8000 stm32: add PulseIn module · rbrian/circuitpython@2b161d3 · GitHub
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hierophecthierophect
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stm32: add PulseIn module
1 parent b4e1955 commit 2b161d3

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+260
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3 files changed

+260
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lines changed

‎ports/stm32f4/common-hal/pulseio/PulseIn.c

Lines changed: 256 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -34,46 +34,295 @@
3434
#include "shared-bindings/pulseio/PulseIn.h"
3535
#include "tick.h"
3636

37+
#include "stm32f4xx_hal.h"
38+
39+
#define STM32_GPIO_PORT_SIZE 16
40+
41+
static pulseio_pulsein_obj_t* _objs[STM32_GPIO_PORT_SIZE];
42+
43+
static void assign_EXTI_Interrupt(pulseio_pulsein_obj_t* self, uint8_t num);
44+
45+
static void pulsein_handler(uint8_t num) {
46+
// Grab the current time first.
47+
uint32_t current_us;
48+
uint64_t current_ms;
49+
current_tick(&current_ms, &current_us);
50+
51+
// current_tick gives us the remaining us until the next tick but we want the number since the last ms.
52+
current_us = 1000 - current_us;
53+
54+
pulseio_pulsein_obj_t* self = _objs[num];
55+
if ( !self ) return;
56+
57+
if (self->first_edge) {
58+
// first pulse is opposite state from idle
59+
bool state = HAL_GPIO_ReadPin(pin_port(self->pin->port), pin_mask(self->pin->number));
60+
if ( self->idle_state != state ) {
61+
self->first_edge = false;
62+
}
63+
} else {
64+
uint32_t ms_diff = current_ms - self->last_ms;
65+
uint16_t us_diff = current_us - self->last_us;
66+
uint32_t total_diff = us_diff;
67+
68+
if (self->last_us > current_us) {
69+
total_diff = 1000 + current_us - self->last_us;
70+
if (ms_diff > 1) {
71+
total_diff += (ms_diff - 1) * 1000;
72+
}
73+
} else {
74+
total_diff += ms_diff * 1000;
75+
}
76+
uint16_t duration = 0xffff;
77+
if (total_diff < duration) {
78+
duration = total_diff;
79+
}
80+
81+
uint16_t i = (self->start + self->len) % self->maxlen;
82+
self->buffer[i] = duration;
83+
if (self->len < self->maxlen) {
84+
self->len++;
85+
} else {
86+
self->start++;
87+
}
88+
}
89+
90+
self->last_ms = current_ms;
91+
self->last_us = current_us;
92+
}
93+
3794
void pulsein_reset(void) {
95+
// Disable all active interrupts and clear array
96+
for (uint i = 0; i < STM32_GPIO_PORT_SIZE; i++) {
97+
if (_objs[i] != NULL) {
98+
HAL_NVIC_DisableIRQ(_objs[i]->irq);
99+
}
100+
}
101+
memset(_objs, 0, sizeof(_objs));
38102
}
39103

40104
void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t* self, const mcu_pin_obj_t* pin,
41105
uint16_t maxlen, bool idle_state) {
42-
mp_raise_NotImplementedError(translate("PulseIn not yet supported"));
106+
// STM32 has one shared EXTI for each pin number, 0-15
107+
uint8_t p_num = pin->number;
108+
if(_objs[p_num]) {
109+
mp_raise_ValueError(translate("Pin number already reserved by EXTI"));
110+
}
111+
_objs[p_num] = self;
112+
113+
// Allocate pulse buffer
114+
self->buffer = (uint16_t *) m_malloc(maxlen * sizeof(uint16_t), false);
115+
if (self->buffer == NULL) {
116+
mp_raise_msg_varg(&mp_type_MemoryError, translate("Failed to allocate RX buffer of %d bytes"),
117+
maxlen * sizeof(uint16_t));
118+
}
119+
120+
// Set internal variables
121+
self->pin = pin;
122+
self->maxlen = maxlen;
123+
self->idle_state = idle_state;
124+
self->start = 0;
125+
self->len = 0;
126+
self->first_edge = true;
127+
self->paused = false;
128+
self->last_us = 0;
129+
self->last_ms = 0;
130+
131+
// EXTI pins can also be read as an input
132+
GPIO_InitTypeDef GPIO_InitStruct = {0};
133+
GPIO_InitStruct.Pin = pin_mask(pin->number);
134+
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
135+
GPIO_InitStruct.Pull = GPIO_NOPULL;
136+
HAL_GPIO_Init(pin_port(pin->port), &GPIO_InitStruct);
137+
138+
// Interrupt starts immediately
139+
assign_EXTI_Interrupt(self, pin->number);
140+
HAL_NVIC_EnableIRQ(self->irq);
141+
claim_pin(pin);
43142
}
44143

