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Merge pull request #5243 from dhalbert/user-interruptible-pio 

Allow PIO to be user-interruptible
This commit is contained in:
Scott Shawcroft 2021-08-27 08:57:08 -07:00 committed by GitHub
parent b17216d9d4 f1d25af7ba
commit 8edf0c5d3c
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GPG Key ID: 4AEE18F83AFDEB23
11 changed files with 69 additions and 26 deletions
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25
ports/raspberrypi/bindings/rp2pio/StateMachine.c
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@ -80,12 +80,13 @@
//| initial_sideset_pin_direction: int = 0x1f,
//| exclusive_pin_use: bool = True,
//| auto_pull: bool = False,
//| pull_threshold : int = 32,
//| out_shift_right : bool = True,
//| pull_threshold: int = 32,
//| out_shift_right: bool = True,
//| wait_for_txstall: bool = True,
//| auto_push: bool = False,
//| push_threshold : int = 32,
//| in_shift_right : bool = True) -> None:
//| push_threshold: int = 32,
//| in_shift_right: bool = True,
//| user_interruptible: bool = True) -> None:
//|
//| """Construct a StateMachine object on the given pins with the given program.
//|
@ -126,7 +127,14 @@
//| :param int push_threshold: Number of bits to shift before saving the ISR value to the RX FIFO
//| :param bool in_shift_right: When True, data is shifted into the right side (LSB) of the
//| ISR. It is shifted into the left (MSB) otherwise. NOTE! This impacts data alignment
//| when the number of bytes is not a power of two (1, 2 or 4 bytes)."""
//| when the number of bytes is not a power of two (1, 2 or 4 bytes).
//| :param bool user_interruptible: When True (the default),
//| `write()`, `readinto()`, and `write_readinto()` can be interrupted by a ctrl-C.
//| This is useful when developing a PIO program: if there is an error in the program
//| that causes an infinite loop, you will be able to interrupt the loop.
//| However, if you are writing to a device that can get into a bad state if a read or write
//| is interrupted, you may want to set this to False after your program has been vetted.
//| """
//| ...
//|
@ -143,7 +151,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
ARG_exclusive_pin_use,
ARG_auto_pull, ARG_pull_threshold, ARG_out_shift_right,
ARG_wait_for_txstall,
ARG_auto_push, ARG_push_threshold, ARG_in_shift_right};
ARG_auto_push, ARG_push_threshold, ARG_in_shift_right,
ARG_user_interruptible,};
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_program, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_frequency, MP_ARG_REQUIRED | MP_ARG_INT },
@ -179,6 +188,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
{ MP_QSTR_auto_push, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_push_threshold, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 32} },
{ MP_QSTR_in_shift_right, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = true} },
{ MP_QSTR_user_interruptible, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = true} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
@ -252,7 +262,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
args[ARG_exclusive_pin_use].u_bool,
args[ARG_auto_pull].u_bool, pull_threshold, args[ARG_out_shift_right].u_bool,
args[ARG_wait_for_txstall].u_bool,
args[ARG_auto_push].u_bool, push_threshold, args[ARG_in_shift_right].u_bool);
args[ARG_auto_push].u_bool, push_threshold, args[ARG_in_shift_right].u_bool,
args[ARG_user_interruptible].u_bool);
return MP_OBJ_FROM_PTR(self);
}

3
ports/raspberrypi/bindings/rp2pio/StateMachine.h
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@ -49,7 +49,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool exclusive_pin_use,
bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right);
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool user_interruptible);
void common_hal_rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self);
bool common_hal_rp2pio_statemachine_deinited(rp2pio_statemachine_obj_t *self);

3
ports/raspberrypi/common-hal/audiobusio/I2SOut.c
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@ -132,7 +132,8 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t *self,
true, // exclusive pin use
false, 32, false, // shift out left to start with MSB
false, // Wait for txstall
false, 32, false); // in settings
false, 32, false, // in settings
false); // Not user-interruptible.
self->playing = false;
audio_dma_init(&self->dma);

3
ports/raspberrypi/common-hal/audiobusio/PDMIn.c
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@ -76,7 +76,8 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
true, // exclusive pin use
false, 32, false, // out settings
false, // Wait for txstall
false, 32, true); // in settings
false, 32, true, // in settings
false); // Not user-interruptible
uint32_t actual_frequency = common_hal_rp2pio_statemachine_get_frequency(&self->state_machine);
if (actual_frequency < MIN_MIC_CLOCK) {

4
ports/raspberrypi/common-hal/displayio/ParallelBus.c
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@ -104,8 +104,8 @@ void common_hal_displayio_parallelbus_construct(displayio_parallelbus_obj_t *sel
true, // exclusive pin usage
true, 8, true, // TX, auto pull every 8 bits. shift left to output msb first
false, // wait for TX stall
false, 32, true // RX setting we don't use
);
false, 32, true, // RX setting we don't use
false); // Not user-interruptible.
common_hal_rp2pio_statemachine_never_reset(&self->state_machine);
}

4
ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
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@ -116,7 +116,9 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
true, // exclusive pin use
false, 32, false, // out settings
false, // wait for txstall
true, 32, true); // in settings
true, 32, true, // in settings
false); // Not user-interruptible.
PIO pio = self->state_machine.pio;
uint8_t pio_index = pio_get_index(pio);

