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micropython/ports/esp32/machine_pin.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* Development of the code in this file was sponsored by Microbric Pty Ltd
*
* The MIT License (MIT)
*
* Copyright (c) 2016-2023 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 <stdio.h>
#include <string.h>
#include "driver/gpio.h"
#include "driver/rtc_io.h"
#include "hal/gpio_ll.h"
#include "py/runtime.h"
#include "py/mphal.h"
#include "extmod/modmachine.h"
#include "extmod/virtpin.h"
#include "mphalport.h"
#include "modmachine.h"
#include "machine_pin.h"
#include "machine_rtc.h"
#include "modesp32.h"
#include "genhdr/pins.h"
#if CONFIG_IDF_TARGET_ESP32C3
#include "soc/usb_serial_jtag_reg.h"
#endif
// Used to implement a range of pull capabilities
#define GPIO_PULL_DOWN (1)
#define GPIO_PULL_UP (2)
#if CONFIG_IDF_TARGET_ESP32
#define GPIO_FIRST_NON_OUTPUT (34)
#elif CONFIG_IDF_TARGET_ESP32S2
#define GPIO_FIRST_NON_OUTPUT (46)
#endif
// Return the gpio_num_t index for a given machine_pin_obj_t pointer.
#define PIN_OBJ_PTR_INDEX(self) ((self) - &machine_pin_obj_table[0])
// Return the machine_pin_obj_t pointer corresponding to a machine_pin_irq_obj_t pointer.
#define PIN_OBJ_PTR_FROM_IRQ_OBJ_PTR(self) ((machine_pin_obj_t *)((uintptr_t)(self) - offsetof(machine_pin_obj_t, irq)))
STATIC const machine_pin_obj_t *machine_pin_find_named(const mp_obj_dict_t *named_pins, mp_obj_t name) {
const mp_map_t *named_map = &named_pins->map;
mp_map_elem_t *named_elem = mp_map_lookup((mp_map_t *)named_map, name, MP_MAP_LOOKUP);
if (named_elem != NULL && named_elem->value != NULL) {
return MP_OBJ_TO_PTR(named_elem->value);
}
return NULL;
}
void machine_pins_init(void) {
static bool did_install = false;
if (!did_install) {
gpio_install_isr_service(0);
did_install = true;
}
memset(&MP_STATE_PORT(machine_pin_irq_handler[0]), 0, sizeof(MP_STATE_PORT(machine_pin_irq_handler)));
}
void machine_pins_deinit(void) {
for (int i = 0; i < MP_ARRAY_SIZE(machine_pin_obj_table); ++i) {
if (machine_pin_obj_table[i].base.type != NULL) {
gpio_isr_handler_remove(i);
}
}
}
STATIC void machine_pin_isr_handler(void *arg) {
machine_pin_obj_t *self = arg;
mp_obj_t handler = MP_STATE_PORT(machine_pin_irq_handler)[PIN_OBJ_PTR_INDEX(self)];
mp_sched_schedule(handler, MP_OBJ_FROM_PTR(self));
mp_hal_wake_main_task_from_isr();
}
STATIC const machine_pin_obj_t *machine_pin_find(mp_obj_t pin_in) {
if (mp_obj_is_type(pin_in, &machine_pin_type)) {
return pin_in;
}
// Try to find the pin via integer index into the array of all pins.
if (mp_obj_is_int(pin_in)) {
int wanted_pin = mp_obj_get_int(pin_in);
if (0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj_table)) {
const machine_pin_obj_t *self = (machine_pin_obj_t *)&machine_pin_obj_table[wanted_pin];
if (self->base.type != NULL) {
return self;
}
}
}
// Try to find the pin in the board pins dict.
