direction & ~sideset_mask) | mask_and_rotate(first_sideset_pin, sideset_pin_count, initial_sideset_pin_direction);
// Deal with pull up/downs
uint32_t pull_up = mask_and_rotate(first_in_pin, in_pin_count, pull_pin_up);
uint32_t pull_down = mask_and_rotate(first_in_pin, in_pin_count, pull_pin_down);
if (initial_pin_direction & (pull_up | pull_down)) {
mp_raise_ValueError(translate("pull masks conflict with direction masks"));
}
bool ok = rp2pio_statemachine_construct(self,
program, program_len,
frequency,
init, init_len,
first_out_pin, out_pin_count,
first_in_pin, in_pin_count,
pull_up, pull_down,
first_set_pin, set_pin_count,
first_sideset_pin, sideset_pin_count,
initial_pin_state, initial_pin_direction,
@ -470,6 +500,7 @@ void common_hal_rp2pio_statemachine_restart(rp2pio_statemachine_obj_t *self) {
uint32_t pins_we_use = _current_sm_pins[pio_index][self->state_machine];
pio_sm_set_pins_with_mask(self->pio, self->state_machine, self->initial_pin_state, pins_we_use);
pio_sm_set_pindirs_with_mask(self->pio, self->state_machine, self->initial_pin_direction, pins_we_use);
rp2pio_statemachine_set_pull(self->pull_pin_up, self->pull_pin_down, pins_we_use);
common_hal_rp2pio_statemachine_run(self, self->init, self->init_len);
pio_sm_set_enabled(self->pio, self->state_machine, true);
}
@ -511,6 +542,10 @@ void common_hal_rp2pio_statemachine_set_frequency(rp2pio_statemachine_obj_t* sel
void rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self, bool leave_pins) {
uint8_t sm = self->state_machine;
uint8_t pio_index = pio_get_index(self->pio);
common_hal_mcu_disable_interrupts();
_interrupt_arg[pio_index][sm] = NULL;
_interrupt_handler[pio_index][sm] = NULL;
common_hal_mcu_enable_interrupts();
_never_reset[pio_index][sm] = false;
_reset_statemachine(self->pio, sm, leave_pins);
self->state_machine = NUM_PIO_STATE_MACHINES;
@ -728,3 +763,39 @@ void common_hal_rp2pio_statemachine_clear_rxfifo(rp2pio_statemachine_obj_t *self
}
self->pio->fdebug = stall_mask;
}
size_t common_hal_rp2pio_statemachine_get_in_waiting(rp2pio_statemachine_obj_t *self) {
uint8_t level = pio_sm_get_rx_fifo_level(self->pio, self->state_machine);
return level;
}
void common_hal_rp2pio_statemachine_set_interrupt_handler(rp2pio_statemachine_obj_t *self, void(*handler)(void*), void *arg, int mask) {
uint8_t pio_index = pio_get_index(self->pio);
uint8_t sm = self->state_machine;
common_hal_mcu_disable_interrupts();
uint32_t inte = self->pio->inte0;
inte &= ~((PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm);
inte |= (mask << sm);
self->pio->inte0 = inte;
_interrupt_arg[pio_index][sm] = arg;
_interrupt_handler[pio_index][sm] = handler;
irq_set_exclusive_handler(PIO0_IRQ_0 + 2 * pio_index, rp2pio_statemachine_interrupt_handler);
irq_set_enabled(PIO0_IRQ_0 + 2 * pio_index, true);
common_hal_mcu_enable_interrupts();
}
STATIC void rp2pio_statemachine_interrupt_handler(void) {
for (size_t pio_index = 0; pio_index < NUM_PIOS; pio_index++) {
PIO pio = pio_instances[pio_index];
for (size_t sm = 0; sm < NUM_PIO_STATE_MACHINES; sm++) {
if (!_interrupt_handler[pio_index][sm]) {
continue;
}
uint32_t intf = (PIO_IRQ0_INTF_SM0_RXNEMPTY_BITS | PIO_IRQ0_INTF_SM0_TXNFULL_BITS | PIO_IRQ0_INTF_SM0_BITS) << sm;
if (pio->ints0 & intf) {
_interrupt_handler[pio_index][sm](_interrupt_arg[pio_index][sm]);
}
}
}
}

4
ports/raspberrypi/common-hal/rp2pio/StateMachine.h
View File

@ -29,6 +29,7 @@
#include "py/obj.h"
#include "common-hal/microcontroller/Pin.h"
#include "src/rp2_common/hardware_pio/include/hardware/pio.h"
typedef struct {
@ -40,6 +41,8 @@ typedef struct {
size_t init_len;
uint32_t initial_pin_state;
uint32_t initial_pin_direction;
uint32_t pull_pin_up;
uint32_t pull_pin_down;
bool in;
bool out;
bool wait_for_txstall;
@ -59,6 +62,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
const uint16_t* init, size_t init_len,
const mcu_pin_obj_t * first_out_pin, uint8_t out_pin_count,
const mcu_pin_obj_t * first_in_pin, uint8_t in_pin_count,
uint32_t pull_pin_up, uint32_t pull_pin_down,
const mcu_pin_obj_t * first_set_pin, uint8_t set_pin_count,
const mcu_pin_obj_t * first_sideset_pin, uint8_t sideset_pin_count,
uint32_t initial_pin_state, uint32_t initial_pin_direction,

44
ports/raspberrypi/common-hal/rp2pio/__init__.c
View File

@ -1 +1,43 @@
// Nothing yet.
/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2021 Jeff Epler 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 "py/obj.h"
#include "shared-bindings/microcontroller/Pin.h"
#include "bindings/rp2pio/__init__.h"
bool common_hal_rp2pio_pins_are_sequential(size_t len, mp_obj_t *items) {
if(len == 0) {
return true;
}
mcu_pin_obj_t *last_pin = validate_obj_is_pin(items[0]);
for(int i=1; i<len; i++) {
mcu_pin_obj_t *pin = validate_obj_is_pin(items[i]);
if (pin->number != last_pin->number + 1) {
return false;
}
}
return true;
}

8
ports/raspberrypi/mpconfigport.mk
View File

@ -28,13 +28,15 @@ CIRCUITPY_FULL_BUILD = 1
CIRCUITPY_BITOPS = 1
CIRCUITPY_PWMIO = 1
CIRCUITPY_RGBMATRIX = 1
CIRCUITPY_ROTARYIO = 1
# Things that need to be implemented.
CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
# Use PWM interally
CIRCUITPY_FREQUENCYIO = 0
CIRCUITPY_I2CPERIPHERAL = 0
CIRCUITPY_NVM = 1
CIRCUITPY_PULSEIO = 0 # Use PIO interally
CIRCUITPY_ROTARYIO = 0 # Use PIO interally
# Use PIO interally
CIRCUITPY_PULSEIO = 0
CIRCUITPY_WATCHDOG = 1
# Audio via PWM