8000 zephyr: Implement machine.Pin.irq() for setting callbacks on pin change. by dpgeorge · Pull Request #6146 · micropython/micropython · GitHub
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zephyr: Implement machine.Pin.irq() for setting callbacks on pin change. #6146

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Merged
merged 3 commits into from
Jun 30, 2020
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zephyr: Implement machine.Pin.irq() for setting callbacks on pin change. #6146

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9d5edb3
lib/utils: Protect all of mpirq.c with MICROPY_ENABLE_SCHEDULER.
dpgeorge Jun 14, 2020
f84145b
zephyr: Implement machine.Pin.irq() for setting callbacks on pin change.
dpgeorge Jun 14, 2020
41b7734
zephyr/make-minimal: Disable FAT and LFS2 options to make it build.
dpgeorge Jun 14, 2020
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4 changes: 4 additions & 0 deletions lib/utils/mpirq.c
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Expand Up @@ -31,6 +31,8 @@
#include "py/gc.h"
#include "lib/utils/mpirq.h"

#if MICROPY_ENABLE_SCHEDULER

/******************************************************************************
DECLARE PUBLIC DATA
******************************************************************************/
Expand Down Expand Up @@ -125,3 +127,5 @@ const mp_obj_type_t mp_irq_type = {
.call = mp_irq_call,
.locals_dict = (mp_obj_dict_t *)&mp_irq_locals_dict,
};

#endif // MICROPY_ENABLE_SCHEDULER
1 change: 1 addition & 0 deletions ports/zephyr/Makefile
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Expand Up @@ -52,6 +52,7 @@ SRC_C = main.c \
uart_core.c \
zephyr_storage.c \
lib/timeutils/timeutils.c \
lib/utils/mpirq.c \
lib/utils/stdout_helpers.c \
lib/utils/printf.c \
lib/utils/pyexec.c \
Expand Down
133 changes: 133 additions & 0 deletions ports/zephyr/machine_pin.c
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Expand Up @@ -35,10 +35,50 @@
#include "py/runtime.h"
#include "py/gc.h"
#include "py/mphal.h"
#include "lib/utils/mpirq.h"
#include "modmachine.h"

#if MICROPY_PY_MACHINE

typedef struct _machine_pin_irq_obj_t {
mp_irq_obj_t base;
struct _machine_pin_irq_obj_t *next;
struct gpio_callback callback;
} machine_pin_irq_obj_t;

STATIC const mp_irq_methods_t machine_pin_irq_methods;
const mp_obj_base_t machine_pin_obj_template = {&machine_pin_type};

void machine_pin_deinit(void) {
for (machine_pin_irq_obj_t *irq = MP_STATE_PORT(machine_pin_irq_list); irq != NULL; irq = irq->next) {
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I'd consider using a Zephyr slist

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I had look at slist and I don't think it'll work: for the garbage collector to trace the links of the list (which are allocated on the uPy heap) the link node pointers must point to the start of the allocated struct, but if it used slist then the next pointers would point to the interior of the struct. Note also that mp_irq_obj_t base; must go at the start of the struct so it's a proper uPy object, so sys_snode_t would need to go in the interior of the struct.

machine_pin_obj_t *pin = MP_OBJ_TO_PTR(irq->base.parent);
gpio_pin_interrupt_configure(pin->port, pin->pin, GPIO_INT_DISABLE);
gpio_remove_callback(pin->port, &irq->callback);
}
MP_STATE_PORT(machine_pin_irq_list) = NULL;
}

STATIC void gpio_callback_handler(struct device *port, struct gpio_callback *cb, gpio_port_pins_t pins) {
machine_pin_irq_obj_t *irq = CONTAINER_OF(cb, machine_pin_irq_obj_t, callback);

#if MICROPY_STACK_CHECK
// This callback executes in an ISR context so the stack-limit check must be changed to
// use the ISR stack for the duration of this function (so that hard IRQ callbacks work).
char *orig_stack_top = MP_STATE_THREAD(stack_top);
size_t orig_stack_limit = MP_STATE_THREAD(stack_limit);
MP_STATE_THREAD(stack_top) = (void *)&irq;
MP_STATE_THREAD(stack_limit) = CONFIG_ISR_STACK_SIZE - 512;
#endif

mp_irq_handler(&irq->base);

#if MICROPY_STACK_CHECK
// Restore original stack-limit checking values.
MP_STATE_THREAD(stack_top) = orig_stack_top;
MP_STATE_THREAD(stack_limit) = orig_stack_limit;
#endif
}

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, "<Pin %p %d>", self->port, self->pin);
Expand Down Expand Up @@ -151,6 +191,66 @@ STATIC mp_obj_t machine_pin_on(mp_obj_t self_in) {
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(machine_pin_on_obj, machine_pin_on);

