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rp2: StateMachine: Allow loading programs at fixed offsets

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This commit is contained in:
Jeff Epler 2023-07-27 11:58:43 -05:00
parent 5780d9a3d2
commit 92e2134009
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GPG Key ID: D5BF15AB975AB4DE
11 changed files with 52 additions and 18 deletions
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10
ports/raspberrypi/bindings/rp2pio/StateMachine.c
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@ -93,6 +93,7 @@
//| user_interruptible: bool = True,
//| wrap_target: int = 0,
//| wrap: int = -1,
//| offset: int = -1,
//| ) -> None:
//| """Construct a StateMachine object on the given pins with the given program.
//|
@ -150,6 +151,9 @@
//| :param int wrap: The instruction after which to wrap to the ``wrap``
//| instruction. As a special case, -1 (the default) indicates the
//| last instruction of the program.
//| :param int offset: A specific offset in the state machine's program memory where the program must be loaded.
//| The default value, -1, allows the program to be loaded at any offset.
//| This is appropriate for most programs.
//| """
//| ...
@ -170,7 +174,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
ARG_auto_push, ARG_push_threshold, ARG_in_shift_right,
ARG_user_interruptible,
ARG_wrap_target,
ARG_wrap,};
ARG_wrap,
ARG_offset,};
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 },
@ -214,6 +219,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
{ MP_QSTR_wrap_target, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_wrap, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_offset, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
@ -286,7 +292,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
args[ARG_wait_for_txstall].u_bool,
args[ARG_auto_push].u_bool, push_threshold, args[ARG_in_shift_right].u_bool,
args[ARG_user_interruptible].u_bool,
wrap_target, wrap);
wrap_target, wrap, args[ARG_offset].u_int);
return MP_OBJ_FROM_PTR(self);
}

3
ports/raspberrypi/bindings/rp2pio/StateMachine.h
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@ -54,7 +54,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool user_interruptible,
int wrap_taget, int wrap);
int wrap_taget, int wrap,
int offset);
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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@ -136,7 +136,8 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t *self,
false, // Wait for txstall
false, 32, false, // in settings
false, // Not user-interruptible.
0, -1); // wrap settings
0, -1, // wrap settings
PIO_ANY_OFFSET);
self->playing = false;
audio_dma_init(&self->dma);

4
ports/raspberrypi/common-hal/audiobusio/PDMIn.c
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@ -80,8 +80,8 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
false, // Wait for txstall
false, 32, true, // in settings
false, // Not user-interruptible.
0, -1); // wrap settings
0, -1, // wrap settings
PIO_ANY_OFFSET);
uint32_t actual_frequency = common_hal_rp2pio_statemachine_get_frequency(&self->state_machine);
if (actual_frequency < MIN_MIC_CLOCK) {
mp_raise_ValueError(translate("sampling rate out of range"));

3
ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c
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@ -120,7 +120,8 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
false, // wait for txstall
true, 32, true, // in settings
false, // Not user-interruptible.
2, 5); // wrap settings
2, 5, // wrap settings
PIO_ANY_OFFSET);
}
void common_hal_imagecapture_parallelimagecapture_deinit(imagecapture_parallelimagecapture_obj_t *self) {

4
ports/raspberrypi/common-hal/neopixel_write/__init__.c
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@ -79,7 +79,9 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t *digitalinout,
false, // claim pins
false, // Not user-interruptible.
false, // No sideset enable
0, -1); // wrap
0, -1, // wrap
PIO_ANY_OFFSET // offset
);
if (!ok) {
// Do nothing. Maybe bitbang?
return;

3
ports/raspberrypi/common-hal/paralleldisplay/ParallelBus.c
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@ -111,7 +111,8 @@ void common_hal_paralleldisplay_parallelbus_construct(paralleldisplay_parallelbu
false, // wait for TX stall
false, 32, true, // RX setting we don't use
false, // Not user-interruptible.
0, -1); // wrap settings
0, -1, // wrap settings
PIO_ANY_OFFSET);
common_hal_rp2pio_statemachine_never_reset(&self->state_machine);
}

