/* * This file is part of the MicroPython project, http://micropython.org/ * * The MIT License (MIT) * * Copyright (c) 2021 Dave Putz 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 "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 volatile bool last_level; volatile uint16_t level_count = 0; volatile uint16_t result = 0; volatile uint16_t buf_index = 0; uint16_t pulsein_program[] = { 0xe03f, // 0: set x, 31 0x4001, // 1: in pins, 1 0x0041, // 2: jmp x--, 2 0x8060, // 3: push iffull block 0xc020, // 4: irq wait 0 0x0000, // 5: jmp 1 }; 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]), 1000000 * 3, NULL, 0, NULL, 0, pin, 1, 0,0, NULL, 0, NULL, 0, 1, 0, 1 << self->pin, false, true, false, 8, false, // TX, unused false, true, 32, true, // RX auto-push every 32 bits false); // claim pins pio_sm_set_enabled(state_machine.pio,state_machine.state_machine, false); self->state_machine.pio = state_machine.pio; self->state_machine.state_machine = state_machine.state_machine; self->state_machine.sm_config = state_machine.sm_config; self->state_machine.offset = state_machine.offset; if ( self->state_machine.pio == pio0 ) { self->pio_interrupt = PIO0_IRQ_0; } else { self->pio_interrupt = PIO1_IRQ_0; } pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine); last_level = self->idle_state; level_count = 0; result = 0; buf_index = 0; pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number); irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt); hw_clear_bits(&state_machine.pio->inte0, 1u << state_machine.state_machine); hw_set_bits(&state_machine.pio->inte0, 1u << (state_machine.state_machine+8)); // exec a set pindirs to 0 for input pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080); //exec the appropriate wait for pin if (self->idle_state == true ) { pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020); } else { pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0); } pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true); irq_set_enabled(self->pio_interrupt, 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->state_machine.pio, self->state_machine.state_machine, false); pio_sm_unclaim (self->state_machine.pio, self->state_machine.state_machine); m_free(self->buffer); self->pin = NO_PIN; } void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) { pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false); } void common_hal_pulseio_pulsein_interrupt() { pulseio_pulsein_obj_t* self = save_self; uint32_t rxfifo = 0; rxfifo = pio_sm_get_blocking(self->state_machine.pio, self->state_machine.state_machine); // 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; last_level = level; level_count = 1; // ignore pulses that are too long and too short if (result < 4000 && result > 10) { self->buffer[buf_index] = result; buf_index++; self->len++; } } } // clear interrupt irq_clear(self->pio_interrupt); hw_clear_bits(&self->state_machine.pio->inte0, 1u << self->state_machine.state_machine); self->state_machine.pio->irq = 1u << self->state_machine.state_machine; // check for a pulse thats too long (4000 us) or maxlen reached, and reset if (( level_count > 4000 ) || (buf_index >= self->maxlen)) { pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false); pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config); pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine); pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true); irq_set_enabled(self->pio_interrupt, true); } } void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self, uint16_t trigger_duration) { // exec a wait for the selected pin to change state if (self->idle_state == true ) { pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020); } else { pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0); } // 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, !self->idle_state); 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(200); gpio_set_function(self->pin, GPIO_FUNC_PIO0); pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true); } 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 we are empty reset buffer pointer and counters if (self->len == 0 ) { self->start = 0; buf_index = 0; level_count = 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; }