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micropython/ports/rp2/rp2_pio.c

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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 "lib/utils/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.
pio_clear_instruction_memory(pio0);
pio_clear_instruction_memory(pio1);
// 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_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;
mp_obj_t encoded_obj = mp_call_function_2(asm_pio_encode, instr_in, MP_OBJ_NEW_SMALL_INT(sideset_count));
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.
mp_handle_pending(true);
MICROPY_HW_USBDEV_TASK_HOOK
}
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.
mp_handle_pending(true);
MICROPY_HW_USBDEV_TASK_HOOK
}
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,
};
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