3
ports/raspberrypi/common-hal/neopixel_write/__init__.c
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@ -76,7 +76,8 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t *digitalinout,
true, 8, false, // TX, auto pull every 8 bits. shift left to output msb first
true, // Wait for txstall. If we don't, then we'll deinit too quickly.
false, 32, true, // RX setting we don't use
false); // claim pins
false, // claim pins
false); // Not user-interruptible.
if (!ok) {
// Do nothing. Maybe bitbang?
return;

3
ports/raspberrypi/common-hal/pulseio/PulseIn.c
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@ -72,7 +72,8 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self,
false, 8, false, // TX, unused
false,
true, 32, true, // RX auto-push every 32 bits
false); // claim pins
false, // claim pins
false); // Not user-interruptible.
if (!ok) {
mp_raise_RuntimeError(translate("All state machines in use"));

3
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
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@ -89,7 +89,8 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
true, // exclusive pin use
false, 32, false, // out settings
false, // Wait for txstall
false, 32, false); // in settings
false, 32, false, // in settings
false); // Not user-interruptible.
common_hal_rp2pio_statemachine_run(&self->state_machine, encoder_init, MP_ARRAY_SIZE(encoder_init));

32
ports/raspberrypi/common-hal/rp2pio/StateMachine.c
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@ -163,7 +163,9 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool claim_pins) {
bool claim_pins,
bool user_interruptible
) {
// Create a program id that isn't the pointer so we can store it without storing the original object.
uint32_t program_id = ~((uint32_t)program);
@ -303,6 +305,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
self->out_shift_right = out_shift_right;
self->in_shift_right = in_shift_right;
self->wait_for_txstall = wait_for_txstall;
self->user_interruptible = user_interruptible;
self->init = init;
self->init_len = init_len;
@ -338,7 +341,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool exclusive_pin_use,
bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right) {
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool user_interruptible) {
// First, check that all pins are free OR already in use by any PIO if exclusive_pin_use is false.
uint32_t pins_we_use = wait_gpio_mask;
@ -482,7 +486,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
if (initial_pin_direction & (pull_up | pull_down)) {
mp_raise_ValueError(translate("pull masks conflict with direction masks"));
}
bool ok = rp2pio_statemachine_construct(self,
bool ok = rp2pio_statemachine_construct(
self,
program, program_len,
frequency,
init, init_len,
@ -497,7 +502,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
auto_pull, pull_threshold, out_shift_right,
wait_for_txstall,
auto_push, push_threshold, in_shift_right,
true /* claim pins */);
true /* claim pins */,
user_interruptible);
if (!ok) {
mp_raise_RuntimeError(translate("All state machines in use"));
}
@ -664,6 +670,16 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
(tx && dma_channel_is_busy(chan_tx))) {
// TODO: We should idle here until we get a DMA interrupt or something else.
RUN_BACKGROUND_TASKS;
if (self->user_interruptible && mp_hal_is_interrupted()) {
if (rx && dma_channel_is_busy(chan_rx)) {
dma_channel_abort(chan_rx);
}
if (tx && dma_channel_is_busy(chan_tx)) {
dma_channel_abort(chan_tx);
}
break;
}
}
// Clear the stall bit so we can detect when the state machine is done transmitting.
self->pio->fdebug = stall_mask;
@ -678,7 +694,7 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
dma_channel_unclaim(chan_tx);
}
if (!use_dma) {
if (!use_dma && !(self->user_interruptible && mp_hal_is_interrupted())) {
// Use software for small transfers, or if couldn't claim two DMA channels
size_t rx_remaining = in_len / in_stride_in_bytes;
size_t tx_remaining = out_len / out_stride_in_bytes;
@ -707,6 +723,9 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
--rx_remaining;
}
RUN_BACKGROUND_TASKS;
if (self->user_interruptible && mp_hal_is_interrupted()) {
break;
}
}
// Clear the stall bit so we can detect when the state machine is done transmitting.
self->pio->fdebug = stall_mask;
@ -717,6 +736,9 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
while (!pio_sm_is_tx_fifo_empty(self->pio, self->state_machine) ||
(self->wait_for_txstall && (self->pio->fdebug & stall_mask) == 0)) {
RUN_BACKGROUND_TASKS;
if (self->user_interruptible && mp_hal_is_interrupted()) {
break;
}
}
}
return true;

12
ports/raspberrypi/common-hal/rp2pio/StateMachine.h
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@ -43,15 +43,16 @@ typedef struct {
uint32_t initial_pin_direction;
uint32_t pull_pin_up;
uint32_t pull_pin_down;
uint tx_dreq;
uint rx_dreq;
uint32_t actual_frequency;
pio_sm_config sm_config;
bool in;
bool out;
bool wait_for_txstall;
uint tx_dreq;
uint rx_dreq;
bool out_shift_right;
bool in_shift_right;
uint32_t actual_frequency;
pio_sm_config sm_config;
bool user_interruptible;
uint8_t offset;
} rp2pio_statemachine_obj_t;
@ -73,7 +74,8 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool claim_pins);
bool claim_pins,
bool interruptible);
uint8_t rp2pio_statemachine_program_offset(rp2pio_statemachine_obj_t *self);
void rp2pio_statemachine_set_wrap(rp2pio_statemachine_obj_t *self, uint wrap_target, uint wrap);