304 lines
9.1 KiB
C
304 lines
9.1 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2019 Lucian Copeland for Adafruit Industries
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "common-hal/pulseio/PulseIn.h"
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#include <stdint.h>
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#include <string.h>
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#include "py/mpconfig.h"
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#include "py/gc.h"
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#include "py/runtime.h"
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#include "shared-bindings/microcontroller/__init__.h"
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#include "shared-bindings/pulseio/PulseIn.h"
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#include "tick.h"
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#include "stm32f4xx_hal.h"
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#define STM32_GPIO_PORT_SIZE 16
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static pulseio_pulsein_obj_t* _objs[STM32_GPIO_PORT_SIZE];
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static void assign_EXTI_Interrupt(pulseio_pulsein_obj_t* self, uint8_t num);
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static void pulsein_handler(uint8_t num) {
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// Interrupt register must be cleared manually
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EXTI->PR = 1 << num;
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// Grab the current time first.
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uint32_t current_us;
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uint64_t current_ms;
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current_tick(¤t_ms, ¤t_us);
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// current_tick gives us the remaining us until the next tick but we want the number since the last ms.
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current_us = 1000 - current_us;
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pulseio_pulsein_obj_t* self = _objs[num];
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if ( !self ) return;
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if (self->first_edge) {
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// first pulse is opposite state from idle
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bool state = HAL_GPIO_ReadPin(pin_port(self->pin->port), pin_mask(self->pin->number));
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if ( self->idle_state != state ) {
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self->first_edge = false;
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}
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} else {
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uint32_t ms_diff = current_ms - self->last_ms;
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uint16_t us_diff = current_us - self->last_us;
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uint32_t total_diff = us_diff;
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if (self->last_us > current_us) {
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total_diff = 1000 + current_us - self->last_us;
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if (ms_diff > 1) {
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total_diff += (ms_diff - 1) * 1000;
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}
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} else {
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total_diff += ms_diff * 1000;
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}
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uint16_t duration = 0xffff;
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if (total_diff < duration) {
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duration = total_diff;
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}
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uint16_t i = (self->start + self->len) % self->maxlen;
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self->buffer[i] = duration;
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if (self->len < self->maxlen) {
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self->len++;
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} else {
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self->start++;
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}
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}
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self->last_ms = current_ms;
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self->last_us = current_us;
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}
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void pulsein_reset(void) {
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// Disable all active interrupts and clear array
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for (uint i = 0; i < STM32_GPIO_PORT_SIZE; i++) {
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if (_objs[i] != NULL) {
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HAL_NVIC_DisableIRQ(_objs[i]->irq);
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}
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}
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memset(_objs, 0, sizeof(_objs));
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}
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void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self, const mcu_pin_obj_t* pin,
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uint16_t maxlen, bool idle_state) {
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// STM32 has one shared EXTI for each pin number, 0-15
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uint8_t p_num = pin->number;
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if(_objs[p_num]) {
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mp_raise_ValueError(translate("Pin number already reserved by EXTI"));
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}
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_objs[p_num] = self;
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// Allocate pulse buffer
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self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false);
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if (self->buffer == NULL) {
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mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"),
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maxlen * sizeof(uint16_t));
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}
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// Set internal variables
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self->pin = pin;
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self->maxlen = maxlen;
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self->idle_state = idle_state;
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self->start = 0;
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self->len = 0;
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self->first_edge = true;
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self->paused = false;
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self->last_us = 0;
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self->last_ms = 0;
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// EXTI pins can also be read as an input
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = pin_mask(pin->number);
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(pin_port(pin->port), &GPIO_InitStruct);
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// Interrupt starts immediately
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assign_EXTI_Interrupt(self, pin->number);
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HAL_NVIC_EnableIRQ(self->irq);
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claim_pin(pin);
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}
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bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
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return (self->pin == NULL);
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}
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void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
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if (common_hal_pulseio_pulsein_deinited(self)) {
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return;
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}
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//Remove pulsein slot from shared array
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HAL_NVIC_DisableIRQ(self->irq);
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_objs[self->pin->number] = NULL;
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reset_pin_number(self->pin->port, self->pin->number);
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self->pin = NULL;
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}
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void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
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HAL_NVIC_DisableIRQ(self->irq);
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self->paused = true;
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}
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void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self, uint16_t trigger_duration) {
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// Make sure we're paused.
