e7ab475276
ISR's no longer need to be in iRAM, and the ESP IDF provides an option to specify that they are in iRAM if an application needs lower latency when handling them. But we don't use this feature for user interrupts: both timer and gpio ISR routines are registered without the ESP_INTR_FLAG_IRAM option, and so the scheduling code no longer needs to be in iRAM.
435 lines
16 KiB
C
435 lines
16 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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* Development of the code in this file was sponsored by Microbric Pty Ltd
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2016 Damien P. George
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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 <stdio.h>
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#include <string.h>
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#include "driver/gpio.h"
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#include "py/runtime.h"
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#include "py/mphal.h"
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#include "mphalport.h"
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#include "modmachine.h"
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#include "extmod/virtpin.h"
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#include "machine_rtc.h"
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#include "modesp32.h"
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typedef struct _machine_pin_obj_t {
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mp_obj_base_t base;
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gpio_num_t id;
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} machine_pin_obj_t;
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typedef struct _machine_pin_irq_obj_t {
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mp_obj_base_t base;
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gpio_num_t id;
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} machine_pin_irq_obj_t;
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STATIC const machine_pin_obj_t machine_pin_obj[] = {
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{{&machine_pin_type}, GPIO_NUM_0},
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{{&machine_pin_type}, GPIO_NUM_1},
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{{&machine_pin_type}, GPIO_NUM_2},
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{{&machine_pin_type}, GPIO_NUM_3},
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{{&machine_pin_type}, GPIO_NUM_4},
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{{&machine_pin_type}, GPIO_NUM_5},
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{{&machine_pin_type}, GPIO_NUM_6},
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{{&machine_pin_type}, GPIO_NUM_7},
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{{&machine_pin_type}, GPIO_NUM_8},
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{{&machine_pin_type}, GPIO_NUM_9},
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{{&machine_pin_type}, GPIO_NUM_10},
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{{&machine_pin_type}, GPIO_NUM_11},
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{{&machine_pin_type}, GPIO_NUM_12},
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{{&machine_pin_type}, GPIO_NUM_13},
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{{&machine_pin_type}, GPIO_NUM_14},
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{{&machine_pin_type}, GPIO_NUM_15},
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{{&machine_pin_type}, GPIO_NUM_16},
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{{&machine_pin_type}, GPIO_NUM_17},
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{{&machine_pin_type}, GPIO_NUM_18},
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{{&machine_pin_type}, GPIO_NUM_19},
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{{NULL}, -1},
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{{&machine_pin_type}, GPIO_NUM_21},
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{{&machine_pin_type}, GPIO_NUM_22},
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{{&machine_pin_type}, GPIO_NUM_23},
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{{NULL}, -1},
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{{&machine_pin_type}, GPIO_NUM_25},
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{{&machine_pin_type}, GPIO_NUM_26},
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{{&machine_pin_type}, GPIO_NUM_27},
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{{NULL}, -1},
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{{NULL}, -1},
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{{NULL}, -1},
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{{NULL}, -1},
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{{&machine_pin_type}, GPIO_NUM_32},
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{{&machine_pin_type}, GPIO_NUM_33},
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{{&machine_pin_type}, GPIO_NUM_34},
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{{&machine_pin_type}, GPIO_NUM_35},
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{{&machine_pin_type}, GPIO_NUM_36},
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{{&machine_pin_type}, GPIO_NUM_37},
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{{&machine_pin_type}, GPIO_NUM_38},
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{{&machine_pin_type}, GPIO_NUM_39},
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};
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// forward declaration
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STATIC const machine_pin_irq_obj_t machine_pin_irq_object[];
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void machine_pins_init(void) {
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static bool did_install = false;
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if (!did_install) {
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gpio_install_isr_service(0);
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did_install = true;
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}
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memset(&MP_STATE_PORT(machine_pin_irq_handler[0]), 0, sizeof(MP_STATE_PORT(machine_pin_irq_handler)));
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}
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void machine_pins_deinit(void) {
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for (int i = 0; i < MP_ARRAY_SIZE(machine_pin_obj); ++i) {
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if (machine_pin_obj[i].id != (gpio_num_t)-1) {
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gpio_isr_handler_remove(machine_pin_obj[i].id);
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}
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}
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}
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STATIC void machine_pin_isr_handler(void *arg) {
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machine_pin_obj_t *self = arg;
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mp_obj_t handler = MP_STATE_PORT(machine_pin_irq_handler)[self->id];
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mp_sched_schedule(handler, MP_OBJ_FROM_PTR(self));
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mp_hal_wake_main_task_from_isr();
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}
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gpio_num_t machine_pin_get_id(mp_obj_t pin_in) {
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if (mp_obj_get_type(pin_in) != &machine_pin_type) {