3
ports/raspberrypi/common-hal/pulseio/PulseIn.c
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@ -74,7 +74,8 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self,
false, // wait for TX stall
true, 32, true, // RX auto pull every 32 bits. shift left to output msb first
false, // Not user-interruptible.
0, -1); // wrap settings
0, -1, // wrap settings
PIO_ANY_OFFSET);
common_hal_pulseio_pulsein_pause(self);

3
ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c
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@ -95,7 +95,8 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
false, // Wait for txstall
false, 32, false, // in settings
false, // Not user-interruptible.
0, MP_ARRAY_SIZE(encoder) - 1 // wrap settings
0, MP_ARRAY_SIZE(encoder) - 1, // wrap settings
PIO_ANY_OFFSET
);
// We're guaranteed by the init code that some output will be available promptly

30
ports/raspberrypi/common-hal/rp2pio/StateMachine.c
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@ -178,6 +178,21 @@ STATIC uint32_t _check_pins_free(const mcu_pin_obj_t *first_pin, uint8_t pin_cou
return pins_we_use;
}
static bool can_add_program(PIO pio, const pio_program_t *program, int offset) {
if (offset == -1) {
return pio_can_add_program(pio, program);
}
return pio_can_add_program_at_offset(pio, program, offset);
}
static uint add_program(PIO pio, const pio_program_t *program, int offset) {
if (offset == -1) {
return pio_add_program(pio, program);
} else {
pio_add_program_at_offset(pio, program, offset);
return offset;
}
}
bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
const uint16_t *program, size_t program_len,
@ -197,7 +212,8 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool claim_pins,
bool user_interruptible,
bool sideset_enable,
int wrap_target, int wrap
int wrap_target, int wrap,
int offset
) {
// 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);
@ -215,14 +231,15 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
uint8_t free_count = 0;
for (size_t j = 0; j < NUM_PIO_STATE_MACHINES; j++) {
if (_current_program_id[i][j] == program_id &&
_current_program_len[i][j] == program_len) {
_current_program_len[i][j] == program_len &&
(offset == -1 || offset == _current_program_offset[i][j])) {
program_offset = _current_program_offset[i][j];
}
if (!pio_sm_is_claimed(pio, j)) {
free_count++;
}
}
if (free_count > 0 && (program_offset < 32 || pio_can_add_program(pio, &program_struct))) {
if (free_count > 0 && (program_offset < 32 || can_add_program(pio, &program_struct, offset))) {
pio_index = i;
if (program_offset < 32) {
break;
@ -254,7 +271,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
self->pio = pio_instances[pio_index];
self->state_machine = state_machine;
if (program_offset == 32) {
program_offset = pio_add_program(self->pio, &program_struct);
program_offset = add_program(self->pio, &program_struct, offset);
}
self->offset = program_offset;
_current_program_id[pio_index][state_machine] = program_id;
@ -509,7 +526,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool wait_for_txstall,
bool auto_push, uint8_t push_threshold, bool in_shift_right,
bool user_interruptible,
int wrap_target, int wrap) {
int wrap_target, int wrap,
int offset) {
// 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;
@ -598,7 +616,7 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
true /* claim pins */,
user_interruptible,
sideset_enable,
wrap_target, wrap);
wrap_target, wrap, offset);
if (!ok) {
mp_raise_RuntimeError(translate("All state machines in use"));
}

4
ports/raspberrypi/common-hal/rp2pio/StateMachine.h
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@ -32,6 +32,8 @@
#include "common-hal/microcontroller/Pin.h"
#include "src/rp2_common/hardware_pio/include/hardware/pio.h"
enum { PIO_ANY_OFFSET = -1 };
typedef struct sm_buf_info {
mp_obj_t obj;
mp_buffer_info_t info;
@ -88,7 +90,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
bool claim_pins,
bool interruptible,
bool sideset_enable,
int wrap_target, int wrap);
int wrap_target, int wrap, int offset);
uint8_t rp2pio_statemachine_program_offset(rp2pio_statemachine_obj_t *self);