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micropython/ports/samd/machine_pin.c
robert-hh aa2d746ef4 samd/machine_led: Optimise size of the machine.LED class. 
By reducing the methods to on(), off(), toggle() and call, and using the
method implementation of the machine.Pin class.

The code size reduction is 756 byte.
2022-10-06 22:54:11 +11:00

521 lines
18 KiB
C
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/*
* This is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2016-2021 Damien P. George
* Copyright (c) 2022 Robert Hammelrath (pin.irq)
*
* 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.
*
* Uses pins.h & pins.c to create board (MCU package) specific 'machine_pin_obj' array.
*/
#include "string.h"
#include "py/runtime.h"
#include "py/mphal.h"
#include "shared/runtime/mpirq.h"
#include "extmod/virtpin.h"
#include "modmachine.h"
#include "samd_soc.h"
#include "pins.h"
#include "pin_af.h"
#include "hal_gpio.h"
#define GPIO_MODE_IN (0)
#define GPIO_MODE_OUT (1)
#define GPIO_MODE_OPEN_DRAIN (2)
#define GPIO_STRENGTH_2MA (0)
#define GPIO_STRENGTH_8MA (1)
#define GPIO_IRQ_EDGE_RISE (1)
#define GPIO_IRQ_EDGE_FALL (2)
typedef struct _machine_pin_irq_obj_t {
mp_irq_obj_t base;
uint32_t flags;
uint32_t trigger;
uint8_t pin_id;
} machine_pin_irq_obj_t;
STATIC const mp_irq_methods_t machine_pin_irq_methods;
uint32_t machine_pin_open_drain_mask[4];
// Open drain behaviour is simulated.
#define GPIO_IS_OPEN_DRAIN(id) (machine_pin_open_drain_mask[id / 32] & (1 << (id % 32)))
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, "GPIO P%c%02u", "ABCD"[self->id / 32], self->id % 32);
}
STATIC void pin_validate_drive(bool strength) {
if (strength != GPIO_STRENGTH_2MA && strength != GPIO_STRENGTH_8MA) {
mp_raise_ValueError(MP_ERROR_TEXT("invalid argument(s) value"));
}
}
int pin_find(mp_obj_t pin, const machine_pin_obj_t machine_pin_obj[], int table_size) {
int wanted_pin = -1;
if (mp_obj_is_small_int(pin)) {
// Pin defined by the index of pin table
wanted_pin = mp_obj_get_int(pin);
} else if (mp_obj_is_str(pin)) {
// Search by name
size_t slen;
const char *s = mp_obj_str_get_data(pin, &slen);
for (wanted_pin = 0; wanted_pin < table_size; wanted_pin++) {
if (slen == strlen(machine_pin_obj[wanted_pin].name) &&
strncmp(s, machine_pin_obj[wanted_pin].name, slen) == 0) {
break;
}
}
}
return wanted_pin;
}
// Pin.init(mode, pull=None, *, value=None, drive=0). No 'alt' yet.
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_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_drive, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = GPIO_STRENGTH_2MA} },
};
// 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) {
mp_hal_pin_write(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 {
mp_hal_pin_input(self->id); // If no args are given, the Pin is 'input'.
}
}
// configure pull. Only to be used with IN mode. The function sets the pin to INPUT.
