Allow PIO to be user-interruptible

Author: dhalbert

ports/raspberrypi/bindings/rp2pio/StateMachine.c

@@ -80,12 +80,13 @@
 //|                  initial_sideset_pin_direction: int = 0x1f,
 //|                  exclusive_pin_use: bool = True,
 //|                  auto_pull: bool = False,
-//|                  pull_threshold : int = 32,
-//|                  out_shift_right : bool = True,
+//|                  pull_threshold: int = 32,
+//|                  out_shift_right: bool = True,
 //|                  wait_for_txstall: bool = True,
 //|                  auto_push: bool = False,
-//|                  push_threshold : int = 32,
-//|                  in_shift_right : bool = True) -> None:
+//|                  push_threshold: int = 32,
+//|                  in_shift_right: bool = True,
+//|                  user_interruptible: bool = True) -> None:
 //|
 //|         """Construct a StateMachine object on the given pins with the given program.
 //|
@@ -126,7 +127,14 @@
 //|         :param int push_threshold: Number of bits to shift before saving the ISR value to the RX FIFO
 //|         :param bool in_shift_right: When True, data is shifted into the right side (LSB) of the
 //|             ISR. It is shifted into the left (MSB) otherwise. NOTE! This impacts data alignment
-//|             when the number of bytes is not a power of two (1, 2 or 4 bytes)."""
+//|             when the number of bytes is not a power of two (1, 2 or 4 bytes).
+//|         :param bool user_interruptible: When True (the default),
+//|             `write()`, `readinto()`, and `write_readinto()` can be interrupted by a ctrl-C.
+//|             This is useful when developing a PIO program: if there is an error in the program
+//|             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.
+//|         """
 //|         ...
 //|
 
@@ -143,7 +151,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
            ARG_exclusive_pin_use,
            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_auto_push, ARG_push_threshold, ARG_in_shift_right,
+           ARG_user_interruptible,};
     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 },
@@ -179,6 +188,7 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         { MP_QSTR_auto_push, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
         { 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_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);
@@ -252,7 +262,8 @@ STATIC mp_obj_t rp2pio_statemachine_make_new(const mp_obj_type_t *type, size_t n
         args[ARG_exclusive_pin_use].u_bool,
         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_auto_push].u_bool, push_threshold, args[ARG_in_shift_right].u_bool,
+        args[ARG_user_interruptible].u_bool);
     return MP_OBJ_FROM_PTR(self);
 }
 

ports/raspberrypi/bindings/rp2pio/StateMachine.h

@@ -49,7 +49,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool exclusive_pin_use,
     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 auto_push, uint8_t push_threshold, bool in_shift_right,
+    bool user_interruptible);
 
 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

@@ -132,7 +132,8 @@ void common_hal_audiobusio_i2sout_construct(audiobusio_i2sout_obj_t *self,
         true, // exclusive pin use
         false, 32, false, // shift out left to start with MSB
         false, // Wait for txstall
-        false, 32, false); // in settings
+        false, 32, false, // in settings
+        false); // Not user-interruptible.
 
     self->playing = false;
     audio_dma_init(&self->dma);

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

@@ -76,7 +76,8 @@ void common_hal_audiobusio_pdmin_construct(audiobusio_pdmin_obj_t *self,
         true, // exclusive pin use
         false, 32, false, // out settings
         false, // Wait for txstall
-        false, 32, true); // in settings
+        false, 32, true, // in settings
+        false);   // Not user-interruptible
 
     uint32_t actual_frequency = common_hal_rp2pio_statemachine_get_frequency(&self->state_machine);
     if (actual_frequency < MIN_MIC_CLOCK) {

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

@@ -104,8 +104,8 @@ void common_hal_displayio_parallelbus_construct(displayio_parallelbus_obj_t *sel
         true, // exclusive pin usage
         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, 32, true, // RX setting we don't use
+        false); // Not user-interruptible.
 
     common_hal_rp2pio_statemachine_never_reset(&self->state_machine);
 }

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

@@ -116,7 +116,9 @@ void common_hal_imagecapture_parallelimagecapture_construct(imagecapture_paralle
         true, // exclusive pin use
         false, 32, false, // out settings
         false, // wait for txstall
-        true, 32, true); // in settings
+        true, 32, true,  // in settings
+        false); // Not user-interruptible.
+
 
     PIO pio = self->state_machine.pio;
     uint8_t pio_index = pio_get_index(pio);

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

@@ -76,7 +76,8 @@ void common_hal_neopixel_write(const digitalio_digitalinout_obj_t *digitalinout,
         true, 8, false, // TX, auto pull every 8 bits. shift left to output msb first
         true, // Wait for txstall. If we don't, then we'll deinit too quickly.
         false, 32, true, // RX setting we don't use
-        false); // claim pins
+        false, // claim pins
+        false); // Not user-interruptible.
     if (!ok) {
         // Do nothing. Maybe bitbang?
         return;

