From 8e15f36baada85345f8356ffcc8f8d48612a0c5e Mon Sep 17 00:00:00 2001 From: root Date: Wed, 24 Feb 2021 16:58:29 -0600 Subject: [PATCH] pulseio (pulsein) for RP2040 --- .../raspberrypi/common-hal/pulseio/PulseIn.c | 231 ++++++++++++++++++ .../raspberrypi/common-hal/pulseio/PulseIn.h | 53 ++++ .../raspberrypi/common-hal/pulseio/PulseOut.c | 97 ++++++++ .../raspberrypi/common-hal/pulseio/PulseOut.h | 44 ++++ .../raspberrypi/common-hal/pulseio/__init__.c | 1 + .../common-hal/rp2pio/StateMachine.c | 2 + .../common-hal/rp2pio/StateMachine.h | 2 + ports/raspberrypi/mpconfigport.mk | 2 +- 8 files changed, 431 insertions(+), 1 deletion(-) create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseIn.c create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseIn.h create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseOut.c create mode 100644 ports/raspberrypi/common-hal/pulseio/PulseOut.h create mode 100644 ports/raspberrypi/common-hal/pulseio/__init__.c diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c new file mode 100644 index 0000000000..c642561c89 --- /dev/null +++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c @@ -0,0 +1,231 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2017-2018 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 "src/rp2_common/hardware_gpio/include/hardware/gpio.h" +#include "src/rp2_common/hardware_irq/include/hardware/irq.h" + +#include + +#include "background.h" +#include "mpconfigport.h" +#include "py/gc.h" +#include "py/runtime.h" +#include "shared-bindings/microcontroller/__init__.h" +#include "shared-bindings/pulseio/PulseIn.h" +#include "shared-bindings/microcontroller/Pin.h" +#include "supervisor/shared/translate.h" +#include "bindings/rp2pio/StateMachine.h" +#include "common-hal/pulseio/PulseIn.h" + +pulseio_pulsein_obj_t* save_self; + +#define NO_PIN 0xff + +const uint16_t pulsein_program[] = { +// set pindirs, 0 ; For input + 0xe080, +// wait 0 pin, 0 ; Wait for first low to start + 0x2020, +// irq wait 0 ; set IRQ 0 and wait + 0xc020, +// .bitloop +// in pins, 1 [1] ; sample every 3 cycles (2 instructions, 1 delay) + 0x4101, +// jmp bitloop + 0x0003, +}; + +void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self, + const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) { + + self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false); + if (self->buffer == NULL) { + mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"), maxlen * sizeof(uint16_t)); + } + self->pin = pin->number; + self->maxlen = maxlen; + self->idle_state = idle_state; + self->start = 0; + self->len = 0; + save_self = self; + + // Set everything up. + rp2pio_statemachine_obj_t state_machine; + + bool ok = rp2pio_statemachine_construct(&state_machine, + pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]), + 125000 * 4, + NULL, 0, + NULL, 0, + pin, 1, + NULL, 0, + NULL, 0, + 1 << self->pin, false, true, + false, 8, false, // TX, unused + true, 32, true, // RX iauto-push every 32 bits + false); // claim pins + self->pio = state_machine.pio; + self->sm = state_machine.state_machine; + self->sm_cfg = state_machine.sm_config; + self->offset = state_machine.offset; + if ( self->pio == pio0 ) { + self->pio_interrupt = PIO0_IRQ_0; + } else { + self->pio_interrupt = PIO1_IRQ_0; + } + + pio_sm_set_in_pins(self->pio,self->sm,pin->number); + pio_sm_set_enabled(self->pio, self->sm, false); + irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt); + irq_set_enabled(self->pio_interrupt, true); + hw_clear_bits(&self->pio->inte0, 1u << self->sm); + hw_set_bits(&self->pio->inte0, 1u << (self->sm+8)); + pio_sm_set_enabled(self->pio, self->sm, true); + +} + +bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) { + return self->pin == NO_PIN; +} + +void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) { + if (common_hal_pulseio_pulsein_deinited(self)) { + return; + } + irq_set_enabled(self->pio_interrupt, false); + pio_sm_set_enabled(self->pio, self->sm, false); + pio_sm_unclaim (self->pio, self->sm); + m_free(self->buffer); + self->pin = NO_PIN; +} + +void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) { + pio_sm_set_enabled(self->pio, self->sm, false); +} + +void common_hal_pulseio_pulsein_interrupt() { + + pulseio_pulsein_obj_t* self = save_self; +// clear interrupt + hw_clear_bits(&self->pio->inte0, 1u << self->sm); + self->pio->irq = 1u << self->sm; + irq_clear(self->pio_interrupt); + pio_sm_clear_fifos(self->pio,self->sm); + bool last_level = true; + uint level_count = 0; + uint16_t result = 0; + uint16_t buf_index = 0; + while ( buf_index < self->maxlen ) { + uint32_t rxfifo = 0; + rxfifo = pio_sm_get_blocking(self->pio, self->sm); + // translate from fifo to buffer + for (uint i = 0; i < 32; i++) { + bool level = (rxfifo & (1 << i)) >> i; + if (level == last_level ) { + level_count ++; + } else { + result = level_count * 6; + last_level = level; + level_count = 1; + // ignore pulses that are too long and too short + if (result < 10000 && result > 10) { + self->buffer[buf_index] = result; + buf_index++; + self->len++; + } + } + } + // check for a pulse thats too long (20ms) + if ( level_count > 3000 ) { + break; + } + } + pio_sm_set_enabled(self->pio, self->sm, false); + pio_sm_init(self->pio, self->sm, self->offset, &self->sm_cfg); + pio_sm_restart(self->pio,self->sm); + pio_sm_set_enabled(self->pio, self->sm, true); + irq_set_enabled(self->pio_interrupt, true); +} +void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self, + uint16_t trigger_duration) { + // Send the trigger pulse. + if (trigger_duration > 0) { + gpio_set_function(self->pin ,GPIO_FUNC_SIO); + gpio_set_dir(self->pin,true); + gpio_put(self->pin, false); + common_hal_mcu_delay_us((uint32_t)trigger_duration); + gpio_set_function(self->pin ,GPIO_FUNC_PIO0); + } + + // Reconfigure the pin for PIO + common_hal_mcu_delay_us(100); + gpio_set_function(self->pin, GPIO_FUNC_PIO0); + pio_sm_set_enabled(self->pio, self->sm, true); + pio_sm_exec(self->pio,self->sm,0x20a0); +} + +void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) { + self->start = 0; + self->len = 0; +} + +uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) { + if (self->len == 0) { + mp_raise_IndexError_varg(translate("pop from empty %q"), MP_QSTR_PulseIn); + } + uint16_t value = self->buffer[self->start]; + self->start = (self->start + 1) % self->maxlen; + self->len--; + if (self->len == 0 ) { + // reset buffer pointer + self->start = 0; + } + return value; +} + +uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) { + return self->maxlen; +} + +uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) { + return self->len; +} + +bool common_hal_pulseio_pulsein_get_paused(pulseio_pulsein_obj_t* self) { + return true; +} + +uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self, + int16_t index) { + if (index < 0) { + index += self->len; + } + if (index < 0 || index >= self->len) { + mp_raise_IndexError_varg(translate("%q index out of range"), MP_QSTR_PulseIn); + } + uint16_t value = self->buffer[(self->start + index) % self->maxlen]; + return value; +} diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h new file mode 100644 index 0000000000..35f7309eef --- /dev/null +++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h @@ -0,0 +1,53 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2017 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. + */ + +#ifndef MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H +#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H + +#include "common-hal/microcontroller/Pin.h" +#include "src/rp2_common/hardware_pio/include/hardware/pio.h" + +#include "py/obj.h" + +typedef struct { + mp_obj_base_t base; + uint8_t pin; + uint16_t* buffer; + uint16_t maxlen; + bool idle_state; + volatile uint16_t start; + volatile uint16_t len; + pio_sm_config sm_cfg; + PIO pio; + uint8_t sm; + uint8_t offset; + uint16_t pio_interrupt; +} pulseio_pulsein_obj_t; + +void pulsein_reset(void); +void common_hal_pulseio_pulsein_interrupt(); + +#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.c b/ports/raspberrypi/common-hal/pulseio/PulseOut.c new file mode 100644 index 0000000000..57c516afd0 --- /dev/null +++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.c @@ -0,0 +1,97 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * SPDX-FileCopyrightText: Copyright (c) 2016 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: + * + * 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 + +#include "src/rp2_common/hardware_gpio/include/hardware/gpio.h" + +#include "mpconfigport.h" +#include "py/gc.h" +#include "py/runtime.h" +#include "shared-bindings/pulseio/PulseOut.h" +#include "supervisor/shared/translate.h" + +static