uint32_t pull = 0;
mp_int_t dir = mp_hal_get_pin_direction(self->id);
if (dir == GPIO_DIRECTION_OUT && args[ARG_pull].u_obj != mp_const_none) {
mp_raise_ValueError(MP_ERROR_TEXT("OUT incompatible with pull"));
} else if (args[ARG_pull].u_obj != mp_const_none) {
pull = mp_obj_get_int(args[ARG_pull].u_obj);
gpio_set_pin_pull_mode(self->id, pull); // hal_gpio.h
}
// get the strength
bool strength = args[3].u_int;
pin_validate_drive(strength);
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 = pin_find(args[0], machine_pin_obj, MP_ARRAY_SIZE(machine_pin_obj));
const machine_pin_obj_t *self = NULL;
if (0 <= wanted_pin && wanted_pin < MP_ARRAY_SIZE(machine_pin_obj)) {
self = (machine_pin_obj_t *)&machine_pin_obj[wanted_pin];
}
if (self == NULL || self->base.type == NULL) {
mp_raise_ValueError(MP_ERROR_TEXT("invalid 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
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(mp_hal_pin_read(self->id));
} else {
// set pin
bool value = mp_obj_is_true(args[0]);
if (GPIO_IS_OPEN_DRAIN(self->id)) {
if (value == 0) {
mp_hal_pin_od_low(self->id);
} else {
mp_hal_pin_od_high(self->id);
}
} else {
mp_hal_pin_write(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])
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.disable(pin)
STATIC mp_obj_t machine_pin_disable(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
gpio_set_pin_direction(self->id, GPIO_DIRECTION_OFF); // Disables the pin (low power state)
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_disable_obj, machine_pin_disable);
// Pin.low() Totem-pole (push-pull)
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)) {
mp_hal_pin_od_low(self->id);
} else {
mp_hal_pin_low(self->id);
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_low_obj, machine_pin_low);
// Pin.high() Totem-pole (push-pull)
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)) {
mp_hal_pin_od_high(self->id);
} else {
mp_hal_pin_high(self->id);
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_high_obj, machine_pin_high);
// Pin.toggle(). Only TOGGLE pins set as OUTPUT.
STATIC mp_obj_t machine_pin_toggle(mp_obj_t self_in) {
machine_pin_obj_t *self = MP_OBJ_TO_PTR(self_in);
// Determine DIRECTION of PIN.
bool pin_dir;
if (GPIO_IS_OPEN_DRAIN(self->id)) {
pin_dir = mp_hal_get_pin_direction(self->id);
if (pin_dir) {
// Pin is output, thus low, switch to high
mp_hal_pin_od_high(self->id);
} else {
mp_hal_pin_od_low(self->id);
}
} else {
gpio_toggle_pin_level(self->id);
}
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_toggle_obj, machine_pin_toggle);
// Pin.drive(). Normal (0) is 2mA, High (1) allows 8mA.
STATIC mp_obj_t machine_pin_drive(size_t n_args, const mp_obj_t *args) {
machine_pin_obj_t *self = args[0]; // Pin
if (n_args == 1) {
return mp_const_none;
} else {
bool strength = mp_obj_get_int(args[1]); // 0 or 1
pin_validate_drive(strength);
// Set the DRVSTR bit (ASF hri/hri_port_dxx.h
hri_port_write_PINCFG_DRVSTR_bit(PORT,
(enum gpio_port)GPIO_PORT(self->id),
GPIO_PIN(self->id),
strength);
return mp_const_none;
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(machine_pin_drive_obj, 1, 2, machine_pin_drive);
// 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 = 3} },
{ 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);
// Get the IRQ object.
uint8_t eic_id = get_pin_af_info(self->id)->eic;
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[eic_id]);
if (irq != NULL && irq->pin_id != self->id) {
mp_raise_ValueError(MP_ERROR_TEXT("IRQ already used"));
}
// 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(self);
irq->base.handler = mp_const_none;
irq->base.ishard = false;
irq->pin_id = 0xff;
MP_STATE_PORT(machine_pin_irq_objects[eic_id]) = irq;
}
// (Re-)configure the irq.
if (n_args > 1 || kw_args->used != 0) {
// set the mux config of the pin.
mp_hal_set_pin_mux(self->id, ALT_FCT_EIC);
// Configure IRQ.
#if defined(MCU_SAMD21)
uint32_t irq_num = 4;
// Disable all IRQs from the affected source while data is updated.
NVIC_DisableIRQ(irq_num);
// Disable EIC
EIC->CTRL.bit.ENABLE = 0;
while (EIC->STATUS.bit.SYNCBUSY != 0) {
}
EIC->INTENCLR.reg = (1 << eic_id);
// Enable the clocks
PM->APBAMASK.bit.EIC_ |= 1;
GCLK->CLKCTRL.reg = GCLK_CLKCTRL_CLKEN | GCLK_CLKCTRL_GEN_GCLK2 | EIC_GCLK_ID;
#elif defined(MCU_SAMD51)
uint32_t irq_num = eic_id + 12;
// Disable all IRQs from the affected source while data is updated.
