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0c45a28d24
circuitpython/ports/rp2/rp2_pio.c
robert-hh 0c45a28d24 rp2/rp2_pio: Fix StateMachine.restart when PIO program is shared. 
The state machines were not properly restarted in the case that the same
PIO program was shared among multiple StateMachine instances.  This is
because only the first StateMachine to use the program would set the
rp2_state_machine_initial_pc variable.

See https://forum.micropython.org/viewtopic.php?f=21&t=12776&p=69464#p69464
2022-07-26 02:00:01 +10:00

845 lines
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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2020-2021 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 <string.h>
#include "py/binary.h"
#include "py/runtime.h"
#include "py/mperrno.h"
#include "py/mphal.h"
#include "shared/runtime/mpirq.h"
#include "modrp2.h"
#include "hardware/clocks.h"
#include "hardware/irq.h"
#include "hardware/pio.h"
#define PIO_NUM(pio) ((pio) == pio0 ? 0 : 1)
typedef struct _rp2_pio_obj_t {
mp_obj_base_t base;
PIO pio;
uint8_t irq;
} rp2_pio_obj_t;
typedef struct _rp2_pio_irq_obj_t {
mp_irq_obj_t base;
uint32_t flags;
uint32_t trigger;
} rp2_pio_irq_obj_t;
typedef struct _rp2_state_machine_obj_t {
mp_obj_base_t base;
PIO pio;
uint8_t irq;
uint8_t sm; // 0-3
uint8_t id; // 0-7
} rp2_state_machine_obj_t;
typedef struct _rp2_state_machine_irq_obj_t {
mp_irq_obj_t base;
uint8_t flags;
uint8_t trigger;
} rp2_state_machine_irq_obj_t;
STATIC const rp2_state_machine_obj_t rp2_state_machine_obj[8];
STATIC uint8_t rp2_state_machine_initial_pc[8];
STATIC mp_obj_t rp2_state_machine_init_helper(const rp2_state_machine_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args);
STATIC void pio_irq0(PIO pio) {
uint32_t ints = pio->ints0;
// Acknowledge SM0-3 IRQs if they are enabled on this IRQ0.
pio->irq = ints >> 8;
// Call handler if it is registered, for PIO irqs.
rp2_pio_irq_obj_t *irq = MP_STATE_PORT(rp2_pio_irq_obj[PIO_NUM(pio)]);
if (irq != NULL && (ints & irq->trigger)) {
irq->flags = ints & irq->trigger;
mp_irq_handler(&irq->base);
}
// Call handler if it is registered, for StateMachine irqs.
for (size_t i = 0; i < 4; ++i) {
rp2_state_machine_irq_obj_t *irq = MP_STATE_PORT(rp2_state_machine_irq_obj[PIO_NUM(pio) * 4 + i]);
if (irq != NULL && ((ints >> (8 + i)) & irq->trigger)) {
irq->flags = 1;
mp_irq_handler(&irq->base);
}
}
}
STATIC void pio0_irq0(void) {
pio_irq0(pio0);
}
STATIC void pio1_irq0(void) {
pio_irq0(pio1);
}
void rp2_pio_init(void) {
// Reset all PIO instruction memory.
#if MICROPY_PY_NETWORK_CYW43
// TODO: cannot reset PIO memory when CYW43 driver is enabled and active
// because it uses a PIO for the bus interface.
#else
pio_clear_instruction_memory(pio0);
pio_clear_instruction_memory(pio1);
#endif
// Set up interrupts.
memset(MP_STATE_PORT(rp2_pio_irq_obj), 0, sizeof(MP_STATE_PORT(rp2_pio_irq_obj)));
memset(MP_STATE_PORT(rp2_state_machine_irq_obj), 0, sizeof(MP_STATE_PORT(rp2_state_machine_irq_obj)));
irq_set_exclusive_handler(PIO0_IRQ_0, pio0_irq0);
irq_set_exclusive_handler(PIO1_IRQ_0, pio1_irq0);
}
void rp2_pio_deinit(void) {
// Disable and clear interrupts.
irq_set_mask_enabled((1u << PIO0_IRQ_0) | (1u << PIO0_IRQ_1), false);
irq_remove_handler(PIO0_IRQ_0, pio0_irq0);
irq_remove_handler(PIO1_IRQ_0, pio1_irq0);
}
/******************************************************************************/
// Helper functions to manage asm_pio data structure.