uint8_t refcount = 0; + + +static uint16_t *pulse_buffer = NULL; +static volatile uint16_t pulse_index = 0; +static uint16_t pulse_length; +static volatile uint32_t current_compare = 0; + +void pulse_finish(void) { + pulse_index++; + + // Always turn it off. + if (pulse_index >= pulse_length) { + return; + } + current_compare = (current_compare + pulse_buffer[pulse_index] * 3 / 4) & 0xffff; +} + +void pulseout_reset() { + refcount = 0; +} + +void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self, + const pwmio_pwmout_obj_t* carrier, + const mcu_pin_obj_t* pin, + uint32_t frequency, + uint16_t duty_cycle) { + if (!carrier || pin || frequency) { + mp_raise_NotImplementedError(translate("Port does not accept pins or frequency. Construct and pass a PWMOut Carrier instead")); + } + + refcount++; + + self->pin = carrier->pin->number; + +} + +bool common_hal_pulseio_pulseout_deinited(pulseio_pulseout_obj_t* self) { + return self->pin == NO_PIN; +} + +void common_hal_pulseio_pulseout_deinit(pulseio_pulseout_obj_t* self) { + if (common_hal_pulseio_pulseout_deinited(self)) { + return; + } + + + refcount--; + self->pin = NO_PIN; +} + +void common_hal_pulseio_pulseout_send(pulseio_pulseout_obj_t* self, uint16_t* pulses, uint16_t length) { + pulse_buffer = pulses; + pulse_index = 0; + pulse_length = length; + + current_compare = pulses[0] * 3 / 4; + +} diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.h b/ports/raspberrypi/common-hal/pulseio/PulseOut.h new file mode 100644 index 0000000000..e3f17e2d66 --- /dev/null +++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.h @@ -0,0 +1,44 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2017 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. + */ + +#ifndef MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H +#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H + +#include "common-hal/microcontroller/Pin.h" + +#include "py/obj.h" + +#define NO_PIN 0xff + +typedef struct { + mp_obj_base_t base; + uint8_t pin; +} pulseio_pulseout_obj_t; + +void pulseout_reset(void); +void pulseout_interrupt_handler(uint8_t index); + +#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H diff --git a/ports/raspberrypi/common-hal/pulseio/__init__.c b/ports/raspberrypi/common-hal/pulseio/__init__.c new file mode 100644 index 0000000000..2bee925bc7 --- /dev/null +++ b/ports/raspberrypi/common-hal/pulseio/__init__.c @@ -0,0 +1 @@ +// No pulseio module functions. diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c index 90c48130e1..da85748a9d 100644 --- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c +++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c @@ -193,6 +193,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self, if (program_offset == 32) { program_offset = pio_add_program(self->pio, &program_struct); } + self->offset = program_offset; _current_program_id[pio_index][state_machine] = program_id; _current_program_len[pio_index][state_machine] = program_len; _current_program_offset[pio_index][state_machine] = program_offset; @@ -262,6 +263,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self, self->in_shift_right = in_shift_right; sm_config_set_fifo_join(&c, join); + self->sm_config = c; pio_sm_init(self->pio, self->state_machine, program_offset, &c); pio_sm_set_enabled(self->pio, self->state_machine, true); diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h index 6b70b6b5b5..289e91b7d7 100644 --- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h +++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h @@ -43,6 +43,8 @@ typedef struct { bool out_shift_right; bool in_shift_right; uint32_t actual_frequency; + pio_sm_config sm_config; + uint8_t offset; } rp2pio_statemachine_obj_t; void reset_rp2pio_statemachine(void); diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk index ab85c59f9a..6f411387f5 100644 --- a/ports/raspberrypi/mpconfigport.mk +++ b/ports/raspberrypi/mpconfigport.mk @@ -26,13 +26,13 @@ endif CIRCUITPY_FULL_BUILD = 1 CIRCUITPY_BITOPS = 1 CIRCUITPY_PWMIO = 1 +CIRCUITPY_PULSEIO = 1 # Things that need to be implemented. CIRCUITPY_COUNTIO = 0 # Use PWM interally CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally CIRCUITPY_I2CPERIPHERAL = 0 CIRCUITPY_NVM = 0 -CIRCUITPY_PULSEIO = 0 # Use PIO interally CIRCUITPY_ROTARYIO = 0 # Use PIO interally CIRCUITPY_WATCHDOG = 1