diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.c b/ports/raspberrypi/bindings/rp2pio/StateMachine.c index 34633949ed197..d137234fbc68c 100644 --- a/ports/raspberrypi/bindings/rp2pio/StateMachine.c +++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.c @@ -296,110 +296,109 @@ STATIC mp_obj_t rp2pio_statemachine_write(size_t n_args, const mp_obj_t *pos_arg MP_DEFINE_CONST_FUN_OBJ_KW(rp2pio_statemachine_write_obj, 2, rp2pio_statemachine_write); -// // | def readinto(self, buffer: WriteableBuffer, *, start: int = 0, end: Optional[int] = None) -> None: -// // | """Read into ``buffer``. If the number of bytes to read is 0, nothing happens. -// // | -// // | :param ~_typing.WriteableBuffer buffer: Read data into this buffer -// // | :param int start: Start of the slice of ``buffer`` to read into: ``buffer[start:end]`` -// // | :param int end: End of the slice; this index is not included. Defaults to ``len(buffer)`` -// // | :param int write_value: Value to write while reading. (Usually ignored.)""" -// // | ... -// // | +// | def readinto(self, buffer: WriteableBuffer, *, start: int = 0, end: Optional[int] = None) -> None: +// | """Read into ``buffer``. If the number of bytes to read is 0, nothing happens. +// | +// | :param ~_typing.WriteableBuffer buffer: Read data into this buffer +// | :param int start: Start of the slice of ``buffer`` to read into: ``buffer[start:end]`` +// | :param int end: End of the slice; this index is not included. Defaults to ``len(buffer)`` +// | :param int write_value: Value to write while reading. (Usually ignored.)""" +// | ... +// | + +STATIC mp_obj_t rp2pio_statemachine_readinto(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_buffer, ARG_start, ARG_end, ARG_write_value }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, + { MP_QSTR_write_value,MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + }; + rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + check_for_deinit(self); + 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); -// STATIC mp_obj_t rp2pio_statemachine_readinto(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { -// enum { ARG_buffer, ARG_start, ARG_end, ARG_write_value }; -// static const mp_arg_t allowed_args[] = { -// { MP_QSTR_buffer, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, -// { MP_QSTR_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, -// { MP_QSTR_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, -// { MP_QSTR_write_value,MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, -// }; -// rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); -// check_for_deinit(self); -// check_lock(self); -// 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); - -// mp_buffer_info_t bufinfo; -// mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_WRITE); -// int32_t start = args[ARG_start].u_int; -// size_t length = bufinfo.len; -// normalize_buffer_bounds(&start, args[ARG_end].u_int, &length); - -// if (length == 0) { -// return mp_const_none; -// } - -// bool ok = common_hal_rp2pio_statemachine_read(self, ((uint8_t*)bufinfo.buf) + start, length, args[ARG_write_value].u_int); -// if (!ok) { -// mp_raise_OSError(MP_EIO); -// } -// return mp_const_none; -// } -// MP_DEFINE_CONST_FUN_OBJ_KW(rp2pio_statemachine_readinto_obj, 2, rp2pio_statemachine_readinto); - -// //| def write_readinto(self, buffer_out: ReadableBuffer, buffer_in: WriteableBuffer, *, out_start: int = 0, out_end: Optional[int] = None, in_start: int = 0, in_end: Optional[int] = None) -> None: -// //| """Write out the data in ``buffer_out`` while simultaneously reading data into ``buffer_in``. -// //| The SPI object must be locked. -// //| The lengths of the slices defined by ``buffer_out[out_start:out_end]`` and ``buffer_in[in_start:in_end]`` -// //| must be equal. -// //| If buffer slice lengths are both 0, nothing happens. -// //| -// //| :param ~_typing.ReadableBuffer buffer_out: Write