#define ASM_PIO_CONFIG_DEFAULT { -1, 0, 0, 0 };
enum {
PROG_DATA,
PROG_OFFSET_PIO0,
PROG_OFFSET_PIO1,
PROG_EXECCTRL,
PROG_SHIFTCTRL,
PROG_OUT_PINS,
PROG_SET_PINS,
PROG_SIDESET_PINS,
PROG_MAX_FIELDS,
};
typedef struct _asm_pio_config_t {
int8_t base;
uint8_t count;
uint32_t pindirs;
uint32_t pinvals;
} asm_pio_config_t;
STATIC void asm_pio_override_shiftctrl(mp_obj_t arg, uint32_t bits, uint32_t lsb, pio_sm_config *config) {
if (arg != mp_const_none) {
config->shiftctrl = (config->shiftctrl & ~bits) | (mp_obj_get_int(arg) << lsb);
}
}
STATIC void asm_pio_get_pins(const char *type, mp_obj_t prog_pins, mp_obj_t arg_base, asm_pio_config_t *config) {
if (prog_pins != mp_const_none) {
// The PIO program specified pins for initialisation on out/set/sideset.
if (mp_obj_is_integer(prog_pins)) {
// A single pin specified, set its dir and value.
config->count = 1;
mp_int_t value = mp_obj_get_int(prog_pins);
config->pindirs = value >> 1;
config->pinvals = value & 1;
} else {
// An array of pins specified, set their dirs and values.
size_t count;
mp_obj_t *items;
mp_obj_get_array(prog_pins, &count, &items);
config->count = count;
for (size_t i = 0; i < config->count; ++i) {
mp_int_t value = mp_obj_get_int(items[i]);
config->pindirs |= (value >> 1) << i;
config->pinvals |= (value & 1) << i;
}
}
}
if (arg_base != mp_const_none) {
// The instantiation of the PIO program specified a base pin.
config->base = mp_hal_get_pin_obj(arg_base);
}
}
STATIC void asm_pio_init_gpio(PIO pio, uint32_t sm, asm_pio_config_t *config) {
uint32_t pinmask = ((1 << config->count) - 1) << config->base;
pio_sm_set_pins_with_mask(pio, sm, config->pinvals << config->base, pinmask);
pio_sm_set_pindirs_with_mask(pio, sm, config->pindirs << config->base, pinmask);
for (size_t i = 0; i < config->count; ++i) {
gpio_set_function(config->base + i, pio == pio0 ? GPIO_FUNC_PIO0 : GPIO_FUNC_PIO1);
}
}
/******************************************************************************/
// PIO object
STATIC const mp_irq_methods_t rp2_pio_irq_methods;
STATIC rp2_pio_obj_t rp2_pio_obj[] = {
{ { &rp2_pio_type }, pio0, PIO0_IRQ_0 },
{ { &rp2_pio_type }, pio1, PIO1_IRQ_0 },
};
STATIC void rp2_pio_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_printf(print, "PIO(%u)", self->pio == pio0 ? 0 : 1);
}
// constructor(id)
STATIC mp_obj_t rp2_pio_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
mp_arg_check_num(n_args, n_kw, 1, 1, false);
// Get the PIO object.
int pio_id = mp_obj_get_int(args[0]);
if (!(0 <= pio_id && pio_id < MP_ARRAY_SIZE(rp2_pio_obj))) {
mp_raise_ValueError("invalid PIO");
}
const rp2_pio_obj_t *self = &rp2_pio_obj[pio_id];
// Return the PIO object.
return MP_OBJ_FROM_PTR(self);
}
// PIO.add_program(prog)
STATIC mp_obj_t rp2_pio_add_program(mp_obj_t self_in, mp_obj_t prog_in) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(self_in);
// Get the program data.
mp_obj_t *prog;
mp_obj_get_array_fixed_n(prog_in, PROG_MAX_FIELDS, &prog);
mp_buffer_info_t bufinfo;
mp_get_buffer_raise(prog[PROG_DATA], &bufinfo, MP_BUFFER_READ);
// Add the program data to the PIO instruction memory.
struct pio_program pio_program = { bufinfo.buf, bufinfo.len / 2, -1 };
if (!pio_can_add_program(self->pio, &pio_program)) {
mp_raise_OSError(MP_ENOMEM);
}
uint offset = pio_add_program(self->pio, &pio_program);
// Store the program offset in the program object.