if (mp_obj_is_str(pin_in)) {
const machine_pin_obj_t *self = machine_pin_find_named(&machine_pin_board_pins_locals_dict, pin_in);
if (self && self->base.type != NULL) {
return self;
}
}
mp_raise_ValueError(MP_ERROR_TEXT("invalid pin"));
}
gpio_num_t machine_pin_get_id(mp_obj_t pin_in) {
const machine_pin_obj_t *self = machine_pin_find(pin_in);
return PIN_OBJ_PTR_INDEX(self);
}
STATIC void machine_pin_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
machine_pin_obj_t *self = self_in;
mp_printf(print, "Pin(%u)", PIN_OBJ_PTR_INDEX(self));
}
// pin.init(mode=None, pull=-1, *, value, drive, hold)
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) {
enum { ARG_mode, ARG_pull, ARG_value, ARG_drive, ARG_hold };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_OBJ, {.u_obj = mp_const_none}},
{ MP_QSTR_pull, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)}},
{ MP_QSTR_value, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
{ MP_QSTR_drive, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
{ MP_QSTR_hold, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL}},
};
// parse args
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);
gpio_num_t index = PIN_OBJ_PTR_INDEX(self);
// reset the pin to digital if this is a mode-setting init (grab it back from ADC)
if (args[ARG_mode].u_obj != mp_const_none) {
if (rtc_gpio_is_valid_gpio(index)) {
#if !CONFIG_IDF_TARGET_ESP32C3
rtc_gpio_deinit(index);
#endif
}
}
#if CONFIG_IDF_TARGET_ESP32C3
if (index == 18 || index == 19) {
CLEAR_PERI_REG_MASK(USB_SERIAL_JTAG_CONF0_REG, USB_SERIAL_JTAG_USB_PAD_ENABLE);
}
#endif
// configure the pin for gpio
esp_rom_gpio_pad_select_gpio(index);
// set initial value (do this before configuring mode/pull)
if (args[ARG_value].u_obj != MP_OBJ_NULL) {
gpio_set_level(index, mp_obj_is_true(args[ARG_value].u_obj));
}
// set drive capability (do this before configuring mode)
if (args[ARG_drive].u_obj != MP_OBJ_NULL && GPIO_IS_VALID_OUTPUT_GPIO(index)) {
mp_int_t strength = mp_obj_get_int(args[ARG_drive].u_obj);
if (0 <= strength && strength < GPIO_DRIVE_CAP_MAX) {
gpio_set_drive_capability(index, strength);
}
}
// configure mode
if (args[ARG_mode].u_obj != mp_const_none) {
mp_int_t pin_io_mode = mp_obj_get_int(args[ARG_mode].u_obj);
#ifdef GPIO_FIRST_NON_OUTPUT
if (index >= GPIO_FIRST_NON_OUTPUT && (pin_io_mode & GPIO_MODE_DEF_OUTPUT)) {
mp_raise_ValueError(MP_ERROR_TEXT("pin can only be input"));
}
#endif
gpio_set_direction(index, pin_io_mode);
}
// configure pull
if (args[ARG_pull].u_obj != MP_OBJ_NEW_SMALL_INT(-1)) {
int mode = 0;
if (args[ARG_pull].u_obj != mp_const_none) {
mode = mp_obj_get_int(args[ARG_pull].u_obj);
}
if (mode & GPIO_PULL_DOWN) {
gpio_pulldown_en(index);
} else {
gpio_pulldown_dis(index);
}
if (mode & GPIO_PULL_UP) {
gpio_pullup_en(index);
} else {
gpio_pullup_dis(index);
}
}
// configure pad hold
if (args[ARG_hold].u_obj != MP_OBJ_NULL && GPIO_IS_VALID_OUTPUT_GPIO(index)) {
// always disable pad hold to apply outstanding config changes
gpio_hold_dis(index);
// (re-)enable pad hold if requested
if (mp_obj_is_true(args[ARG_hold].u_obj)) {
gpio_hold_en(index);
}
}
return mp_const_none;
}
// constructor(id, ...)