out the data in this buffer -// //| :param ~_typing.WriteableBuffer buffer_in: Read data into this buffer -// //| :param int out_start: Start of the slice of buffer_out to write out: ``buffer_out[out_start:out_end]`` -// //| :param int out_end: End of the slice; this index is not included. Defaults to ``len(buffer_out)`` -// //| :param int in_start: Start of the slice of ``buffer_in`` to read into: ``buffer_in[in_start:in_end]`` -// //| :param int in_end: End of the slice; this index is not included. Defaults to ``len(buffer_in)``""" -// //| ... -// //| - -// STATIC mp_obj_t rp2pio_statemachine_write_readinto(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { -// enum { ARG_buffer_out, ARG_buffer_in, ARG_out_start, ARG_out_end, ARG_in_start, ARG_in_end }; -// static const mp_arg_t allowed_args[] = { -// { MP_QSTR_buffer_out, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, -// { MP_QSTR_buffer_in, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, -// { MP_QSTR_out_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, -// { MP_QSTR_out_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, -// { MP_QSTR_in_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, -// { MP_QSTR_in_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, -// }; -// rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); -// check_for_deinit(self); -// check_lock(self); -// 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); - -// mp_buffer_info_t buf_out_info; -// mp_get_buffer_raise(args[ARG_buffer_out].u_obj, &buf_out_info, MP_BUFFER_READ); -// int32_t out_start = args[ARG_out_start].u_int; -// size_t out_length = buf_out_info.len; -// normalize_buffer_bounds(&out_start, args[ARG_out_end].u_int, &out_length); - -// mp_buffer_info_t buf_in_info; -// mp_get_buffer_raise(args[ARG_buffer_in].u_obj, &buf_in_info, MP_BUFFER_WRITE); -// int32_t in_start = args[ARG_in_start].u_int; -// size_t in_length = buf_in_info.len; -// normalize_buffer_bounds(&in_start, args[ARG_in_end].u_int, &in_length); - -// if (out_length != in_length) { -// mp_raise_ValueError(translate("buffer slices must be of equal length")); -// } - -// if (out_length == 0) { -// return mp_const_none; -// } - -// bool ok = common_hal_rp2pio_statemachine_transfer(self, -// ((uint8_t*)buf_out_info.buf) + out_start, -// ((uint8_t*)buf_in_info.buf) + in_start, -// out_length); -// if (!ok) { -// mp_raise_OSError(MP_EIO); -// } -// return mp_const_none; -// } -// MP_DEFINE_CONST_FUN_OBJ_KW(rp2pio_statemachine_write_readinto_obj, 2, rp2pio_statemachine_write_readinto); + mp_buffer_info_t bufinfo; + mp_get_buffer_raise(args[ARG_buffer].u_obj, &bufinfo, MP_BUFFER_WRITE); + int32_t start = args[ARG_start].u_int; + size_t length = bufinfo.len; + normalize_buffer_bounds(&start, args[ARG_end].u_int, &length); + + if (length == 0) { + return mp_const_none; + } + + bool ok = common_hal_rp2pio_statemachine_read(self, ((uint8_t*)bufinfo.buf) + start, length); + if (!ok) { + mp_raise_OSError(MP_EIO); + } + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_KW(rp2pio_statemachine_readinto_obj, 2, rp2pio_statemachine_readinto); + +//| def write_readinto(self, buffer_out: ReadableBuffer, buffer_in: WriteableBuffer, *, out_start: int = 0, out_end: Optional[int] = None, in_start: int = 0, in_end: Optional[int] = None) -> None: +//| """Write out the data in ``buffer_out`` while simultaneously reading data into ``buffer_in``. +//| The SPI object must be locked. +//| The lengths of the slices defined by ``buffer_out[out_start:out_end]`` and ``buffer_in[in_start:in_end]`` +//| must be equal. +//| If buffer slice lengths are both 0, nothing happens. +//| +//| :param ~_typing.ReadableBuffer buffer_out: Write out the data in this buffer +//| :param ~_typing.WriteableBuffer buffer_in: Read data into this buffer +//| :param int out_start: Start of the slice of buffer_out to write out: ``buffer_out[out_start:out_end]`` +//| :param