raspberry: StateMachine: Add support for wrap=, wrap_target=

Author: jepler

ports/raspberrypi/bindings/rp2pio/StateMachine.c

@@ -87,7 +87,10 @@
 //|                  auto_push: bool = False,
 //|                  push_threshold: int = 32,
 //|                  in_shift_right: bool = True,
-//|                  user_interruptible: bool = True) -> None:
+//|                  user_interruptible: bool = True,
+//|                  wrap_target: int = 0,
+//|                  wrap: int = -1,
+//|                 ) -> None:
 //|
 //|         """Construct a StateMachine object on the given pins with the given program.
 //|
@@ -136,6 +139,10 @@
 //|             that causes an infinite loop, you will be able to interrupt the loop.
 //|             However, if you are writing to a device that can get into a bad state if a read or write
 //|             is interrupted, you may want to set this to False after your program has been vetted.
+//|         :param int wrap_target The target instruction number of automatic wrap. Defaults to the first instruction of the program.
+//|         :param int wrap The instruction after which to wrap to the ``wrap``
+//|             instruction. As a special case, -1 (the default) indicates the
+//|             last instruction of the program.
 //|         """
 //|         ...
 //|
@@ -155,7 +162,9 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
            ARG_auto_pull, ARG_pull_threshold, ARG_out_shift_right,
            ARG_wait_for_txstall,
            ARG_auto_push, ARG_push_threshold, ARG_in_shift_right,
-           ARG_user_interruptible,};
+           ARG_user_interruptible,
+           ARG_wrap_target,
+           ARG_wrap,};
     static const mp_arg_t allowed_args[] = {
         { MP_QSTR_program, MP_ARG_REQUIRED | MP_ARG_OBJ },
         { MP_QSTR_frequency, MP_ARG_REQUIRED | MP_ARG_INT },
@@ -194,6 +203,9 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         { MP_QSTR_push_threshold, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 32} },
         { MP_QSTR_in_shift_right, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = true} },
         { MP_QSTR_user_interruptible, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = true} },
+
+        { MP_QSTR_wrap_target, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
+        { MP_QSTR_wrap, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
     };
     mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
     mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
@@ -254,6 +266,9 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         mp_raise_ValueError(translate("Init program size invalid"));
     }
 
+    int wrap = args[ARG_wrap].u_int;
+    int wrap_target = args[ARG_wrap_target].u_int;
+
     common_hal_rp2pio_statemachine_construct(self,
         bufinfo.buf, bufinfo.len / 2,
         args[ARG_frequency].u_int,
@@ -269,7 +284,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         args[ARG_auto_pull].u_bool, pull_threshold, args[ARG_out_shift_right].u_bool,
         args[ARG_wait_for_txstall].u_bool,
         args[ARG_auto_push].u_bool, push_threshold, args[ARG_in_shift_right].u_bool,
-        args[ARG_user_interruptible].u_bool);
+        args[ARG_user_interruptible].u_bool,
+        wrap_target, wrap);
     return MP_OBJ_FROM_PTR(self);
 }
 

ports/raspberrypi/bindings/rp2pio/StateMachine.h

@@ -51,7 +51,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
     bool wait_for_txstall,
     bool auto_push, uint8_t push_threshold, bool in_shift_right,
-    bool user_interruptible);
+    bool user_interruptible,
+    int wrap_taget, int wrap);
 
 void common_hal_rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self);
 bool common_hal_rp2pio_statemachine_deinited(rp2pio_statemachine_obj_t *self);

ports/raspberrypi/common-hal/audiobusio/I2SOut.c

@@ -134,7 +134,8 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t *self,
         false, 32, false, // shift out left to start with MSB
         false, // Wait for txstall
         false, 32, false, // in settings
-        false); // Not user-interruptible.
+        false, // Not user-interruptible.
+        0, -1); // wrap settings
 
     self->playing = false;
     audio_dma_init(&self->dma);

ports/raspberrypi/common-hal/audiobusio/PDMIn.c

@@ -63,7 +63,7 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
 
     // Use the state machine to manage pins.
     common_hal_rp2pio_statemachine_construct(&self->state_machine,
-        pdmin, sizeof(pdmin) / sizeof(pdmin[0]),
+        pdmin, MP_ARRAY_SIZE(pdmin),
         sample_rate * 32 * 2, // Frequency based on sample rate
         NULL, 0,
         NULL, 1, 0, 0xffffffff, // out pin
@@ -78,7 +78,8 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
         false, 32, false, // out settings
         false, // Wait for txstall
         false, 32, true, // in settings
-        false); // Not user-interruptible.
+        false, // Not user-interruptible.
+        0, -1); // wrap settings
 
     uint32_t actual_frequency = common_hal_rp2pio_statemachine_get_frequency(&self->state_machine);
     if (actual_frequency < MIN_MIC_CLOCK) {

ports/raspberrypi/common-hal/imagecapture/ParallelImageCapture.c

@@ -118,13 +118,13 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
         false, 32, false, // out settings
         false, // wait for txstall
         true, 32, true,  // in settings
-        false); // Not user-interruptible.
+        false, // Not user-interruptible.
+        2, 5); // wrap settings
 