45144
bool common_hal_pulseio_pulsein_deinited(pulseio_pulsein_obj_t* self) {
46-
return true;
145+
return (self->pin == NULL);
47146
}
48147

49148
void common_hal_pulseio_pulsein_deinit(pulseio_pulsein_obj_t* self) {
149+
if (common_hal_pulseio_pulsein_deinited(self)) {
150+
return;
151+
}
152+
HAL_NVIC_DisableIRQ(self->irq);
153+
_objs[self->pin->number] = NULL;
154+
reset_pin_number(self->pin->port, self->pin->number);
155+
self->pin = NULL;
50156
}
51157

52158
void common_hal_pulseio_pulsein_pause(pulseio_pulsein_obj_t* self) {
159+
HAL_NVIC_DisableIRQ(self->irq);
160+
self->paused = true;
53161
}
54162

55163
void common_hal_pulseio_pulsein_resume(pulseio_pulsein_obj_t* self, uint16_t trigger_duration) {
164+
// Make sure we're paused.
165+
if ( !self->paused ) {
166+
common_hal_pulseio_pulsein_pause(self);
167+
}
168+
169+
// Send the trigger pulse.
170+
if (trigger_duration > 0) {
171+
GPIO_InitTypeDef GPIO_InitStruct = {0};
172+
GPIO_InitStruct.Pin = pin_mask(self->pin->number);
173+
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
174+
GPIO_InitStruct.Pull = GPIO_NOPULL;
175+
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
176+
HAL_GPIO_Init(pin_port(self->pin->port), &GPIO_InitStruct);
177+
178+
HAL_GPIO_WritePin(pin_port(self->pin->port), pin_mask(self->pin->number), !self->idle_state);
179+
common_hal_mcu_delay_us((uint32_t)trigger_duration);
180+
HAL_GPIO_WritePin(pin_port(self->pin->port), pin_mask(self->pin->number), self->idle_state);
181+
182+
GPIO_InitStruct.Pin = pin_mask(self->pin->number);
183+
GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
184+
GPIO_InitStruct.Pull = GPIO_NOPULL;
185+
HAL_GPIO_Init(pin_port(self->pin->port), &GPIO_InitStruct);
186+
}
187+
188+
self->first_edge = true;
189+
self->paused = false;
190+
self->last_ms = 0;
191+
self->last_us = 0;
192+
193+
HAL_NVIC_EnableIRQ(self->irq);
56194
}
57195

58196
void common_hal_pulseio_pulsein_clear(pulseio_pulsein_obj_t* self) {
197+
HAL_NVIC_DisableIRQ(self->irq);
198+
self->start = 0;
199+
self->len = 0;
200+
HAL_NVIC_EnableIRQ(self->irq);
59201
}
60202

61203
uint16_t common_hal_pulseio_pulsein_get_item(pulseio_pulsein_obj_t* self, int16_t index) {
62-
return 0;
204+
HAL_NVIC_DisableIRQ(self->irq);
205+
if (index < 0) {
206+
index += self->len;
207+
}
208+
if (index < 0 || index >= self->len) {
209+
HAL_NVIC_EnableIRQ(self->irq);
210+
mp_raise_IndexError(translate("index out of range"));
211+
}
212+
uint16_t value = self->buffer[(self->start + index) % self->maxlen];
213+
HAL_NVIC_EnableIRQ(self->irq);
214+
return value;
63215
}
64216

65217
uint16_t common_hal_pulseio_pulsein_popleft(pulseio_pulsein_obj_t* self) {
66-
return 0;
218+
if (self->len == 0) {
219+
mp_raise_IndexError(translate("pop from an empty PulseIn"));
220+
}
221+
HAL_NVIC_DisableIRQ(self->irq);
222+
uint16_t value = self->buffer[self->start];
223+
self->start = (self->start + 1) % self->maxlen;
224+
self->len--;
225+
HAL_NVIC_EnableIRQ(self->irq);
226+
227+
return value;
67228
}
68229

69230
uint16_t common_hal_pulseio_pulsein_get_maxlen(pulseio_pulsein_obj_t* self) {
70-
return 0;
231+
return self->maxlen;
71232
}
72233

73234
bool common_hal_pulseio_pulsein_get_paused(pulseio_pulsein_obj_t* self) {
74-
return 0;
235+
return self->paused;
75236
}
76237

