pulseio (pulsein) for RP2040

8 files changed, 431 insertions, 1 deletions

diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.c b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
new file mode 100644
index 000000000..c642561c8
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.c
@@ -0,0 +1,231 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017-2018 Scott Shawcroft 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 "src/rp2_common/hardware_irq/include/hardware/irq.h"
+
+#include <stdint.h>
+
+#include "background.h"
+#include "mpconfigport.h"
+#include "py/gc.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
+
+const uint16_t pulsein_program[] = {
+//   set    pindirs, 0 ; For input
+    0xe080,
+//   wait   0 pin, 0   ; Wait for first low to start
+    0x2020,
+//   irq wait 0        ; set IRQ 0 and wait
+    0xc020,
+//   .bitloop
+//   in    pins, 1 [1] ; sample every 3 cycles (2 instructions, 1 delay)
+    0x4101,
+//   jmp bitloop
+    0x0003,
+};
+
+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]),
+        125000 * 4,
+        NULL, 0,
+        NULL, 0,
+        pin, 1,
+        NULL, 0,
+        NULL, 0,
+        1 << self->pin, false, true,
+        false, 8, false, // TX, unused
+        true, 32, true, // RX iauto-push every 32 bits
+        false); // claim pins
+    self->pio = state_machine.pio;
+    self->sm = state_machine.state_machine;
+    self->sm_cfg = state_machine.sm_config;
+    self->offset = state_machine.offset;
+    if ( self->pio == pio0 ) {
+       self->pio_interrupt = PIO0_IRQ_0;
+    } else {
+       self->pio_interrupt = PIO1_IRQ_0;
+    }
+
+    pio_sm_set_in_pins(self->pio,self->sm,pin->number);
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    irq_set_exclusive_handler(self->pio_interrupt, common_hal_pulseio_pulsein_interrupt);
+    irq_set_enabled(self->pio_interrupt, true);
+    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
+    hw_set_bits(&self->pio->inte0, 1u << (self->sm+8));
+    pio_sm_set_enabled(self->pio, self->sm, 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;
+    }
+    irq_set_enabled(self->pio_interrupt, false);
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_unclaim (self->pio, self->sm);
+    m_free(self->buffer);
+    self->pin = NO_PIN;
+}
+
+void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
+    pio_sm_set_enabled(self->pio, self->sm, false);
+}
+
+void common_hal_pulseio_pulsein_interrupt() {
+
+    pulseio_pulsein_obj_t* self = save_self;
+// clear interrupt
+    hw_clear_bits(&self->pio->inte0, 1u << self->sm);
+    self->pio->irq = 1u << self->sm;
+    irq_clear(self->pio_interrupt);
+    pio_sm_clear_fifos(self->pio,self->sm);
+    bool last_level = true;
+    uint level_count = 0;
+    uint16_t result = 0;
+    uint16_t buf_index = 0;
+    while ( buf_index < self->maxlen ) {
+       uint32_t rxfifo = 0;
+       rxfifo = pio_sm_get_blocking(self->pio, self->sm);
+       // 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 * 6;
+           last_level = level;
+           level_count = 1;
+           // ignore pulses that are too long and too short
+           if (result < 10000 && result > 10) {
+            self->buffer[buf_index] = result;
+            buf_index++;
+            self->len++;
+            }
+           }
+         }
+         // check for a pulse thats too long (20ms)
+            if ( level_count > 3000 ) {
+               break;
+            }
+    }
+    pio_sm_set_enabled(self->pio, self->sm, false);
+    pio_sm_init(self->pio, self->sm, self->offset, &self->sm_cfg);
+    pio_sm_restart(self->pio,self->sm);
+    pio_sm_set_enabled(self->pio, self->sm, true);
+    irq_set_enabled(self->pio_interrupt, true);
+}
+void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self,
+        uint16_t trigger_duration) {
+    // 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, false);
+        common_hal_mcu_delay_us((uint32_t)trigger_duration);
+        gpio_set_function(self->pin ,GPIO_FUNC_PIO0);
+    }
+
+    // Reconfigure the pin for PIO
+   common_hal_mcu_delay_us(100);
+    gpio_set_function(self->pin, GPIO_FUNC_PIO0);
+    pio_sm_set_enabled(self->pio, self->sm, true);
+    pio_sm_exec(self->pio,self->sm,0x20a0);
+}
+
+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 (self->len == 0 ) {
+    // reset buffer pointer
+         self->start = 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;
+}
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseIn.h b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
new file mode 100644
index 000000000..35f7309ee
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseIn.h
@@ -0,0 +1,53 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Scott Shawcroft 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 "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;
+    pio_sm_config sm_cfg;
+    PIO pio;
+    uint8_t sm;
+    uint8_t offset;
+    uint16_t pio_interrupt;
+} pulseio_pulsein_obj_t;
+
+void pulsein_reset(void);
+void common_hal_pulseio_pulsein_interrupt();
+
+#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEIN_H
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.c b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
new file mode 100644
index 000000000..57c516afd
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.c
@@ -0,0 +1,97 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * SPDX-FileCopyrightText: Copyright (c) 2016 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 "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) {
+    if (!carrier || pin || frequency) {
+        mp_raise_NotImplementedError(translate("Port does not accept pins or frequency. Construct and pass a PWMOut Carrier instead"));
+    }
+
+    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;
+
+}
diff --git a/ports/raspberrypi/common-hal/pulseio/PulseOut.h b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
new file mode 100644
index 000000000..e3f17e2d6
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/PulseOut.h
@@ -0,0 +1,44 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2017 Scott Shawcroft 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_PULSEOUT_H
+#define MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H
+
+#include "common-hal/microcontroller/Pin.h"
+
+#include "py/obj.h"
+
+#define NO_PIN 0xff
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t pin;
+} pulseio_pulseout_obj_t;
+
+void pulseout_reset(void);
+void pulseout_interrupt_handler(uint8_t index);
+
+#endif // MICROPY_INCLUDED_ATMEL_SAMD_COMMON_HAL_PULSEIO_PULSEOUT_H
diff --git a/ports/raspberrypi/common-hal/pulseio/__init__.c b/ports/raspberrypi/common-hal/pulseio/__init__.c
new file mode 100644
index 000000000..2bee925bc
--- /dev/null
+++ b/ports/raspberrypi/common-hal/pulseio/__init__.c
@@ -0,0 +1 @@
+// No pulseio module functions.
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
index 90c48130e..da85748a9 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c
@@ -193,6 +193,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     if (program_offset == 32) {
         program_offset = pio_add_program(self->pio, &program_struct);
     }
+    self->offset = program_offset;
     _current_program_id[pio_index][state_machine] = program_id;
     _current_program_len[pio_index][state_machine] = program_len;
     _current_program_offset[pio_index][state_machine] = program_offset;
@@ -262,6 +263,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     self->in_shift_right = in_shift_right;
 