int out_end: End of the slice; this index is not included. Defaults to ``len(buffer_out)`` +//| :param int in_start: Start of the slice of ``buffer_in`` to read into: ``buffer_in[in_start:in_end]`` +//| :param int in_end: End of the slice; this index is not included. Defaults to ``len(buffer_in)``""" +//| ... +//| + +STATIC mp_obj_t rp2pio_statemachine_write_readinto(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + enum { ARG_buffer_out, ARG_buffer_in, ARG_out_start, ARG_out_end, ARG_in_start, ARG_in_end }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_buffer_out, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_buffer_in, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_out_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_out_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, + { MP_QSTR_in_start, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_in_end, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = INT_MAX} }, + }; + rp2pio_statemachine_obj_t *self = MP_OBJ_TO_PTR(pos_args[0]); + check_for_deinit(self); + 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); + + mp_buffer_info_t buf_out_info; + mp_get_buffer_raise(args[ARG_buffer_out].u_obj, &buf_out_info, MP_BUFFER_READ); + int32_t out_start = args[ARG_out_start].u_int; + size_t out_length = buf_out_info.len; + normalize_buffer_bounds(&out_start, args[ARG_out_end].u_int, &out_length); + + mp_buffer_info_t buf_in_info; + mp_get_buffer_raise(args[ARG_buffer_in].u_obj, &buf_in_info, MP_BUFFER_WRITE); + int32_t in_start = args[ARG_in_start].u_int; + size_t in_length = buf_in_info.len; + normalize_buffer_bounds(&in_start, args[ARG_in_end].u_int, &in_length); + + if (out_length != in_length) { + mp_raise_ValueError(translate("buffer slices must be of equal length")); + } + + if (out_length == 0) { + return mp_const_none; + } + + bool ok = common_hal_rp2pio_statemachine_transfer(self, + ((uint8_t*)buf_out_info.buf) + out_start, + out_length, + ((uint8_t*)buf_in_info.buf) + in_start, + in_length); + if (!ok) { + mp_raise_OSError(MP_EIO); + } + return mp_const_none; +} +MP_DEFINE_CONST_FUN_OBJ_KW(rp2pio_statemachine_write_readinto_obj, 2, rp2pio_statemachine_write_readinto); //| frequency: int //| """The actual state machine frequency. This may not match the frequency requested @@ -427,9 +426,9 @@ STATIC const mp_rom_map_elem_t rp2pio_statemachine_locals_dict_table[] = { // { MP_ROM_QSTR(MP_QSTR_restart), MP_ROM_PTR(&rp2pio_statemachine_configure_obj) }, -// { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&rp2pio_statemachine_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&rp2pio_statemachine_readinto_obj) }, { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&rp2pio_statemachine_write_obj) }, -// { MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&rp2pio_statemachine_write_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&rp2pio_statemachine_write_readinto_obj) }, { MP_ROM_QSTR(MP_QSTR_frequency), MP_ROM_PTR(&rp2pio_statemachine_frequency_obj) } }; STATIC MP_DEFINE_CONST_DICT(rp2pio_statemachine_locals_dict, rp2pio_statemachine_locals_dict_table); diff --git a/ports/raspberrypi/bindings/rp2pio/StateMachine.h b/ports/raspberrypi/bindings/rp2pio/StateMachine.h index 5ff20a75bf6d0..add5080563b91 100644 --- a/ports/raspberrypi/bindings/rp2pio/StateMachine.h +++ b/ports/raspberrypi/bindings/rp2pio/StateMachine.h @@ -52,20 +52,20 @@ extern void common_hal_rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *sel extern bool common_hal_rp2pio_statemachine_deinited(rp2pio_statemachine_obj_t *self); // Writes out the given data. -extern bool common_hal_rp2pio_statemachine_write(rp2pio_statemachine_obj_t *self, const uint8_t *data, size_t len); +bool common_hal_rp2pio_statemachine_write(rp2pio_statemachine_obj_t *self, const uint8_t *data, size_t len); -// // Reads in len bytes while outputting zeroes. -// extern bool