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mp_raise_ValueError("expecting a pin");
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}
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machine_pin_obj_t *self = pin_in;
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return self->id;
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}
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STATIC void machine_pin_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
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machine_pin_obj_t *self = self_in;
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mp_printf(print, "Pin(%u)", self->id);
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}
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// pin.init(mode, pull=None, *, value)
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STATIC mp_obj_t machine_pin_obj_init_helper(const machine_pin_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_mode, ARG_pull, ARG_value };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_mode, MP_ARG_OBJ, {.u_obj = mp_const_none}},
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{ MP_QSTR_pull, MP_ARG_OBJ, {.u_obj = mp_const_none}},
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{ MP_QSTR_value, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
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};
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// parse args
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// configure the pin for gpio
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gpio_pad_select_gpio(self->id);
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// set initial value (do this before configuring mode/pull)
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if (args[ARG_value].u_obj != MP_OBJ_NULL) {
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gpio_set_level(self->id, mp_obj_is_true(args[ARG_value].u_obj));
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}
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// configure mode
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if (args[ARG_mode].u_obj != mp_const_none) {
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mp_int_t pin_io_mode = mp_obj_get_int(args[ARG_mode].u_obj);
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if (self->id >= 34 && (pin_io_mode & GPIO_MODE_DEF_OUTPUT)) {
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mp_raise_ValueError("pin can only be input");
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} else {
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gpio_set_direction(self->id, pin_io_mode);
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}
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}
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// configure pull
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if (args[ARG_pull].u_obj != mp_const_none) {
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gpio_set_pull_mode(self->id, mp_obj_get_int(args[ARG_pull].u_obj));
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}
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return mp_const_none;
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}
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// constructor(id, ...)
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mp_obj_t mp_pin_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
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// get the wanted pin object
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int wanted_pin = mp_obj_get_int(args[0]);
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const machine_pin_obj_t *self = NULL;
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if (0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj)) {
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self = (machine_pin_obj_t*)&machine_pin_obj[wanted_pin];
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}
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if (self == NULL || self->base.type == NULL) {
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mp_raise_ValueError("invalid pin");
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}
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if (n_args > 1 || n_kw > 0) {
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// pin mode given, so configure this GPIO
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mp_map_t kw_args;
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mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
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machine_pin_obj_init_helper(self, n_args - 1, args + 1, &kw_args);
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}
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return MP_OBJ_FROM_PTR(self);
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}
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// fast method for getting/setting pin value
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STATIC mp_obj_t machine_pin_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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mp_arg_check_num(n_args, n_kw, 0, 1, false);
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machine_pin_obj_t *self = self_in;
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if (n_args == 0) {
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// get pin
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return MP_OBJ_NEW_SMALL_INT(gpio_get_level(self->id));
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} else {
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// set pin
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gpio_set_level(self->id, mp_obj_is_true(args[0]));
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return mp_const_none;
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}
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}
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// pin.init(mode, pull)
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STATIC mp_obj_t machine_pin_obj_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
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return machine_pin_obj_init_helper(args[0], n_args - 1, args + 1, kw_args);
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}
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MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_init_obj, 1, machine_pin_obj_init);
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// pin.value([value])
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STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args) {
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return machine_pin_call(args[0], n_args - 1, 0, args + 1);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_value_obj, 1, 2, machine_pin_value);
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// pin.off()
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STATIC mp_obj_t machine_pin_off(mp_obj_t self_in) {
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machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
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gpio_set_level(self->id, 0);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_off_obj, machine_pin_off);
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// pin.on()
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STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
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machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
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gpio_set_level(self->id, 1);
