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micropython/ports/rp2/machine_pin.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2016-2021 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 <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "py/mphal.h"
#include "shared/runtime/mpirq.h"
#include "modmachine.h"
#include "extmod/virtpin.h"
#include "hardware/irq.h"
#include "hardware/regs/intctrl.h"
#include "hardware/structs/iobank0.h"
#include "hardware/structs/padsbank0.h"
#define GPIO_MODE_IN (0)
#define GPIO_MODE_OUT (1)
#define GPIO_MODE_OPEN_DRAIN (2)
#define GPIO_MODE_ALT (3)
// These can be or'd together.
#define GPIO_PULL_UP (1)
#define GPIO_PULL_DOWN (2)
#define GPIO_IRQ_ALL (0xf)
// Macros to access the state of the hardware.
#define GPIO_GET_FUNCSEL(id) ((iobank0_hw->io[(id)].ctrl & IO_BANK0_GPIO0_CTRL_FUNCSEL_BITS) >> IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB)
#define GPIO_IS_OUT(id) (sio_hw->gpio_oe & (1 << (id)))
#define GPIO_IS_PULL_UP(id) (padsbank0_hw->io[(id)] & PADS_BANK0_GPIO0_PUE_BITS)
#define GPIO_IS_PULL_DOWN(id) (padsbank0_hw->io[(id)] & PADS_BANK0_GPIO0_PDE_BITS)
// Open drain behaviour is simulated.
#define GPIO_IS_OPEN_DRAIN(id) (machine_pin_open_drain_mask & (1 << (id)))
typedef struct _machine_pin_obj_t {
mp_obj_base_t base;
uint32_t id;
} machine_pin_obj_t;
typedef struct _machine_pin_irq_obj_t {
mp_irq_obj_t base;
uint32_t flags;
uint32_t trigger;
} machine_pin_irq_obj_t;
STATIC const mp_irq_methods_t machine_pin_irq_methods;
STATIC const machine_pin_obj_t machine_pin_obj[NUM_BANK0_GPIOS] = {
{{&machine_pin_type}, 0},
{{&machine_pin_type}, 1},
{{&machine_pin_type}, 2},
{{&machine_pin_type}, 3},
{{&machine_pin_type}, 4},
{{&machine_pin_type}, 5},
{{&machine_pin_type}, 6},
{{&machine_pin_type}, 7},
{{&machine_pin_type}, 8},
{{&machine_pin_type}, 9},
{{&machine_pin_type}, 10},
{{&machine_pin_type}, 11},
{{&machine_pin_type}, 12},
{{&machine_pin_type}, 13},
{{&machine_pin_type}, 14},
{{&machine_pin_type}, 15},
{{&machine_pin_type}, 16},
{{&machine_pin_type}, 17},
{{&machine_pin_type}, 18},
{{&machine_pin_type}, 19},
{{&machine_pin_type}, 20},
{{&machine_pin_type}, 21},
{{&machine_pin_type}, 22},
{{&machine_pin_type}, 23},
{{&machine_pin_type}, 24},
{{&machine_pin_type}, 25},
{{&machine_pin_type}, 26},
{{&machine_pin_type}, 27},
{{&machine_pin_type}, 28},
{{&machine_pin_type}, 29},
};
// Mask with "1" indicating that the corresponding pin is in simulated open-drain mode.