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if ( !self->paused ) {
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common_hal_pulseio_pulsein_pause(self);
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}
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// Send the trigger pulse.
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if (trigger_duration > 0) {
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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GPIO_InitStruct.Pin = pin_mask(self->pin->number);
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GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
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HAL_GPIO_Init(pin_port(self->pin->port), &GPIO_InitStruct);
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HAL_GPIO_WritePin(pin_port(self->pin->port), pin_mask(self->pin->number), !self->idle_state);
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common_hal_mcu_delay_us((uint32_t)trigger_duration);
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HAL_GPIO_WritePin(pin_port(self->pin->port), pin_mask(self->pin->number), self->idle_state);
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GPIO_InitStruct.Pin = pin_mask(self->pin->number);
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GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(pin_port(self->pin->port), &GPIO_InitStruct);
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}
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self->first_edge = true;
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self->paused = false;
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self->last_ms = 0;
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self->last_us = 0;
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HAL_NVIC_EnableIRQ(self->irq);
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}
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void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
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HAL_NVIC_DisableIRQ(self->irq);
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self->start = 0;
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self->len = 0;
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HAL_NVIC_EnableIRQ(self->irq);
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}
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uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self, int16_t index) {
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HAL_NVIC_DisableIRQ(self->irq);
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if (index < 0) {
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index += self->len;
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}
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if (index < 0 || index >= self->len) {
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HAL_NVIC_EnableIRQ(self->irq);
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mp_raise_IndexError(translate("index out of range"));
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}
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uint16_t value = self->buffer[(self->start + index) % self->maxlen];
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HAL_NVIC_EnableIRQ(self->irq);
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return value;
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}
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uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
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if (self->len == 0) {
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mp_raise_IndexError(translate("pop from an empty PulseIn"));
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}
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HAL_NVIC_DisableIRQ(self->irq);
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uint16_t value = self->buffer[self->start];
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self->start = (self->start + 1) % self->maxlen;
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self->len--;
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HAL_NVIC_EnableIRQ(self->irq);
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return value;
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}
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uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) {
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return self->maxlen;
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}
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bool common_hal_pulseio_pulsein_get_paused(pulseio_pulsein_obj_t* self) {
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return self->paused;
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}
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uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) {
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return self->len;
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}
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static void assign_EXTI_Interrupt(pulseio_pulsein_obj_t* self, uint8_t num) {
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if (num == 0) {
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self->irq = EXTI0_IRQn;
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} else if (num == 1) {
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self->irq = EXTI1_IRQn;
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} else if (num == 2) {
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self->irq = EXTI2_IRQn;
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} else if (num == 3) {
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self->irq = EXTI3_IRQn;
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} else if (num == 4) {
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self->irq = EXTI4_IRQn;
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} else if (num >= 5 && num <= 9 ) {
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self->irq = EXTI9_5_IRQn;
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} else if (num >= 10 && num <= 15) {
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self->irq = EXTI15_10_IRQn;
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}
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}
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void EXTI0_IRQHandler(void)
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{
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pulsein_handler(0);
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}
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void EXTI1_IRQHandler(void)
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{
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pulsein_handler(1);
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}
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void EXTI2_IRQHandler(void)
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{
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pulsein_handler(2);
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}
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void EXTI3_IRQHandler(void)
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{
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pulsein_handler(3);
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}
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void EXTI4_IRQHandler(void)
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{
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pulsein_handler(4);
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}
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void EXTI9_5_IRQHandler(void)
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{
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uint32_t pending = EXTI->PR;
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for (uint i = 5; i <= 9; i++) {
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if(pending & (1 << i)) {
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pulsein_handler(i);
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}
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}
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}
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void EXTI15_10_IRQHandler(void)
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{
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uint32_t pending = EXTI->PR;
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for (uint i = 10; i <= 15; i++) {
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if(pending & (1 << i)) {
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pulsein_handler(i);
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}
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}
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}
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