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return mp_const_none;
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);
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// pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING)
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STATIC mp_obj_t machine_pin_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
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enum { ARG_handler, ARG_trigger, ARG_wake };
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static const mp_arg_t allowed_args[] = {
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{ MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} },
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{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_PIN_INTR_POSEDGE | GPIO_PIN_INTR_NEGEDGE} },
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{ MP_QSTR_wake, MP_ARG_OBJ, {.u_obj = mp_const_none} },
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};
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machine_pin_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]);
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if (n_args > 1 || kw_args->used != 0) {
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// configure irq
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mp_obj_t handler = args[ARG_handler].u_obj;
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uint32_t trigger = args[ARG_trigger].u_int;
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mp_obj_t wake_obj = args[ARG_wake].u_obj;
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if ((trigger == GPIO_PIN_INTR_LOLEVEL || trigger == GPIO_PIN_INTR_HILEVEL) && wake_obj != mp_const_none) {
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mp_int_t wake;
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if (mp_obj_get_int_maybe(wake_obj, &wake)) {
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if (wake < 2 || wake > 7) {
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mp_raise_ValueError("bad wake value");
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}
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} else {
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mp_raise_ValueError("bad wake value");
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}
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if (machine_rtc_config.wake_on_touch) { // not compatible
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mp_raise_ValueError("no resources");
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}
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if (!RTC_IS_VALID_EXT_PIN(self->id)) {
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mp_raise_ValueError("invalid pin for wake");
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}
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if (machine_rtc_config.ext0_pin == -1) {
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machine_rtc_config.ext0_pin = self->id;
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} else if (machine_rtc_config.ext0_pin != self->id) {
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mp_raise_ValueError("no resources");
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}
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machine_rtc_config.ext0_level = trigger == GPIO_PIN_INTR_LOLEVEL ? 0 : 1;
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machine_rtc_config.ext0_wake_types = wake;
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} else {
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if (machine_rtc_config.ext0_pin == self->id) {
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machine_rtc_config.ext0_pin = -1;
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}
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if (handler == mp_const_none) {
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handler = MP_OBJ_NULL;
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trigger = 0;
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}
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gpio_isr_handler_remove(self->id);
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MP_STATE_PORT(machine_pin_irq_handler)[self->id] = handler;
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gpio_set_intr_type(self->id, trigger);
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gpio_isr_handler_add(self->id, machine_pin_isr_handler, (void*)self);
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}
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}
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// return the irq object
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return MP_OBJ_FROM_PTR(&machine_pin_irq_object[self->id]);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);
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STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
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// instance methods
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{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pin_init_obj) },
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{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
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{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
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{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_obj) },
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{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },
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// class constants
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{ MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_MODE_INPUT) },
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{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT) },
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{ MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT_OD) },
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{ MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(GPIO_PULLUP_ONLY) },
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{ MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(GPIO_PULLDOWN_ONLY) },
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{ MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(GPIO_PIN_INTR_POSEDGE) },
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{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_PIN_INTR_NEGEDGE) },
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{ MP_ROM_QSTR(MP_QSTR_WAKE_LOW), MP_ROM_INT(GPIO_PIN_INTR_LOLEVEL) },
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{ MP_ROM_QSTR(MP_QSTR_WAKE_HIGH), MP_ROM_INT(GPIO_PIN_INTR_HILEVEL) },
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};
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STATIC mp_uint_t pin_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
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(void)errcode;
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machine_pin_obj_t *self = self_in;
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switch (request) {
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case MP_PIN_READ: {
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return gpio_get_level(self->id);
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}
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case MP_PIN_WRITE: {
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gpio_set_level(self->id, arg);
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return 0;
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}
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}