77238
uint16_t common_hal_pulseio_pulsein_get_len(pulseio_pulsein_obj_t* self) {
78-
return 0;
239+
return self->len;
240+
}
241+
242+
static void assign_EXTI_Interrupt(pulseio_pulsein_obj_t* self, uint8_t num) {
243+
if (num == 0) {
244+
self->irq = EXTI0_IRQn;
245+
} else if (num == 1) {
246+
self->irq = EXTI1_IRQn;
247+
} else if (num == 2) {
248+
self->irq = EXTI2_IRQn;
249+
} else if (num == 3) {
250+
self->irq = EXTI3_IRQn;
251+
} else if (num == 4) {
252+
self->irq = EXTI4_IRQn;
253+
} else if (num >= 5 && num <= 9 ) {
254+
self->irq = EXTI9_5_IRQn;
255+
} else if (num >= 10 && num <= 15) {
256+
self->irq = EXTI15_10_IRQn;
257+
}
258+
}
259+
260+
void EXTI0_IRQHandler(void)
261+
{
262+
EXTI->PR = 1 << 0;
263+
pulsein_handler(0);
264+
}
265+
void EXTI1_IRQHandler(void)
266+
{
267+
EXTI->PR = 1 << 1;
268+
pulsein_handler(1);
269+
}
270+
void EXTI2_IRQHandler(void)
271+
{
272+
EXTI->PR = 1 << 2;
273+
pulsein_handler(2);
274+
}
275+
void EXTI3_IRQHandler(void)
276+
{
277+
EXTI->PR = 1 << 3;
278+
pulsein_handler(3);
279+
}
280+
void EXTI4_IRQHandler(void)
281+
{
282+
EXTI->PR = 1 << 4;
283+
pulsein_handler(4);
284+
}
285+
void EXTI9_5_IRQHandler(void)
286+
{
287+
uint32_t pending = EXTI->PR;
288+
if(pending & (1 << 5)) {
289+
EXTI->PR = 1 << 5;
290+
pulsein_handler(5);
291+
} else if (pending & (1 << 6)) {
292+
EXTI->PR = 1 << 6;
293+
pulsein_handler(6);
294+
} else if (pending & (1 << 7)) {
295+
EXTI->PR = 1 << 7;
296+
pulsein_handler(7);
297+
} else if (pending & (1 << 8)) {
298+
EXTI->PR = 1 << 8;
299+
pulsein_handler(8);
300+
} else if (pending & (1 << 9)) {
301+
EXTI->PR = 1 << 9;
302+
pulsein_handler(9);
303+
}
304+
}
305+
306+
void EXTI15_10_IRQHandler(void)
307+
{
308+
uint32_t pending = EXTI->PR;
309+
if(pending & (1 << 10)) {
310+
EXTI->PR = 1 << 10;
311+
pulsein_handler(10);
312+
} else if (pending & (1 << 11)) {
313+
EXTI->PR = 1 << 11;
314+
pulsein_handler(11);
315+
} else if (pending & (1 << 12)) {
316+
EXTI->PR = 1 << 12;
317+
pulsein_handler(12);
318+
} else if (pending & (1 << 13)) {
319+
EXTI->PR = 1 << 13;
320+
pulsein_handler(13);
321+
} else if (pending & (1 << 14)) {
322+
EXTI->PR = 1 << 14;
323+
pulsein_handler(14);
324+
} else if (pending & (1 << 15)) {
325+
EXTI->PR = 1 << 15;
326+
pulsein_handler(15);
327+
}
79328
}

‎ports/stm32f4/common-hal/pulseio/PulseIn.h

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -34,7 +34,8 @@
3434
typedef struct {
3535
mp_obj_base_t base;
3636

37-
uint8_t pin;
37+
const mcu_pin_obj_t* pin;
38+
IRQn_Type irq;
3839
bool idle_state;
3940
bool paused;
4041
volatile bool first_edge;

‎ports/stm32f4/supervisor/port.c

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -36,6 +36,7 @@
3636
#include "common-hal/busio/UART.h"
3737
#include "common-hal/pulseio/PWMOut.h"
3838
#include "common-hal/pulseio/PulseOut.h"
39+
#include "common-hal/pulseio/PulseIn.h"
3940

4041
#include "stm32f4/clocks.h"
4142
#include "stm32f4/gpio.h"
@@ -62,6 +63,7 @@ void reset_port(void) {
6263
uart_reset();
6364
pwmout_reset();
6465
pulseout_reset();
66+
pulsein_reset();
6567
}
6668

6769
void reset_to_bootloader(void) {

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