uint32_t machine_pin_open_drain_mask;
STATIC void gpio_irq(void) {
for (int i = 0; i < 4; ++i) {
uint32_t intr = iobank0_hw->intr[i];
if (intr) {
for (int j = 0; j < 8; ++j) {
if (intr & 0xf) {
uint32_t gpio = 8 * i + j;
gpio_acknowledge_irq(gpio, intr & 0xf);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_obj[gpio]);
if (irq != NULL && (intr & irq->trigger)) {
irq->flags = intr & irq->trigger;
mp_irq_handler(&irq->base);
}
}
intr >>= 4;
}
}
}
}
void machine_pin_init(void) {
memset(MP_STATE_PORT(machine_pin_irq_obj), 0, sizeof(MP_STATE_PORT(machine_pin_irq_obj)));
irq_set_exclusive_handler(IO_IRQ_BANK0, gpio_irq);
irq_set_enabled(IO_IRQ_BANK0, true);
}
void machine_pin_deinit(void) {
for (int i = 0; i < NUM_BANK0_GPIOS; ++i) {
gpio_set_irq_enabled(i, GPIO_IRQ_ALL, false);
}
irq_set_enabled(IO_IRQ_BANK0, false);
irq_remove_handler(IO_IRQ_BANK0, gpio_irq);
}
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;
uint funcsel = GPIO_GET_FUNCSEL(self->id);
qstr mode_qst;
if (funcsel == GPIO_FUNC_SIO) {
if (GPIO_IS_OPEN_DRAIN(self->id)) {
mode_qst = MP_QSTR_OPEN_DRAIN;
} else if (GPIO_IS_OUT(self->id)) {
mode_qst = MP_QSTR_OUT;
} else {
mode_qst = MP_QSTR_IN;
}
} else {
mode_qst = MP_QSTR_ALT;
}
mp_printf(print, "Pin(%u, mode=%q", self->id, mode_qst);
bool pull_up = false;
if (GPIO_IS_PULL_UP(self->id)) {
mp_printf(print, ", pull=%q", MP_QSTR_PULL_UP);
pull_up = true;
}
if (GPIO_IS_PULL_DOWN(self->id)) {
if (pull_up) {
mp_printf(print, "|%q", MP_QSTR_PULL_DOWN);
} else {
mp_printf(print, ", pull=%q", MP_QSTR_PULL_DOWN);
}
}
if (funcsel != GPIO_FUNC_SIO) {
mp_printf(print, ", alt=%u", funcsel);
}
mp_printf(print, ")");
}
// pin.init(mode, pull=None, *, value=None, alt=FUNC_SIO)
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_alt };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
{ MP_QSTR_pull, MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
{ MP_QSTR_value, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
{ MP_QSTR_alt, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = GPIO_FUNC_SIO}},
};
// 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);
// set initial value (do this before configuring mode/pull)
if (args[ARG_value].u_obj != mp_const_none) {
gpio_put(self->id, mp_obj_is_true(args[ARG_value].u_obj));
}
// configure mode
if (args[ARG_mode].u_obj != mp_const_none) {
mp_int_t mode = mp_obj_get_int(args[ARG_mode].u_obj);
if (mode == GPIO_MODE_IN) {
mp_hal_pin_input(self->id);
} else if (mode == GPIO_MODE_OUT) {
mp_hal_pin_output(self->id);
} else if (mode == GPIO_MODE_OPEN_DRAIN) {
mp_hal_pin_open_drain(self->id);
} else {
// Alternate function.
gpio_set_function(self->id, args[ARG_alt].u_int);
machine_pin_open_drain_mask &= ~(1 << self->id);
}
}
// configure pull (unconditionally because None means no-pull)
uint32_t pull = 0;
if (args[ARG_pull].u_obj != mp_const_none) {
pull = mp_obj_get_int(args[ARG_pull].u_obj);
}
gpio_set_pulls(self->id, pull & GPIO_PULL_UP, pull & GPIO_PULL_DOWN);
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
int wanted_pin = mp_obj_get_int(args[0]);
if (!(0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj))) {
mp_raise_ValueError("invalid pin");
}
const machine_pin_obj_t *self = &machine_pin_obj[wanted_pin];
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;
if (n_args == 0) {
// get pin
return MP_OBJ_NEW_SMALL_INT(gpio_get(self->id));
} else {
// set pin
bool value = mp_obj_is_true(args[0]);
if (GPIO_IS_OPEN_DRAIN(self->id)) {
MP_STATIC_ASSERT(GPIO_IN == 0 && GPIO_OUT == 1);
gpio_set_dir(self->id, 1 - value);
} else {
gpio_put(self->id, value);
}
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.low()
STATIC mp_obj_t machine_pin_low(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (GPIO_IS_OPEN_DRAIN(self->id)) {
gpio_set_dir(self->id, GPIO_OUT);
} else {
gpio_clr_mask(1u << self->id);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_low_obj, machine_pin_low);
// pin.high()
STATIC mp_obj_t machine_pin_high(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (GPIO_IS_OPEN_DRAIN(self->id)) {
gpio_set_dir(self->id, GPIO_IN);
} else {
gpio_set_mask(1u << self->id);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_high_obj, machine_pin_high);
// pin.toggle()
STATIC mp_obj_t machine_pin_toggle(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
if (GPIO_IS_OPEN_DRAIN(self->id)) {
if (GPIO_IS_OUT(self->id)) {
gpio_set_dir(self->id, GPIO_IN);
} else {
gpio_set_dir(self->id, GPIO_OUT);
}
} else {
gpio_xor_mask(1u << self->id);
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_toggle_obj, machine_pin_toggle);
STATIC machine_pin_irq_obj_t *machine_pin_get_irq(mp_hal_pin_obj_t pin) {
// Get the IRQ object.
