Merge pull request #4262 from DavePutz/issue_4111

Issue 4111 - Implement pulseio(pulsein) for RP2040

Author: tannewt

ports/raspberrypi/common-hal/pulseio/PulseIn.c

@@ -0,0 +1,223 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Dave Putz for Adafruit Industries
+ *
+ * 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 "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
+
+#include <stdint.h>
+
+#include "py/runtime.h"
+#include "shared-bindings/microcontroller/__init__.h"
+#include "shared-bindings/pulseio/PulseIn.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "supervisor/shared/translate.h"
+#include "bindings/rp2pio/StateMachine.h"
+#include "common-hal/pulseio/PulseIn.h"
+
+pulseio_pulsein_obj_t* save_self;
+
+#define NO_PIN 0xff
+volatile bool last_level;
+volatile uint16_t level_count = 0;
+volatile uint16_t result = 0;
+volatile uint16_t buf_index = 0;
+
+uint16_t pulsein_program[] = {
+    0x4001, //  1: in     pins, 1
+};
+
+void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self,
+        const mcu_pin_obj_t* pin, uint16_t maxlen, bool idle_state) {
+
+    self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false);
+    if (self->buffer == NULL) {
+        mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"), maxlen * sizeof(uint16_t));
+    }
+    self->pin = pin->number;
+    self->maxlen = maxlen;
+    self->idle_state = idle_state;
+    self->start = 0;
+    self->len = 0;
+    save_self = self;
+
+    // Set everything up.
+    rp2pio_statemachine_obj_t state_machine;
+
+    bool ok = rp2pio_statemachine_construct(&state_machine,
+        pulsein_program, sizeof(pulsein_program) / sizeof(pulsein_program[0]),
+        1000000,
+        NULL, 0,
+        NULL, 0,
+        pin, 1,
+        0,0,
+        NULL, 0,
+        NULL, 0,
+        1, 0,
+        1 << self->pin, false, true,
+        false, 8, false, // TX, unused
+        false,
+        true, 32, true, // RX auto-push every 32 bits
+        false); // claim pins
+    pio_sm_set_enabled(state_machine.pio,state_machine.state_machine, false);
+    self->state_machine.pio = state_machine.pio;
+    self->state_machine.state_machine = state_machine.state_machine;
+    self->state_machine.sm_config = state_machine.sm_config;
+    self->state_machine.offset = state_machine.offset;
+    pio_sm_clear_fifos(self->state_machine.pio,self->state_machine.state_machine);
+    last_level = self->idle_state;
+    level_count = 0;
+    result = 0;
+    buf_index = 0;
+
+    pio_sm_set_in_pins(state_machine.pio,state_machine.state_machine,pin->number);
+    common_hal_rp2pio_statemachine_set_interrupt_handler(&state_machine,&common_hal_pulseio_pulsein_interrupt,NULL,PIO_IRQ0_INTE_SM0_RXNEMPTY_BITS);
+
+    // exec a set pindirs to 0 for input
+    pio_sm_exec(state_machine.pio,state_machine.state_machine,0xe080);
+    //exec the appropriate wait for pin
+    if (self->idle_state == true ) {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
+    } else {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
+    }
+    pio_sm_set_enabled(state_machine.pio, state_machine.state_machine, true);
+}
+
+bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
+    return self->pin == NO_PIN;
+}
+
+void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
+    if (common_hal_pulseio_pulsein_deinited(self)) {
+        return;
+    }
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+    pio_sm_unclaim (self->state_machine.pio, self->state_machine.state_machine);
+    m_free(self->buffer);
+    self->pin = NO_PIN;
+}
+
+void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+}
+
+void common_hal_pulseio_pulsein_interrupt() {
+
+    pulseio_pulsein_obj_t* self = save_self;
+    uint32_t rxfifo = 0;
+
+    rxfifo = pio_sm_get_blocking(self->state_machine.pio, self->state_machine.state_machine);
+    // translate from fifo to buffer
+    for (uint i = 0; i < 32; i++) {
+        bool level = (rxfifo & (1 << i)) >> i;
+        if (level == last_level ) {
+            level_count ++;
+        } else {
+           result = level_count;
+           last_level = level;
+           level_count = 1;
+           // ignore pulses that are too long and too short
+           if (result < 4000 && result > 10) {
+               self->buffer[buf_index] = result;
+               buf_index++;
+               self->len++;
+             }
+           }
+       }
+// check for a pulse thats too long (4000 us) or maxlen reached,  and reset
+    if (( level_count > 4000 ) || (buf_index >= self->maxlen)) {
+       pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, false);
+       pio_sm_init(self->state_machine.pio, self->state_machine.state_machine, self->state_machine.offset, &self->state_machine.sm_config);
+       pio_sm_restart(self->state_machine.pio,self->state_machine.state_machine);
+       pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+    }
+}
+void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
+        uint16_t trigger_duration) {
+    // exec a wait for the selected pin to change state
+    if (self->idle_state == true ) {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x2020);
+    } else {
+       pio_sm_exec(self->state_machine.pio,self->state_machine.state_machine,0x20a0);
+    }
+    // Send the trigger pulse.
+    if (trigger_duration > 0) {
+        gpio_set_function(self->pin ,GPIO_FUNC_SIO);
+        gpio_set_dir(self->pin,true);
+        gpio_put(self->pin, !self->idle_state);
+        common_hal_mcu_delay_us((uint32_t)trigger_duration);
+        gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
+        common_hal_mcu_delay_us(225);
+    }
+
+    // Reconfigure the pin for PIO
+    gpio_set_function(self->pin, GPIO_FUNC_PIO0);
+    pio_sm_set_enabled(self->state_machine.pio, self->state_machine.state_machine, true);
+}
+
+void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
+    self->start = 0;
+    self->len = 0;
+}
+
+uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
+    if (self->len == 0) {
+        mp_raise_IndexError_varg(translate("pop from empty %q"), MP_QSTR_PulseIn);
+    }
+    uint16_t value = self->buffer[self->start];
+    self->start = (self->start + 1) % self->maxlen;
+    self->len--;
+    // if we are empty reset buffer pointer and counters
+    if (self->len == 0 ) {
+         self->start = 0;
+         buf_index = 0;
+         level_count = 0;
+    }
+    return value;
+}
+
+uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) {
+    return self->maxlen;
+}
+
+uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) {
+    return self->len;
+}
+
+bool common_hal_pulseio_pulsein_get_paused(pulseio_pulsein_obj_t* self) {
+    return true;
+}
+
+uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self,
+        int16_t index) {
+    if (index < 0) {
+        index += self->len;
+    }
+    if (index < 0 || index >= self->len) {
+        mp_raise_IndexError_varg(translate("%q index out of range"), MP_QSTR_PulseIn);
+    }
+    uint16_t value = self->buffer[(self->start + index) % self->maxlen];
+    return value;
+}