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

@@ -72,7 +72,8 @@ void common_hal_pulseio_pulsein_construct(pulseio_pulsein_obj_t *self,
             false, 8, false, // TX, unused
             false,
             true, 32, true, // RX auto-push every 32 bits
-            false); // claim pins
+            false, // claim pins
+            false); // Not user-interruptible.
 
     if (!ok) {
         mp_raise_RuntimeError(translate("All state machines in use"));

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

@@ -89,7 +89,8 @@ void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencode
         true, // exclusive pin use
         false, 32, false, // out settings
         false, // Wait for txstall
-        false, 32, false); // in settings
+        false, 32, false, // in settings
+        false); // Not user-interruptible.
 
     common_hal_rp2pio_statemachine_run(&self->state_machine, encoder_init, MP_ARRAY_SIZE(encoder_init));
 

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

@@ -163,7 +163,9 @@ bool 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 claim_pins) {
+    bool claim_pins,
+    bool user_interruptible
+    ) {
     // 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);
 
@@ -303,6 +305,7 @@ bool rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     self->out_shift_right = out_shift_right;
     self->in_shift_right = in_shift_right;
     self->wait_for_txstall = wait_for_txstall;
+    self->user_interruptible = user_interruptible;
 
     self->init = init;
     self->init_len = init_len;
@@ -338,7 +341,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     bool exclusive_pin_use,
     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 auto_push, uint8_t push_threshold, bool in_shift_right,
+    bool user_interruptible) {
 
     // 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;
@@ -482,7 +486,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
     if (initial_pin_direction & (pull_up | pull_down)) {
         mp_raise_ValueError(translate("pull masks conflict with direction masks"));
     }
-    bool ok = rp2pio_statemachine_construct(self,
+    bool ok = rp2pio_statemachine_construct(
+        self,
         program, program_len,
         frequency,
         init, init_len,
@@ -497,7 +502,8 @@ void common_hal_rp2pio_statemachine_construct(rp2pio_statemachine_obj_t *self,
         auto_pull, pull_threshold, out_shift_right,
         wait_for_txstall,
         auto_push, push_threshold, in_shift_right,
-        true /* claim pins */);
+        true /* claim pins */,
+        user_interruptible);
     if (!ok) {
         mp_raise_RuntimeError(translate("All state machines in use"));
     }
@@ -664,6 +670,16 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
                (tx && dma_channel_is_busy(chan_tx))) {
             // TODO: We should idle here until we get a DMA interrupt or something else.
             RUN_BACKGROUND_TASKS;
+            if (self->user_interruptible && mp_hal_is_interrupted()) {
+                if (rx && dma_channel_is_busy(chan_rx)) {
+                    dma_channel_abort(chan_rx);
+                }
+                if (tx && dma_channel_is_busy(chan_tx)) {
+                    dma_channel_abort(chan_tx);
+                }
+                break;
+            }
+
         }
         // Clear the stall bit so we can detect when the state machine is done transmitting.
         self->pio->fdebug = stall_mask;
@@ -678,7 +694,7 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
         dma_channel_unclaim(chan_tx);
     }
 
-    if (!use_dma) {
+    if (!use_dma && !(self->user_interruptible && mp_hal_is_interrupted())) {
         // Use software for small transfers, or if couldn't claim two DMA channels
         size_t rx_remaining = in_len / in_stride_in_bytes;
         size_t tx_remaining = out_len / out_stride_in_bytes;
@@ -707,6 +723,9 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
                 --rx_remaining;
             }
             RUN_BACKGROUND_TASKS;
+            if (self->user_interruptible && mp_hal_is_interrupted()) {
+                break;
+            }
         }
         // Clear the stall bit so we can detect when the state machine is done transmitting.
         self->pio->fdebug = stall_mask;
@@ -717,6 +736,9 @@ static bool _transfer(rp2pio_statemachine_obj_t *self,
         while (!pio_sm_is_tx_fifo_empty(self->pio, self->state_machine) ||
                (self->wait_for_txstall && (self->pio->fdebug & stall_mask) == 0)) {
             RUN_BACKGROUND_TASKS;
+            if (self->user_interruptible && mp_hal_is_interrupted()) {
+                break;
+            }
         }
     }
     return true;

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

@@ -43,15 +43,16 @@ typedef struct {
     uint32_t initial_pin_direction;
     uint32_t pull_pin_up;
     uint32_t pull_pin_down;
+    uint tx_dreq;
+    uint rx_dreq;
+    uint32_t actual_frequency;
+    pio_sm_config sm_config;
     bool in;
     bool out;
     bool wait_for_txstall;
-    uint tx_dreq;
-    uint rx_dreq;
     bool out_shift_right;
     bool in_shift_right;
-    uint32_t actual_frequency;
-    pio_sm_config sm_config;
+    bool user_interruptible;
     uint8_t offset;
 } rp2pio_statemachine_obj_t;
 
@@ -73,7 +74,8 @@ bool 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 claim_pins);
+    bool claim_pins,
+    bool interruptible);
 
 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);