     sm_config_set_fifo_join(&c, join);
+    self->sm_config = c;
 
     pio_sm_init(self->pio, self->state_machine, program_offset, &c);
     pio_sm_set_enabled(self->pio, self->state_machine, true);
diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
index 6b70b6b5b..289e91b7d 100644
--- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
+++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.h
@@ -43,6 +43,8 @@ typedef struct {
     bool out_shift_right;
     bool in_shift_right;
     uint32_t actual_frequency;
+    pio_sm_config sm_config;
+    uint8_t offset;
 } rp2pio_statemachine_obj_t;
 
 void reset_rp2pio_statemachine(void);
diff --git a/ports/raspberrypi/mpconfigport.mk b/ports/raspberrypi/mpconfigport.mk
index ab85c59f9..6f411387f 100644
--- a/ports/raspberrypi/mpconfigport.mk
+++ b/ports/raspberrypi/mpconfigport.mk
@@ -26,13 +26,13 @@ endif
 CIRCUITPY_FULL_BUILD = 1
 CIRCUITPY_BITOPS = 1
 CIRCUITPY_PWMIO = 1
+CIRCUITPY_PULSEIO = 1
 
 # Things that need to be implemented.
 CIRCUITPY_COUNTIO = 0  # Use PWM interally
 CIRCUITPY_FREQUENCYIO = 0 # Use PWM interally
 CIRCUITPY_I2CPERIPHERAL = 0
 CIRCUITPY_NVM = 0
-CIRCUITPY_PULSEIO = 0 # Use PIO interally
 CIRCUITPY_ROTARYIO = 0 # Use PIO interally
 CIRCUITPY_WATCHDOG = 1