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) {
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// get the wanted pin object
const machine_pin_obj_t *self = machine_pin_find(args[0]);
if (n_args > 1 || n_kw > 0) {
// pin mode given, so configure this GPIO
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
machine_pin_obj_init_helper(self, n_args - 1, args + 1, &kw_args);
}
return MP_OBJ_FROM_PTR(self);
}
// fast method for getting/setting pin value
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) {
mp_arg_check_num(n_args, n_kw, 0, 1, false);
machine_pin_obj_t *self = self_in;
gpio_num_t index = PIN_OBJ_PTR_INDEX(self);
if (n_args == 0) {
// get pin
return MP_OBJ_NEW_SMALL_INT(gpio_get_level(index));
} else {
// set pin
gpio_set_level(index, mp_obj_is_true(args[0]));
return mp_const_none;
}
}
// pin.init(mode, pull)
STATIC mp_obj_t machine_pin_obj_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return machine_pin_obj_init_helper(args[0], n_args - 1, args + 1, kw_args);
}
MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_init_obj, 1, machine_pin_obj_init);
// pin.value([value])
STATIC mp_obj_t machine_pin_value(size_t n_args, const mp_obj_t *args) {
return machine_pin_call(args[0], n_args - 1, 0, args + 1);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_value_obj, 1, 2, machine_pin_value);
// pin.off()
STATIC mp_obj_t machine_pin_off(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
gpio_set_level(PIN_OBJ_PTR_INDEX(self), 0);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_off_obj, machine_pin_off);
// pin.on()
STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
gpio_set_level(PIN_OBJ_PTR_INDEX(self), 1);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);
// pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING)
STATIC mp_obj_t machine_pin_irq(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
enum { ARG_handler, ARG_trigger, ARG_wake };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_handler, MP_ARG_OBJ, {.u_obj = mp_const_none} },
{ MP_QSTR_trigger, MP_ARG_INT, {.u_int = GPIO_INTR_POSEDGE | GPIO_INTR_NEGEDGE} },
{ MP_QSTR_wake, MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
machine_pin_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);
if (n_args > 1 || kw_args->used != 0) {
// configure irq
gpio_num_t index = PIN_OBJ_PTR_INDEX(self);
mp_obj_t handler = args[ARG_handler].u_obj;
uint32_t trigger = args[ARG_trigger].u_int;
mp_obj_t wake_obj = args[ARG_wake].u_obj;
if ((trigger == GPIO_INTR_LOW_LEVEL || trigger == GPIO_INTR_HIGH_LEVEL) && wake_obj != mp_const_none) {
mp_int_t wake;
if (mp_obj_get_int_maybe(wake_obj, &wake)) {
if (wake < 2 || wake > 7) {
mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
}
} else {
mp_raise_ValueError(MP_ERROR_TEXT("bad wake value"));
}
if (machine_rtc_config.wake_on_touch) { // not compatible
mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
}
if (!RTC_IS_VALID_EXT_PIN(index)) {
mp_raise_ValueError(MP_ERROR_TEXT("invalid pin for wake"));
}
if (machine_rtc_config.ext0_pin == -1) {
machine_rtc_config.ext0_pin = index;
} else if (machine_rtc_config.ext0_pin != index) {
mp_raise_ValueError(MP_ERROR_TEXT("no resources"));
}
machine_rtc_config.ext0_level = trigger == GPIO_INTR_LOW_LEVEL ? 0 : 1;
machine_rtc_config.ext0_wake_types = wake;
} else {
if (machine_rtc_config.ext0_pin == index) {
machine_rtc_config.ext0_pin = -1;
}
if (handler == mp_const_none) {
handler = MP_OBJ_NULL;
trigger = 0;
}
gpio_isr_handler_remove(index);
MP_STATE_PORT(machine_pin_irq_handler)[index] = handler;
gpio_set_intr_type(index, trigger);