NVIC_DisableIRQ(irq_num);
// Disable EIC
EIC->CTRLA.bit.ENABLE = 0;
while (EIC->SYNCBUSY.bit.ENABLE != 0) {
}
EIC->INTENCLR.reg = (1 << eic_id);
// Enable the clocks
MCLK->APBAMASK.bit.EIC_ |= 1;
GCLK->PCHCTRL[EIC_GCLK_ID].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN_GCLK2;
#endif
// Clear the pending interrupts flag
EIC->INTENCLR.reg = (1 << eic_id);
// 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;
irq->pin_id = self->id;
// Enable IRQ if a handler is given.
if (args[ARG_handler].u_obj != mp_const_none) {
// Set EIC channel mode
EIC->CONFIG[eic_id / 8].reg |= irq->trigger << ((eic_id % 8) * 4);
EIC->INTENSET.reg = (1 << eic_id);
EIC->INTFLAG.reg |= (1 << eic_id);
}
// Enable EIC (again)
#if defined(MCU_SAMD21)
EIC->CTRL.bit.ENABLE = 1;
while (EIC->STATUS.bit.SYNCBUSY != 0) {
}
#elif defined(MCU_SAMD51)
EIC->CTRLA.bit.ENABLE = 1;
while (EIC->SYNCBUSY.bit.ENABLE != 0) {
}
#endif
// Enable interrupt again
NVIC_EnableIRQ(irq_num);
}
return MP_OBJ_FROM_PTR(irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);
void pin_irq_deinit_all(void) {
EIC->INTENCLR.reg = 0xffff; // Disable all interrupts from the EIC.
for (int i = 0; i < 16; i++) { // Clear all irq object pointers
MP_STATE_PORT(machine_pin_irq_objects[i]) = NULL;
}
// Disable all irq's at the NVIC controller
#if defined(MCU_SAMD21)
NVIC_DisableIRQ(4);
#elif defined(MCU_SAMD51)
for (int i = 12; i < 20; i++) {
NVIC_DisableIRQ(i);
}
#endif
}
// Common EIC handler for all events.
void EIC_Handler() {
uint32_t mask = 1;
uint32_t isr = EIC->INTFLAG.reg;
for (int eic_id = 0; eic_id < 16; eic_id++, mask <<= 1) {
// Did the ISR fire?
if (isr & mask) {
EIC->INTFLAG.reg |= mask; // clear the ISR flag
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[eic_id]);
if (irq != NULL) {
irq->flags = irq->trigger;
mp_irq_handler(&irq->base);
break;
}
}
}
}
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_disable), MP_ROM_PTR(&machine_pin_disable_obj) },
{ MP_ROM_QSTR(MP_QSTR_drive), MP_ROM_PTR(&machine_pin_drive_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_PULL_OFF), MP_ROM_INT(GPIO_PULL_OFF) },
{ 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_LOW_POWER), MP_ROM_INT(GPIO_STRENGTH_2MA) },
{ MP_ROM_QSTR(MP_QSTR_HIGH_POWER), MP_ROM_INT(GPIO_STRENGTH_8MA) },
{ 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 mp_hal_pin_read(self->id);
}
case MP_PIN_WRITE: {
mp_hal_pin_write(self->id, arg);
return 0;
}
}
return -1;
}
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
);
static uint8_t find_eic_id(int pin) {
for (int eic_id = 0; eic_id < 16; eic_id++) {
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[eic_id]);
if (irq != NULL && irq->pin_id == pin) {
return eic_id;
}
}
return 0xff;
}
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);
uint8_t eic_id = find_eic_id(self->id);
if (eic_id != 0xff) {
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[eic_id]);
EIC->INTENCLR.reg |= (1 << eic_id);
irq->flags = 0;
irq->trigger = new_trigger;
EIC->INTENSET.reg |= (1 << eic_id);
}
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);
uint8_t eic_id = find_eic_id(self->id);
if (eic_id != 0xff) {
machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_objects[eic_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;
}
MP_REGISTER_ROOT_POINTER(void *machine_pin_irq_objects[16]);
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