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_obj[pin]);
// Allocate the IRQ object if it doesn't already exist.
if (irq == NULL) {
irq = m_new_obj(machine_pin_irq_obj_t);
irq->base.base.type = &mp_irq_type;
irq->base.methods = (mp_irq_methods_t *)&machine_pin_irq_methods;
irq->base.parent = MP_OBJ_FROM_PTR(&machine_pin_obj[pin]);
irq->base.handler = mp_const_none;
irq->base.ishard = false;
MP_STATE_PORT(machine_pin_irq_obj[pin]) = irq;
}
return irq;
}
void mp_hal_pin_interrupt(mp_hal_pin_obj_t pin, mp_obj_t handler, mp_uint_t trigger, bool hard) {
machine_pin_irq_obj_t *irq = machine_pin_get_irq(pin);
// Disable all IRQs while data is updated.
gpio_set_irq_enabled(pin, GPIO_IRQ_ALL, false);
// Update IRQ data.
irq->base.handler = handler;
irq->base.ishard = hard;
irq->flags = 0;
irq->trigger = trigger;
// Enable IRQ if a handler is given.
if (handler != mp_const_none && trigger != MP_HAL_PIN_TRIGGER_NONE) {
gpio_set_irq_enabled(pin, trigger, true);
}
}
// pin.irq(handler=None, trigger=IRQ_FALLING|IRQ_RISING, hard=False)
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_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 = MP_HAL_PIN_TRIGGER_FALL | MP_HAL_PIN_TRIGGER_RISE} },
{ MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
};
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);
machine_pin_irq_obj_t *irq = machine_pin_get_irq(self->id);
if (n_args > 1 || kw_args->used != 0) {
// Update IRQ data.
mp_obj_t handler = args[ARG_handler].u_obj;
mp_uint_t trigger = args[ARG_trigger].u_int;
bool hard = args[ARG_hard].u_bool;
mp_hal_pin_interrupt(self->id, handler, trigger, hard);
}
return MP_OBJ_FROM_PTR(irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);
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_low), MP_ROM_PTR(&machine_pin_low_obj) },
{ MP_ROM_QSTR(MP_QSTR_high), MP_ROM_PTR(&machine_pin_high_obj) },
{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_low_obj) },
{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_high_obj) },
{ MP_ROM_QSTR(MP_QSTR_toggle), MP_ROM_PTR(&machine_pin_toggle_obj) },
{ MP_ROM_QSTR(MP_QSTR_irq), MP_ROM_PTR(&machine_pin_irq_obj) },
// class constants
{ MP_ROM_QSTR(MP_QSTR_IN), MP_ROM_INT(GPIO_MODE_IN) },
{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_MODE_OUT) },
{ MP_ROM_QSTR(MP_QSTR_OPEN_DRAIN), MP_ROM_INT(GPIO_MODE_OPEN_DRAIN) },
{ MP_ROM_QSTR(MP_QSTR_ALT), MP_ROM_INT(GPIO_MODE_ALT) },
{ 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_IRQ_EDGE_RISE) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_IRQ_EDGE_FALL) },
};
STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);
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;
switch (request) {
case MP_PIN_READ: {
return gpio_get(self->id);
}
case MP_PIN_WRITE: {
gpio_put(self->id, arg);
return 0;
}
}
return -1;
}
STATIC const mp_pin_p_t pin_pin_p = {
.ioctl = pin_ioctl,
};
const mp_obj_type_t machine_pin_type = {
{ &mp_type_type },
.name = MP_QSTR_Pin,
.print = machine_pin_print,
.make_new = mp_pin_make_new,
.call = machine_pin_call,
.protocol = &pin_pin_p,
.locals_dict = (mp_obj_t)&machine_pin_locals_dict,
};
STATIC mp_uint_t machine_pin_irq_trigger(mp_obj_t self_in, mp_uint_t new_trigger) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_obj[self->id]);
gpio_set_irq_enabled(self->id, GPIO_IRQ_ALL, false);
irq->flags = 0;
irq->trigger = new_trigger;
gpio_set_irq_enabled(self->id, new_trigger, true);
return 0;
}
STATIC mp_uint_t machine_pin_irq_info(mp_obj_t self_in, mp_uint_t info_type) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_obj[self->id]);
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 machine_pin_irq_methods = {
.trigger = machine_pin_irq_trigger,
.info = machine_pin_irq_info,
};
mp_hal_pin_obj_t mp_hal_get_pin_obj(mp_obj_t obj) {
if (!mp_obj_is_type(obj, &machine_pin_type)) {
mp_raise_ValueError(MP_ERROR_TEXT("expecting a Pin"));
}
machine_pin_obj_t *pin = MP_OBJ_TO_PTR(obj);
return pin->id;
}