gpio_isr_handler_add(index, machine_pin_isr_handler, (void *)self);
}
}
// return the irq object
return MP_OBJ_FROM_PTR(&self->irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);
MP_DEFINE_CONST_OBJ_TYPE(
machine_pin_board_pins_obj_type,
MP_QSTR_board,
MP_TYPE_FLAG_NONE,
locals_dict, &machine_pin_board_pins_locals_dict
);
STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&machine_pin_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },
// class attributes
{ MP_ROM_QSTR(MP_QSTR_board), MP_ROM_PTR(&machine_pin_board_pins_obj_type) },
// class constants
{ MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_MODE_INPUT) },
{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT) },
{ MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(GPIO_MODE_INPUT_OUTPUT_OD) },
{ MP_ROM_QSTR(MP_QSTR_PULL_UP), MP_ROM_INT(GPIO_PULL_UP) },
{ MP_ROM_QSTR(MP_QSTR_PULL_DOWN), MP_ROM_INT(GPIO_PULL_DOWN) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_RISING), MP_ROM_INT(GPIO_INTR_POSEDGE) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_INTR_NEGEDGE) },
{ MP_ROM_QSTR(MP_QSTR_WAKE_LOW), MP_ROM_INT(GPIO_INTR_LOW_LEVEL) },
{ MP_ROM_QSTR(MP_QSTR_WAKE_HIGH), MP_ROM_INT(GPIO_INTR_HIGH_LEVEL) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_0), MP_ROM_INT(GPIO_DRIVE_CAP_0) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_1), MP_ROM_INT(GPIO_DRIVE_CAP_1) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_2), MP_ROM_INT(GPIO_DRIVE_CAP_2) },
{ MP_ROM_QSTR(MP_QSTR_DRIVE_3), MP_ROM_INT(GPIO_DRIVE_CAP_3) },
};
STATIC mp_uint_t pin_ioctl(mp_obj_t self_in, mp_uint_t request, uintptr_t arg, int *errcode) {
(void)errcode;
machine_pin_obj_t *self = self_in;
gpio_num_t index = PIN_OBJ_PTR_INDEX(self);
switch (request) {
case MP_PIN_READ: {
return gpio_get_level(index);
}
case MP_PIN_WRITE: {
gpio_set_level(index, arg);
return 0;
}
}
return -1;
}
STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);
STATIC const mp_pin_p_t pin_pin_p = {
.ioctl = pin_ioctl,
};
MP_DEFINE_CONST_OBJ_TYPE(
machine_pin_type,
MP_QSTR_Pin,
MP_TYPE_FLAG_NONE,
make_new, mp_pin_make_new,
print, machine_pin_print,
call, machine_pin_call,
protocol, &pin_pin_p,
locals_dict, &machine_pin_locals_dict
);
/******************************************************************************/
// Pin IRQ object
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) {
machine_pin_irq_obj_t *self = self_in;
mp_arg_check_num(n_args, n_kw, 0, 0, false);
machine_pin_isr_handler((void *)PIN_OBJ_PTR_FROM_IRQ_OBJ_PTR(self));
return mp_const_none;
}
STATIC mp_obj_t machine_pin_irq_trigger(size_t n_args, const mp_obj_t *args) {
machine_pin_irq_obj_t *self = args[0];
gpio_num_t index = PIN_OBJ_PTR_INDEX(PIN_OBJ_PTR_FROM_IRQ_OBJ_PTR(self));
uint32_t orig_trig = GPIO.pin[index].int_type;
if (n_args == 2) {
// set trigger
gpio_set_intr_type(index, mp_obj_get_int(args[1]));
}
// return original trigger value
return MP_OBJ_NEW_SMALL_INT(orig_trig);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_irq_trigger_obj, 1, 2, machine_pin_irq_trigger);
STATIC const mp_rom_map_elem_t machine_pin_irq_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_trigger), MP_ROM_PTR(&machine_pin_irq_trigger_obj) },
};
STATIC MP_DEFINE_CONST_DICT(machine_pin_irq_locals_dict, machine_pin_irq_locals_dict_table);
MP_DEFINE_CONST_OBJ_TYPE(
machine_pin_irq_type,
MP_QSTR_IRQ,
MP_TYPE_FLAG_NONE,
call, machine_pin_irq_call,
locals_dict, &machine_pin_irq_locals_dict
);
MP_REGISTER_ROOT_POINTER(mp_obj_t machine_pin_irq_handler[GPIO_PIN_COUNT]);
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