prog[PROG_OFFSET_PIO0 + PIO_NUM(self->pio)] = MP_OBJ_NEW_SMALL_INT(offset);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(rp2_pio_add_program_obj, rp2_pio_add_program);
// PIO.remove_program([prog])
STATIC mp_obj_t rp2_pio_remove_program(size_t n_args, const mp_obj_t *args) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(args[0]);
// Default to remove all programs.
uint8_t length = 32;
uint offset = 0;
if (n_args > 1) {
// Get specific program to remove.
mp_obj_t *prog;
mp_obj_get_array_fixed_n(args[1], PROG_MAX_FIELDS, &prog);
mp_buffer_info_t bufinfo;
mp_get_buffer_raise(prog[PROG_DATA], &bufinfo, MP_BUFFER_READ);
length = bufinfo.len / 2;
offset = mp_obj_get_int(prog[PROG_OFFSET_PIO0 + PIO_NUM(self->pio)]);
if (offset < 0) {
mp_raise_ValueError("prog not in instruction memory");
}
// Invalidate the program offset in the program object.
prog[PROG_OFFSET_PIO0 + PIO_NUM(self->pio)] = MP_OBJ_NEW_SMALL_INT(-1);
}
// Remove the program from the instruction memory.
struct pio_program pio_program = { NULL, length, -1 };
pio_remove_program(self->pio, &pio_program, offset);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(rp2_pio_remove_program_obj, 1, 2, rp2_pio_remove_program);
// PIO.state_machine(id, prog, freq=-1, *, set=None)
STATIC mp_obj_t rp2_pio_state_machine(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
// Get and verify the state machine id.
mp_int_t sm_id = mp_obj_get_int(pos_args[1]);
if (!(0 <= sm_id && sm_id < 4)) {
mp_raise_ValueError("invalide state machine");
}
// Return the correct StateMachine object.
const rp2_state_machine_obj_t *sm = &rp2_state_machine_obj[(self->pio == pio0 ? 0 : 4) + sm_id];
if (n_args > 2 || kw_args->used > 0) {
// Configuration arguments given so init this StateMachine.
rp2_state_machine_init_helper(sm, n_args - 2, pos_args + 2, kw_args);
}
return MP_OBJ_FROM_PTR(sm);
}
MP_DEFINE_CONST_FUN_OBJ_KW(rp2_pio_state_machine_obj, 2, rp2_pio_state_machine);
// PIO.irq(handler=None, trigger=IRQ_SM0|IRQ_SM1|IRQ_SM2|IRQ_SM3, hard=False)
STATIC mp_obj_t rp2_pio_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_handler, ARG_trigger, ARG_hard };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_handler, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = 0xf00} },
{ MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
};
// Parse the arguments.
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// Get the IRQ object.
rp2_pio_irq_obj_t *irq = MP_STATE_PORT(rp2_pio_irq_obj[PIO_NUM(self->pio)]);
// Allocate the IRQ object if it doesn't already exist.
if (irq == NULL) {
irq = m_new_obj(rp2_pio_irq_obj_t);
irq->base.base.type = &mp_irq_type;
irq->base.methods = (mp_irq_methods_t *)&rp2_pio_irq_methods;
irq->base.parent = MP_OBJ_FROM_PTR(self);
irq->base.handler = mp_const_none;
irq->base.ishard = false;
MP_STATE_PORT(rp2_pio_irq_obj[PIO_NUM(self->pio)]) = irq;
}
if (n_args > 1 || kw_args->used != 0) {
// Configure IRQ.
// Disable all IRQs while data is updated.
irq_set_enabled(self->irq, false);
// Update IRQ data.
irq->base.handler = args[ARG_handler].u_obj;
irq->base.ishard = args[ARG_hard].u_bool;
irq->flags = 0;
irq->trigger = args[ARG_trigger].u_int;
// Enable IRQ if a handler is given.