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return -1;
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}
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STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);
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STATIC const mp_pin_p_t pin_pin_p = {
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.ioctl = pin_ioctl,
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};
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const mp_obj_type_t machine_pin_type = {
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{ &mp_type_type },
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.name = MP_QSTR_Pin,
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.print = machine_pin_print,
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.make_new = mp_pin_make_new,
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.call = machine_pin_call,
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.protocol = &pin_pin_p,
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.locals_dict = (mp_obj_t)&machine_pin_locals_dict,
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};
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/******************************************************************************/
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// Pin IRQ object
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STATIC const mp_obj_type_t machine_pin_irq_type;
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STATIC const machine_pin_irq_obj_t machine_pin_irq_object[] = {
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{{&machine_pin_irq_type}, GPIO_NUM_0},
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{{&machine_pin_irq_type}, GPIO_NUM_1},
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{{&machine_pin_irq_type}, GPIO_NUM_2},
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{{&machine_pin_irq_type}, GPIO_NUM_3},
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{{&machine_pin_irq_type}, GPIO_NUM_4},
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{{&machine_pin_irq_type}, GPIO_NUM_5},
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{{&machine_pin_irq_type}, GPIO_NUM_6},
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{{&machine_pin_irq_type}, GPIO_NUM_7},
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{{&machine_pin_irq_type}, GPIO_NUM_8},
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{{&machine_pin_irq_type}, GPIO_NUM_9},
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{{&machine_pin_irq_type}, GPIO_NUM_10},
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{{&machine_pin_irq_type}, GPIO_NUM_11},
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{{&machine_pin_irq_type}, GPIO_NUM_12},
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{{&machine_pin_irq_type}, GPIO_NUM_13},
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{{&machine_pin_irq_type}, GPIO_NUM_14},
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{{&machine_pin_irq_type}, GPIO_NUM_15},
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{{&machine_pin_irq_type}, GPIO_NUM_16},
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{{&machine_pin_irq_type}, GPIO_NUM_17},
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{{&machine_pin_irq_type}, GPIO_NUM_18},
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{{&machine_pin_irq_type}, GPIO_NUM_19},
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{{NULL}, -1},
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{{&machine_pin_irq_type}, GPIO_NUM_21},
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{{&machine_pin_irq_type}, GPIO_NUM_22},
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{{&machine_pin_irq_type}, GPIO_NUM_23},
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{{NULL}, -1},
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{{&machine_pin_irq_type}, GPIO_NUM_25},
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{{&machine_pin_irq_type}, GPIO_NUM_26},
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{{&machine_pin_irq_type}, GPIO_NUM_27},
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{{NULL}, -1},
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{{NULL}, -1},
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{{NULL}, -1},
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{{NULL}, -1},
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{{&machine_pin_irq_type}, GPIO_NUM_32},
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{{&machine_pin_irq_type}, GPIO_NUM_33},
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{{&machine_pin_irq_type}, GPIO_NUM_34},
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{{&machine_pin_irq_type}, GPIO_NUM_35},
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{{&machine_pin_irq_type}, GPIO_NUM_36},
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{{&machine_pin_irq_type}, GPIO_NUM_37},
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{{&machine_pin_irq_type}, GPIO_NUM_38},
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{{&machine_pin_irq_type}, GPIO_NUM_39},
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};
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STATIC mp_obj_t machine_pin_irq_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args) {
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machine_pin_irq_obj_t *self = self_in;
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mp_arg_check_num(n_args, n_kw, 0, 0, false);
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machine_pin_isr_handler((void*)&machine_pin_obj[self->id]);
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return mp_const_none;
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}
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STATIC mp_obj_t machine_pin_irq_trigger(size_t n_args, const mp_obj_t *args) {
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machine_pin_irq_obj_t *self = args[0];
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uint32_t orig_trig = GPIO.pin[self->id].int_type;
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if (n_args == 2) {
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// set trigger
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gpio_set_intr_type(self->id, mp_obj_get_int(args[1]));
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}
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// return original trigger value
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return MP_OBJ_NEW_SMALL_INT(orig_trig);
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}
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STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_irq_trigger_obj, 1, 2, machine_pin_irq_trigger);
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STATIC const mp_rom_map_elem_t machine_pin_irq_locals_dict_table[] = {
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{ MP_ROM_QSTR(MP_QSTR_trigger), MP_ROM_PTR(&machine_pin_irq_trigger_obj) },
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};
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STATIC MP_DEFINE_CONST_DICT(machine_pin_irq_locals_dict, machine_pin_irq_locals_dict_table);
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STATIC const mp_obj_type_t machine_pin_irq_type = {
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{ &mp_type_type },
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.name = MP_QSTR_IRQ,
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.call = machine_pin_irq_call,
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.locals_dict = (mp_obj_dict_t*)&machine_pin_irq_locals_dict,
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};
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