// 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 = GPIO_INT_EDGE_BOTH} },
{ 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);

if (self->irq == NULL) {
machine_pin_irq_obj_t *irq;
for (irq = MP_STATE_PORT(machine_pin_irq_list); irq != NULL; irq = irq->next) {
machine_pin_obj_t *irq_pin = MP_OBJ_TO_PTR(irq->base.parent);
if (irq_pin->port == self->port && irq_pin->pin == self->pin) {
break;
}
}
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->next = MP_STATE_PORT(machine_pin_irq_list);
gpio_init_callback(&irq->callback, gpio_callback_handler, BIT(self->pin));
int ret = gpio_add_callback(self->port, &irq->callback);
if (ret != 0) {
mp_raise_OSError(-ret);
}
MP_STATE_PORT(machine_pin_irq_list) = irq;
}
self->irq = irq;
}

if (n_args > 1 || kw_args->used != 0) {
// configure irq
int ret = gpio_pin_interrupt_configure(self->port, self->pin, GPIO_INT_DISABLE);
if (ret != 0) {
mp_raise_OSError(-ret);
}

self->irq->base.handler = args[ARG_handler].u_obj;
self->irq->base.ishard = args[ARG_hard].u_bool;

if (args[ARG_handler].u_obj != mp_const_none) {
ret = gpio_pin_interrupt_configure(self->port, self->pin, args[ARG_trigger].u_int);
if (ret != 0) {
mp_raise_OSError(-ret);
}
}
}

return MP_OBJ_FROM_PTR(self->irq);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(machine_pin_irq_obj, 1, machine_pin_irq);

STATIC mp_uint_t machine_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;
Expand All @@ -172,12 +272,15 @@ STATIC const mp_rom_map_elem_t machine_pin_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&machine_pin_value_obj) },
{ MP_ROM_QSTR(MP_QSTR_off), MP_ROM_PTR(&machine_pin_off_obj) },
{ MP_ROM_QSTR(MP_QSTR_on), MP_ROM_PTR(&machine_pin_on_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_INPUT) },
{ MP_ROM_QSTR(MP_QSTR_OUT), MP_ROM_INT(GPIO_OUTPUT) },
{ 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_INT_EDGE_RISING) },
{ MP_ROM_QSTR(MP_QSTR_IRQ_FALLING), MP_ROM_INT(GPIO_INT_EDGE_FALLING) },
};

STATIC MP_DEFINE_CONST_DICT(machine_pin_locals_dict, machine_pin_locals_dict_table);
Expand All @@ -195,3 +298,33 @@ const mp_obj_type_t machine_pin_type = {
.protocol = &machine_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);
if (new_trigger == 0) {
new_trigger = GPIO_INT_DISABLE;
}
int ret = gpio_pin_interrupt_configure(self->port, self->pin, new_trigger);
if (ret != 0) {
mp_raise_OSError(-ret);
}
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);
if (info_type == MP_IRQ_INFO_FLAGS) {
return gpio_get_pending_int(self->port);
} else if (info_type == MP_IRQ_INFO_TRIGGERS) {
return 0; // TODO
}
return 0;
}

STATIC const mp_irq_methods_t machine_pin_irq_methods = {
.init = machine_pin_irq,
.trigger = machine_pin_irq_trigger,
.info = machine_pin_irq_info,
};

#endif // MICROPY_PY_MACHINE
6 changes: 6 additions & 0 deletions ports/zephyr/main.c
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Expand Up @@ -55,6 +55,7 @@
#include "extmod/vfs.h"
#endif

#include "modmachine.h"
#include "modzephyr.h"

#ifdef TEST
Expand Down Expand Up @@ -166,6 +167,11 @@ int real_main(void) {
}

printf("soft reboot\n");

#if MICROPY_PY_MACHINE
machine_pin_deinit();
#endif

goto soft_reset;

return 0;
Expand Down
2 changes: 2 additions & 0 deletions ports/zephyr/make-minimal
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Expand Up @@ -11,6 +11,8 @@
make \
CONF_FILE=prj_minimal.conf \
CFLAGS_EXTRA='-DMP_CONFIGFILE="<mpconfigport_minimal.h>"' \
MICROPY_VFS_FAT=0 \
MICROPY_VFS_LFS2=0 \
FROZEN_DIR= \
QEMU_NET=0 \
"$@"
3 changes: 3 additions & 0 deletions ports/zephyr/modmachine.h
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Expand Up @@ -11,6 +11,9 @@ typedef struct _machine_pin_obj_t {
mp_obj_base_t base;
struct device *port;
uint32_t pin;
struct _machine_pin_irq_obj_t *irq;
} machine_pin_obj_t;

void machine_pin_deinit(void);

#endif // MICROPY_INCLUDED_ZEPHYR_MODMACHINE_H
7 changes: 6 additions & 1 deletion ports/zephyr/mpconfigport.h
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Expand Up @@ -81,6 +81,7 @@
#define MICROPY_LONGINT_IMPL (MICROPY_LONGINT_IMPL_LONGLONG)
#define MICROPY_FLOAT_IMPL (MICROPY_FLOAT_IMPL_FLOAT)
#define MICROPY_PY_BUILTINS_COMPLEX (0)
#define MICROPY_ENABLE_SCHEDULER (1)
#define MICROPY_VFS (1)
#define MICROPY_READER_VFS (MICROPY_VFS)

Expand Down Expand Up @@ -119,7 +120,8 @@ typedef long mp_off_t;
#define MP_STATE_PORT MP_STATE_VM

#define MICROPY_PORT_ROOT_POINTERS \
const char *readline_hist[8];
const char *readline_hist[8]; \
void *machine_pin_irq_list; /* Linked list of pin irq objects */

extern const struct _mp_obj_module_t mp_module_machine;
extern const struct _mp_obj_module_t mp_module_time;
Expand Down Expand Up @@ -169,3 +171,6 @@ extern const struct _mp_obj_module_t mp_module_zsensor;
// extra built in names to add to the global namespace
#define MICROPY_PORT_BUILTINS \
{ MP_ROM_QSTR(MP_QSTR_open), MP_ROM_PTR(&mp_builtin_open_obj) },

#define MICROPY_BEGIN_ATOMIC_SECTION irq_lock
#define MICROPY_END_ATOMIC_SECTION irq_unlock
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