if (args[ARG_handler].u_obj != mp_const_none) {
self->pio->inte0 = irq->trigger;
irq_set_enabled(self->irq, true);
}
}
return MP_OBJ_FROM_PTR(irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(rp2_pio_irq_obj, 1, rp2_pio_irq);
STATIC const mp_rom_map_elem_t rp2_pio_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_add_program), MP_ROM_PTR(&rp2_pio_add_program_obj) },
{ MP_ROM_QSTR(MP_QSTR_remove_program), MP_ROM_PTR(&rp2_pio_remove_program_obj) },
{ MP_ROM_QSTR(MP_QSTR_state_machine), MP_ROM_PTR(&rp2_pio_state_machine_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&rp2_pio_irq_obj) },
{ MP_ROM_QSTR(MP_QSTR_IN_LOW), MP_ROM_INT(0) },
{ MP_ROM_QSTR(MP_QSTR_IN_HIGH), MP_ROM_INT(1) },
{ MP_ROM_QSTR(MP_QSTR_OUT_LOW), MP_ROM_INT(2) },
{ MP_ROM_QSTR(MP_QSTR_OUT_HIGH), MP_ROM_INT(3) },
{ MP_ROM_QSTR(MP_QSTR_SHIFT_LEFT), MP_ROM_INT(0) },
{ MP_ROM_QSTR(MP_QSTR_SHIFT_RIGHT), MP_ROM_INT(1) },
{ MP_ROM_QSTR(MP_QSTR_JOIN_NONE), MP_ROM_INT(0) },
{ MP_ROM_QSTR(MP_QSTR_JOIN_TX), MP_ROM_INT(1) },
{ MP_ROM_QSTR(MP_QSTR_JOIN_RX), MP_ROM_INT(2) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_SM0), MP_ROM_INT(0x100) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_SM1), MP_ROM_INT(0x200) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_SM2), MP_ROM_INT(0x400) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_SM3), MP_ROM_INT(0x800) },
};
STATIC MP_DEFINE_CONST_DICT(rp2_pio_locals_dict, rp2_pio_locals_dict_table);
const mp_obj_type_t rp2_pio_type = {
{ &mp_type_type },
.name = MP_QSTR_PIO,
.print = rp2_pio_print,
.make_new = rp2_pio_make_new,
.locals_dict = (mp_obj_dict_t *)&rp2_pio_locals_dict,
};
STATIC mp_uint_t rp2_pio_irq_trigger(mp_obj_t self_in, mp_uint_t new_trigger) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(self_in);
rp2_pio_irq_obj_t *irq = MP_STATE_PORT(rp2_pio_irq_obj[PIO_NUM(self->pio)]);
irq_set_enabled(self->irq, false);
irq->flags = 0;
irq->trigger = new_trigger;
irq_set_enabled(self->irq, true);
return 0;
}
STATIC mp_uint_t rp2_pio_irq_info(mp_obj_t self_in, mp_uint_t info_type) {
rp2_pio_obj_t *self = MP_OBJ_TO_PTR(self_in);
rp2_pio_irq_obj_t *irq = MP_STATE_PORT(rp2_pio_irq_obj[PIO_NUM(self->pio)]);
if (info_type == MP_IRQ_INFO_FLAGS) {
return irq->flags;
} else if (info_type == MP_IRQ_INFO_TRIGGERS) {
return irq->trigger;
}
return 0;
}
STATIC const mp_irq_methods_t rp2_pio_irq_methods = {
.trigger = rp2_pio_irq_trigger,
.info = rp2_pio_irq_info,
};
/******************************************************************************/
// StateMachine object
STATIC const mp_irq_methods_t rp2_state_machine_irq_methods;
STATIC const rp2_state_machine_obj_t rp2_state_machine_obj[] = {
{ { &rp2_state_machine_type }, pio0, PIO0_IRQ_0, 0, 0 },
{ { &rp2_state_machine_type }, pio0, PIO0_IRQ_0, 1, 1 },
{ { &rp2_state_machine_type }, pio0, PIO0_IRQ_0, 2, 2 },
{ { &rp2_state_machine_type }, pio0, PIO0_IRQ_0, 3, 3 },
{ { &rp2_state_machine_type }, pio1, PIO1_IRQ_0, 0, 4 },
{ { &rp2_state_machine_type }, pio1, PIO1_IRQ_0, 1, 5 },
{ { &rp2_state_machine_type }, pio1, PIO1_IRQ_0, 2, 6 },
{ { &rp2_state_machine_type }, pio1, PIO1_IRQ_0, 3, 7 },
};
STATIC void rp2_state_machine_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_printf(print, "StateMachine(%u)", self->id);
}
// StateMachine.init(prog, freq=-1, *,
// in_base=None, out_base=None, set_base=None, jmp_pin=None,
// sideset_base=None, in_shiftdir=None, out_shiftdir=None,
// push_thresh=None, pull_thresh=None,
// )
STATIC mp_obj_t rp2_state_machine_init_helper(const rp2_state_machine_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum {
ARG_prog, ARG_freq,
ARG_in_base, ARG_out_base, ARG_set_base, ARG_jmp_pin, ARG_sideset_base,
ARG_in_shiftdir, ARG_out_shiftdir, ARG_push_thresh, ARG_pull_thresh
};
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_prog, MP_ARG_REQUIRED | MP_ARG_OBJ },
{ MP_QSTR_freq, MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_in_base, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_out_base, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_set_base, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_jmp_pin, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_sideset_base, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_in_shiftdir, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_out_shiftdir, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_push_thresh, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_pull_thresh, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
};
// Parse the arguments.