ports/raspberrypi/common-hal/pulseio/PulseIn.h

@@ -0,0 +1,50 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Dave Putz for Adafruit Industries
+ *
+ * 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.
+ */
+
+#ifndef MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
+#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
+
+#include "common-hal/microcontroller/Pin.h"
+#include "src/rp2_common/hardware_pio/include/hardware/pio.h"
+#include "common-hal/rp2pio/StateMachine.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t pin;
+    uint16_t* buffer;
+    uint16_t maxlen;
+    bool idle_state;
+    volatile uint16_t start;
+    volatile uint16_t len;
+    rp2pio_statemachine_obj_t state_machine;
+} pulseio_pulsein_obj_t;
+
+void pulsein_reset(void);
+void common_hal_pulseio_pulsein_interrupt();
+
+#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H

ports/raspberrypi/common-hal/pulseio/PulseOut.c

@@ -0,0 +1,95 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2021 Dave Putz for Adafruit Industries
+ *
+ * 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 "common-hal/pulseio/PulseOut.h"
+
+#include <stdint.h>
+
+#include "src/rp2_common/hardware_gpio/include/hardware/gpio.h"
+
+#include "mpconfigport.h"
+#include "py/gc.h"
+#include "py/runtime.h"
+#include "shared-bindings/pulseio/PulseOut.h"
+#include "supervisor/shared/translate.h"
+
+static uint8_t refcount = 0;
+
+
+static uint16_t *pulse_buffer = NULL;
+static volatile uint16_t pulse_index = 0;
+static uint16_t pulse_length;
+static volatile uint32_t current_compare = 0;
+
+void pulse_finish(void) {
+    pulse_index++;
+
+    // Always turn it off.
+    if (pulse_index >= pulse_length) {
+        return;
+    }
+    current_compare = (current_compare + pulse_buffer[pulse_index] * 3 / 4) & 0xffff;
+}
+
+void pulseout_reset() {
+    refcount = 0;
+}
+
+void common_hal_pulseio_pulseout_construct(pulseio_pulseout_obj_t* self,
+                                            const pwmio_pwmout_obj_t* carrier,
+                                            const mcu_pin_obj_t* pin,
+                                            uint32_t frequency,
+                                            uint16_t duty_cycle) {
+        mp_raise_NotImplementedError(translate("Unsupported operation"));
+
+    refcount++;
+
+    self->pin = carrier->pin->number;
+
+}
+
+bool common_hal_pulseio_pulseout_deinited(pulseio_pulseout_obj_t* self) {
+    return self->pin == NO_PIN;
+}
+
+void common_hal_pulseio_pulseout_deinit(pulseio_pulseout_obj_t* self) {
+    if (common_hal_pulseio_pulseout_deinited(self)) {
+        return;
+    }
+
+
+    refcount--;
+    self->pin = NO_PIN;
+}
+
+void common_hal_pulseio_pulseout_send(pulseio_pulseout_obj_t* self, uint16_t* pulses, uint16_t length) {
+    pulse_buffer = pulses;
+    pulse_index = 0;
+    pulse_length = length;
+
+    current_compare = pulses[0] * 3 / 4;
+
+}