common_hal_rp2pio_statemachine_read(rp2pio_statemachine_obj_t *self, uint8_t *data, size_t len, uint8_t write_value); +// Reads data into the given buffer +bool common_hal_rp2pio_statemachine_read(rp2pio_statemachine_obj_t *self, uint8_t *data, size_t len); -// // Reads and write len bytes simultaneously. -// extern bool common_hal_rp2pio_statemachine_transfer(rp2pio_statemachine_obj_t *self, -// const uint8_t *data_out, size_t out_len, -// uint8_t *data_in, size_t in_len); +// Performs a bidirectional transfer using both buffers +bool common_hal_rp2pio_statemachine_transfer(rp2pio_statemachine_obj_t *self, + const uint8_t *data_out, size_t out_len, + uint8_t *data_in, size_t in_len); -// Return actual SPI bus frequency. +// Return actual PIO clock frequency. uint32_t common_hal_rp2pio_statemachine_get_frequency(rp2pio_statemachine_obj_t* self); -// This is used by the supervisor to claim SPI devices indefinitely. +// This is used by the supervisor to claim state machines indefinitely. // extern void common_hal_rp2pio_statemachine_never_reset(rp2pio_statemachine_obj_t *self); #endif // MICROPY_INCLUDED_RASPBERRYPI_BINDINGS_RP2PIO_STATEMACHINE_H diff --git a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c index 90c48130e1b54..a7ffa189916bc 100644 --- a/ports/raspberrypi/common-hal/rp2pio/StateMachine.c +++ b/ports/raspberrypi/common-hal/rp2pio/StateMachine.c @@ -445,9 +445,17 @@ bool common_hal_rp2pio_statemachine_deinited(rp2pio_statemachine_obj_t *self) { return self->state_machine == NUM_PIO_STATE_MACHINES; } -static bool _transfer(rp2pio_statemachine_obj_t *self, +bool common_hal_rp2pio_statemachine_transfer(rp2pio_statemachine_obj_t *self, const uint8_t *data_out, size_t out_len, uint8_t *data_in, size_t in_len) { + + if (data_out && !self->out) { + mp_raise_RuntimeError(translate("Program lacks output instructions")); + } + if (data_in && !self->in) { + mp_raise_RuntimeError(translate("Program lacks input instructions")); + } + // This implementation is based on SPI but varies because the tx and rx buffers // may be different lengths and occur at different times or speeds. @@ -477,7 +485,7 @@ static bool _transfer(rp2pio_statemachine_obj_t *self, } if (rx) { rx_source = (const volatile uint8_t*) &self->pio->rxf[self->state_machine]; - if (!self->in_shift_right) { + if (self->in_shift_right) { rx_source += 3; } } @@ -546,23 +554,15 @@ static bool _transfer(rp2pio_statemachine_obj_t *self, size_t tx_remaining = out_len; while (rx_remaining || tx_remaining) { - for (int i=0; i<32; i++) { - bool did_transfer = false; - if (tx_remaining && !pio_sm_is_tx_fifo_full(self->pio, self->state_machine)) { - *tx_destination = *data_out; - data_out++; - --tx_remaining; - did_transfer = true; - } - if (rx_remaining && !pio_sm_is_rx_fifo_empty(self->pio, self->state_machine)) { - *data_in = (uint8_t) *rx_source; - data_in++; - --rx_remaining; - did_transfer = true; - } - if (!did_transfer) { - break; - } + while (tx_remaining && !pio_sm_is_tx_fifo_full(self->pio, self->state_machine)) { + *tx_destination = *data_out; + data_out++; + --tx_remaining; + } + while (rx_remaining && !pio_sm_is_rx_fifo_empty(self->pio, self->state_machine)) { + *data_in = (uint8_t) (*rx_source); + data_in++; + --rx_remaining; } RUN_BACKGROUND_TASKS; if (mp_hal_is_interrupted()) { @@ -586,8 +586,11 @@ static bool _transfer(rp2pio_statemachine_obj_t *self, // Writes out the given data. bool common_hal_rp2pio_statemachine_write(rp2pio_statemachine_obj_t *self, const uint8_t *data, size_t len) { - if (!self->out) { - mp_raise_RuntimeError(translate("No out in program")); - } - return _transfer(self, data, len, NULL, 0); + return common_hal_rp2pio_statemachine_transfer(self, data, len, NULL, 0); +} + +// Reads data into the given buffer +bool common_hal_rp2pio_statemachine_read(rp2pio_statemachine_obj_t *self, + uint8_t *data, size_t len) { + return common_hal_rp2pio_statemachine_transfer(self, NULL, 0, data, len); }