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);
// Get the program.
mp_obj_t *prog;
mp_obj_get_array_fixed_n(args[ARG_prog].u_obj, PROG_MAX_FIELDS, &prog);
// Get and the program offset, and load it into memory if it's not already there.
mp_int_t offset = mp_obj_get_int(prog[PROG_OFFSET_PIO0 + PIO_NUM(self->pio)]);
if (offset < 0) {
rp2_pio_add_program(&rp2_pio_obj[PIO_NUM(self->pio)], args[ARG_prog].u_obj);
offset = mp_obj_get_int(prog[PROG_OFFSET_PIO0 + PIO_NUM(self->pio)]);
}
rp2_state_machine_initial_pc[self->id] = offset;
// Compute the clock divider.
uint16_t clkdiv_int;
uint8_t clkdiv_frac;
if (args[ARG_freq].u_int < 0) {
// Default: run at CPU frequency.
clkdiv_int = 1;
clkdiv_frac = 0;
} else if (args[ARG_freq].u_int == 0) {
// Special case of 0: set clkdiv to 0.
clkdiv_int = 0;
clkdiv_frac = 0;
} else {
// Frequency given in Hz, compute clkdiv from it.
uint64_t div = (uint64_t)clock_get_hz(clk_sys) * 256ULL / (uint64_t)args[ARG_freq].u_int;
if (!(div >= 1 * 256 && div <= 65536 * 256)) {
mp_raise_ValueError(MP_ERROR_TEXT("freq out of range"));
}
clkdiv_int = div / 256;
clkdiv_frac = div & 0xff;
}
// Disable and reset the state machine.
pio_sm_init(self->pio, self->sm, offset, NULL);
// Build the state machine config.
pio_sm_config config = pio_get_default_sm_config();
sm_config_set_clkdiv_int_frac(&config, clkdiv_int, clkdiv_frac);
config.execctrl = mp_obj_get_int_truncated(prog[PROG_EXECCTRL]);
config.shiftctrl = mp_obj_get_int_truncated(prog[PROG_SHIFTCTRL]);
// Adjust wrap top/bottom to account for location of program in instruction memory.
config.execctrl += (offset << PIO_SM0_EXECCTRL_WRAP_TOP_LSB)
+ (offset << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB);
// Configure in pin base, if needed.
if (args[ARG_in_base].u_obj != mp_const_none) {
sm_config_set_in_pins(&config, mp_hal_get_pin_obj(args[ARG_in_base].u_obj));
}
// Configure out pins, if needed.
asm_pio_config_t out_config = ASM_PIO_CONFIG_DEFAULT;
asm_pio_get_pins("out", prog[PROG_OUT_PINS], args[ARG_out_base].u_obj, &out_config);
if (out_config.base >= 0) {
sm_config_set_out_pins(&config, out_config.base, out_config.count);
}
// Configure set pin, if needed.
asm_pio_config_t set_config = ASM_PIO_CONFIG_DEFAULT;
asm_pio_get_pins("set", prog[PROG_SET_PINS], args[ARG_set_base].u_obj, &set_config);
if (set_config.base >= 0) {
sm_config_set_set_pins(&config, set_config.base, set_config.count);
}
// Configure jmp pin, if needed.
if (args[ARG_jmp_pin].u_obj != mp_const_none) {
sm_config_set_jmp_pin(&config, mp_hal_get_pin_obj(args[ARG_jmp_pin].u_obj));
}
// Configure sideset pin, if needed.
asm_pio_config_t sideset_config = ASM_PIO_CONFIG_DEFAULT;
asm_pio_get_pins("sideset", prog[PROG_SIDESET_PINS], args[ARG_sideset_base].u_obj, &sideset_config);
if (sideset_config.base >= 0) {
uint32_t count = sideset_config.count;
if (config.execctrl & (1 << PIO_SM0_EXECCTRL_SIDE_EN_LSB)) {
// When sideset is optional, count includes the option bit.