 
     PIO pio = self->state_machine.pio;
     uint8_t pio_index = pio_get_index(pio);
     uint sm = self->state_machine.state_machine;
-    rp2pio_statemachine_set_wrap(&self->state_machine, 2, 5);
 }
 
 void common_hal_imagecapture_parallelimagecapture_deinit(imagecapture_parallelimagecapture_obj_t *self) {

ports/raspberrypi/common-hal/neopixel_write/__init__.c

@@ -78,7 +78,8 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t *digitalinout,
         false, 32, true, // RX setting we don't use
         false, // claim pins
         false, // Not user-interruptible.
-        false); // No sideset enable
+        false, // No sideset enable
+        0, -1); // wrap
     if (!ok) {
         // Do nothing. Maybe bitbang?
         return;

ports/raspberrypi/common-hal/paralleldisplay/ParallelBus.c

@@ -92,7 +92,7 @@ void common_hal_paralleldisplay_parallelbus_construct(paralleldisplay_parallelbu
     }
 
     common_hal_rp2pio_statemachine_construct(&self->state_machine,
-        parallel_program, sizeof(parallel_program) / sizeof(parallel_program[0]),
+        parallel_program, MP_ARRAY_SIZE(parallel_program),
         frequency * 2, // frequency multiplied by 2 as 2 PIO instructions
         NULL, 0, // init
         data0, 8, 0, 255, // first out pin, # out pins
@@ -106,7 +106,8 @@ void common_hal_paralleldisplay_parallelbus_construct(paralleldisplay_parallelbu
         true, 8, true, // TX, auto pull every 8 bits. shift left to output msb first
         false, // wait for TX stall
         false, 32, true, // RX setting we don't use
-        false); // Not user-interruptible.
+        false, // Not user-interruptible.
+        0, -1); // wrap settings
 
     common_hal_rp2pio_statemachine_never_reset(&self->state_machine);
 }

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

@@ -74,7 +74,8 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self,
             true, 32, true, // RX auto-push every 32 bits
             false, // claim pins
             false, // Not user-interruptible.
-            false); // No sideset enable
+            false, // No sideset enable
+            0, -1); // wrap settings
 
     if (!ok) {
         mp_raise_RuntimeError(translate("All state machines in use"));

ports/raspberrypi/common-hal/rotaryio/IncrementalEncoder.c

@@ -92,7 +92,9 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
         false, 32, false, // out settings
         false, // Wait for txstall
         false, 32, false, // in settings
-        false); // Not user-interruptible.
+        false, // Not user-interruptible.
+        0, MP_ARRAY_SIZE(encoder) - 1 // wrap settings
+        );
 
     // We're guaranteed by the init code that some output will be available promptly
     uint8_t quiescent_state;

ports/raspberrypi/common-hal/rp2pio/StateMachine.c

@@ -165,7 +165,8 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool auto_push, uint8_t push_threshold, bool in_shift_right,
     bool claim_pins,
     bool user_interruptible,
-    bool sideset_enable
+    bool sideset_enable,
+    int wrap_target, int wrap
     ) {
     // Create a program id that isn't the pointer so we can store it without storing the original object.
     uint32_t program_id = ~((uint32_t)program);
@@ -289,7 +290,18 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     if (jmp_pin != NULL) {
         sm_config_set_jmp_pin(&c, jmp_pin->number);
     }
-    sm_config_set_wrap(&c, program_offset, program_offset + program_len - 1);
+
+    mp_arg_validate_int_range(wrap, -1, program_len - 1, MP_QSTR_wrap);
+    if (wrap == -1) {
+        wrap = program_len - 1;
+    }
+
+    mp_arg_validate_int_range(wrap_target, 0, program_len - 1, MP_QSTR_wrap_target);
+
+    wrap += program_offset;
+    wrap_target += program_offset;
+
+    sm_config_set_wrap(&c, wrap_target, wrap);
     sm_config_set_in_shift(&c, in_shift_right, auto_push, push_threshold);
     sm_config_set_out_shift(&c, out_shift_right, auto_pull, pull_threshold);
 
@@ -348,7 +360,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool auto_pull, uint8_t pull_threshold, bool out_shift_right,
     bool wait_for_txstall,
     bool auto_push, uint8_t push_threshold, bool in_shift_right,
-    bool user_interruptible) {
+    bool user_interruptible,
+    int wrap_target, int wrap) {
 
     // First, check that all pins are free OR already in use by any PIO if exclusive_pin_use is false.
     uint32_t pins_we_use = wait_gpio_mask;
@@ -510,7 +523,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
         auto_push, push_threshold, in_shift_right,
         true /* claim pins */,
         user_interruptible,
-        sideset_enable);
+        sideset_enable,
+        wrap_target, wrap);
     if (!ok) {
         mp_raise_RuntimeError(translate("All state machines in use"));
     }
@@ -834,10 +848,3 @@ uint8_t rp2pio_statemachine_program_offset(rp2pio_statemachine_obj_t *self) {
     uint8_t sm = self->state_machine;
     return _current_program_offset[pio_index][sm];
 }
-
-void rp2pio_statemachine_set_wrap(rp2pio_statemachine_obj_t *self, uint wrap_target, uint wrap) {
-    uint8_t sm = self->state_machine;
-    uint8_t offset = rp2pio_statemachine_program_offset(self);
-
-    pio_sm_set_wrap(self->pio, sm, offset + wrap_target, offset + wrap);
-}

ports/raspberrypi/common-hal/rp2pio/StateMachine.h

@@ -76,10 +76,10 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool auto_push, uint8_t push_threshold, bool in_shift_right,
     bool claim_pins,
     bool interruptible,
-    bool sideset_enable);
+    bool sideset_enable,
+    int wrap_target, int wrap);
 
 uint8_t rp2pio_statemachine_program_offset(rp2pio_statemachine_obj_t *self);
-void rp2pio_statemachine_set_wrap(rp2pio_statemachine_obj_t *self, uint wrap_target, uint wrap);
 
 void rp2pio_statemachine_deinit(rp2pio_statemachine_obj_t *self, bool leave_pins);