++count;
}
config.pinctrl |= count << PIO_SM0_PINCTRL_SIDESET_COUNT_LSB;
sm_config_set_sideset_pins(&config, sideset_config.base);
}
// Override shift state if needed.
asm_pio_override_shiftctrl(args[ARG_in_shiftdir].u_obj, PIO_SM0_SHIFTCTRL_IN_SHIFTDIR_BITS, PIO_SM0_SHIFTCTRL_IN_SHIFTDIR_LSB, &config);
asm_pio_override_shiftctrl(args[ARG_out_shiftdir].u_obj, PIO_SM0_SHIFTCTRL_OUT_SHIFTDIR_BITS, PIO_SM0_SHIFTCTRL_OUT_SHIFTDIR_LSB, &config);
asm_pio_override_shiftctrl(args[ARG_push_thresh].u_obj, PIO_SM0_SHIFTCTRL_PUSH_THRESH_BITS, PIO_SM0_SHIFTCTRL_PUSH_THRESH_LSB, &config);
asm_pio_override_shiftctrl(args[ARG_pull_thresh].u_obj, PIO_SM0_SHIFTCTRL_PULL_THRESH_BITS, PIO_SM0_SHIFTCTRL_PULL_THRESH_LSB, &config);
// Configure the state machine.
pio_sm_set_config(self->pio, self->sm, &config);
// Configure the GPIO.
if (out_config.base >= 0) {
asm_pio_init_gpio(self->pio, self->sm, &out_config);
}
if (set_config.base >= 0) {
asm_pio_init_gpio(self->pio, self->sm, &set_config);
}
if (sideset_config.base >= 0) {
asm_pio_init_gpio(self->pio, self->sm, &sideset_config);
}
return mp_const_none;
}
// StateMachine(id, ...)
STATIC mp_obj_t rp2_state_machine_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// Get the StateMachine object.
mp_int_t sm_id = mp_obj_get_int(args[0]);
if (!(0 <= sm_id && sm_id < MP_ARRAY_SIZE(rp2_state_machine_obj))) {
mp_raise_ValueError("invalid StateMachine");
}
const rp2_state_machine_obj_t *self = &rp2_state_machine_obj[sm_id];
if (n_args > 1 || n_kw > 0) {
// Configuration arguments given so init this StateMachine.
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
rp2_state_machine_init_helper(self, n_args - 1, args + 1, &kw_args);
}
// Return the StateMachine object.
return MP_OBJ_FROM_PTR(self);
}
STATIC mp_obj_t rp2_state_machine_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return rp2_state_machine_init_helper(MP_OBJ_TO_PTR(args[0]), n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(rp2_state_machine_init_obj, 1, rp2_state_machine_init);
// StateMachine.active([value])
STATIC mp_obj_t rp2_state_machine_active(size_t n_args, const mp_obj_t *args) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(args[0]);
if (n_args > 1) {
pio_sm_set_enabled(self->pio, self->sm, mp_obj_is_true(args[1]));
}
return mp_obj_new_bool((self->pio->ctrl >> self->sm) & 1);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(rp2_state_machine_active_obj, 1, 2, rp2_state_machine_active);
// StateMachine.restart()
STATIC mp_obj_t rp2_state_machine_restart(mp_obj_t self_in) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
pio_sm_restart(self->pio, self->sm);
pio_sm_exec(self->pio, self->sm, pio_encode_jmp(rp2_state_machine_initial_pc[self->id]));
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(rp2_state_machine_restart_obj, rp2_state_machine_restart);
// StateMachine.exec(instr)
STATIC mp_obj_t rp2_state_machine_exec(mp_obj_t self_in, mp_obj_t instr_in) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
mp_obj_t rp2_module = mp_import_name(MP_QSTR_rp2, mp_const_none, MP_OBJ_NEW_SMALL_INT(0));
mp_obj_t asm_pio_encode = mp_load_attr(rp2_module, MP_QSTR_asm_pio_encode);
uint32_t sideset_count = self->pio->sm[self->sm].pinctrl >> PIO_SM0_PINCTRL_SIDESET_COUNT_LSB;
uint8_t sideset_opt = !!(self->pio->sm[self->sm].execctrl & (1 << PIO_SM0_EXECCTRL_SIDE_EN_LSB));
mp_obj_t args[3];
args[0] = instr_in;
args[1] = MP_OBJ_NEW_SMALL_INT(sideset_count);
args[2] = MP_OBJ_NEW_SMALL_INT(sideset_opt);
mp_obj_t encoded_obj = mp_call_function_n_kw(asm_pio_encode, 3, 0, args);
mp_int_t encoded = mp_obj_get_int(encoded_obj);
pio_sm_exec(self->pio, self->sm, encoded);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(rp2_state_machine_exec_obj, rp2_state_machine_exec);
// StateMachine.get(buf=None, shift=0)
STATIC mp_obj_t rp2_state_machine_get(size_t n_args, const mp_obj_t *args) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(args[0]);
mp_buffer_info_t bufinfo;
bufinfo.buf = NULL;
uint32_t shift = 0;
if (n_args > 1) {
if (args[1] != mp_const_none) {
mp_get_buffer_raise(args[1], &bufinfo, MP_BUFFER_WRITE);
if (bufinfo.typecode == BYTEARRAY_TYPECODE) {
bufinfo.typecode = 'b';
} else {
bufinfo.typecode |= 0x20; // make lowercase to support upper and lower
}
if (bufinfo.len == 0) { // edge case: buffer of zero length supplied
return args[1];
}
}
if (n_args > 2) {
shift = mp_obj_get_int(args[2]);
}
}
uint8_t *dest = bufinfo.buf;
const uint8_t *dest_top = dest + bufinfo.len;
for (;;) {
while (pio_sm_is_rx_fifo_empty(self->pio, self->sm)) {
// This delay must be fast.
MICROPY_EVENT_POLL_HOOK_FAST;
}
uint32_t value = pio_sm_get(self->pio, self->sm) >> shift;
if (dest == NULL) {
return mp_obj_new_int_from_uint(value);
}
if (bufinfo.typecode == 'b') {
*(uint8_t *)dest = value;
dest += sizeof(uint8_t);
} else if (bufinfo.typecode == 'h') {
*(uint16_t *)dest = value;
dest += sizeof(uint16_t);
} else if (bufinfo.typecode == 'i') {
*(uint32_t *)dest = value;
dest += sizeof(uint32_t);
} else {
mp_raise_ValueError("unsupported buffer type");
}
if (dest >= dest_top) {
return args[1];
}
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(rp2_state_machine_get_obj, 1, 3, rp2_state_machine_get);
// StateMachine.put(value, shift=0)
STATIC mp_obj_t rp2_state_machine_put(size_t n_args, const mp_obj_t *args) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(args[0]);
uint32_t shift = 0;
if (n_args > 2) {
shift = mp_obj_get_int(args[2]);
}
uint32_t data;
mp_buffer_info_t bufinfo;
if (!mp_get_buffer(args[1], &bufinfo, MP_BUFFER_READ)) {
data = mp_obj_get_int_truncated(args[1]);
bufinfo.buf = &data;
bufinfo.len = sizeof(uint32_t);
bufinfo.typecode = 'I';
}
const uint8_t *src = bufinfo.buf;
const uint8_t *src_top = src + bufinfo.len;
while (src < src_top) {
uint32_t value;
if (bufinfo.typecode == 'B' || bufinfo.typecode == BYTEARRAY_TYPECODE) {
value = *(uint8_t *)src;
src += sizeof(uint8_t);
} else if (bufinfo.typecode == 'H') {
value = *(uint16_t *)src;
src += sizeof(uint16_t);
} else if (bufinfo.typecode == 'I') {
value = *(uint32_t *)src;
src += sizeof(uint32_t);
} else {
mp_raise_ValueError("unsupported buffer type");
}
while (pio_sm_is_tx_fifo_full(self->pio, self->sm)) {
// This delay must be fast.
MICROPY_EVENT_POLL_HOOK_FAST;
}
pio_sm_put(self->pio, self->sm, value << shift);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(rp2_state_machine_put_obj, 2, 3, rp2_state_machine_put);
// StateMachine.rx_fifo()
STATIC mp_obj_t rp2_state_machine_rx_fifo(mp_obj_t self_in) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
return MP_OBJ_NEW_SMALL_INT(pio_sm_get_rx_fifo_level(self->pio, self->sm));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(rp2_state_machine_rx_fifo_obj, rp2_state_machine_rx_fifo);
// StateMachine.tx_fifo()
STATIC mp_obj_t rp2_state_machine_tx_fifo(mp_obj_t self_in) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
return MP_OBJ_NEW_SMALL_INT(pio_sm_get_tx_fifo_level(self->pio, self->sm));
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(rp2_state_machine_tx_fifo_obj, rp2_state_machine_tx_fifo);
// StateMachine.irq(handler=None, trigger=0|1, hard=False)
STATIC mp_obj_t rp2_state_machine_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_handler, ARG_trigger, ARG_hard };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_handler, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE} },
{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = 1} },
{ MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
};
// Parse the arguments.
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// Get the IRQ object.
rp2_state_machine_irq_obj_t *irq = MP_STATE_PORT(rp2_state_machine_irq_obj[self->id]);
// Allocate the IRQ object if it doesn't already exist.
if (irq == NULL) {
irq = m_new_obj(rp2_state_machine_irq_obj_t);
irq->base.base.type = &mp_irq_type;
irq->base.methods = (mp_irq_methods_t *)&rp2_state_machine_irq_methods;
irq->base.parent = MP_OBJ_FROM_PTR(self);
irq->base.handler = mp_const_none;
irq->base.ishard = false;
MP_STATE_PORT(rp2_state_machine_irq_obj[self->id]) = irq;
}
if (n_args > 1 || kw_args->used != 0) {
// Configure IRQ.
// Disable all IRQs while data is updated.
irq_set_enabled(self->irq, false);
// Update IRQ data.
irq->base.handler = args[ARG_handler].u_obj;
irq->base.ishard = args[ARG_hard].u_bool;
irq->flags = 0;
irq->trigger = args[ARG_trigger].u_int;
// Enable IRQ if a handler is given.
if (args[ARG_handler].u_obj == mp_const_none) {
self->pio->inte0 &= ~(1 << (8 + self->sm));
} else {
self->pio->inte0 |= 1 << (8 + self->sm);
}
if (self->pio->inte0) {
irq_set_enabled(self->irq, true);
}
}
return MP_OBJ_FROM_PTR(irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(rp2_state_machine_irq_obj, 1, rp2_state_machine_irq);
STATIC const mp_rom_map_elem_t rp2_state_machine_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&rp2_state_machine_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_active), MP_ROM_PTR(&rp2_state_machine_active_obj) },
{ MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&rp2_state_machine_restart_obj) },
{ MP_ROM_QSTR(MP_QSTR_exec), MP_ROM_PTR(&rp2_state_machine_exec_obj) },
{ MP_ROM_QSTR(MP_QSTR_get), MP_ROM_PTR(&rp2_state_machine_get_obj) },
{ MP_ROM_QSTR(MP_QSTR_put), MP_ROM_PTR(&rp2_state_machine_put_obj) },
{ MP_ROM_QSTR(MP_QSTR_rx_fifo), MP_ROM_PTR(&rp2_state_machine_rx_fifo_obj) },
{ MP_ROM_QSTR(MP_QSTR_tx_fifo), MP_ROM_PTR(&rp2_state_machine_tx_fifo_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&rp2_state_machine_irq_obj) },
};
STATIC MP_DEFINE_CONST_DICT(rp2_state_machine_locals_dict, rp2_state_machine_locals_dict_table);
const mp_obj_type_t rp2_state_machine_type = {
{ &mp_type_type },
.name = MP_QSTR_StateMachine,
.print = rp2_state_machine_print,
.make_new = rp2_state_machine_make_new,
.locals_dict = (mp_obj_dict_t *)&rp2_state_machine_locals_dict,
};
STATIC mp_uint_t rp2_state_machine_irq_trigger(mp_obj_t self_in, mp_uint_t new_trigger) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
rp2_state_machine_irq_obj_t *irq = MP_STATE_PORT(rp2_state_machine_irq_obj[PIO_NUM(self->pio)]);
irq_set_enabled(self->irq, false);
irq->flags = 0;
irq->trigger = new_trigger;
irq_set_enabled(self->irq, true);
return 0;
}
STATIC mp_uint_t rp2_state_machine_irq_info(mp_obj_t self_in, mp_uint_t info_type) {
rp2_state_machine_obj_t *self = MP_OBJ_TO_PTR(self_in);
rp2_state_machine_irq_obj_t *irq = MP_STATE_PORT(rp2_state_machine_irq_obj[PIO_NUM(self->pio)]);
if (info_type == MP_IRQ_INFO_FLAGS) {
return irq->flags;
} else if (info_type == MP_IRQ_INFO_TRIGGERS) {
return irq->trigger;
}
return 0;
}
STATIC const mp_irq_methods_t rp2_state_machine_irq_methods = {
.trigger = rp2_state_machine_irq_trigger,
.info = rp2_state_machine_irq_info,
};
MP_REGISTER_ROOT_POINTER(void *rp2_pio_irq_obj[2]);
MP_REGISTER_ROOT_POINTER(void *rp2_state_machine_irq_obj[8]);
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