499 lines
13 KiB
C
499 lines
13 KiB
C
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#include "module.h"
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#include "lauxlib.h"
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#include "lmem.h"
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#include "platform.h"
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#include "user_interface.h"
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#include <stdint.h>
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#include <string.h>
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#include "gpio.h"
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#include "hw_timer.h"
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#include "pin_map.h"
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#include "driver/gpio16.h"
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#define TIMER_OWNER (('P' << 8) + 'U')
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#define xstr(s) str(s)
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#define str(s) #s
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// Maximum delay in microseconds
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#define DELAY_LIMIT 64000000
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typedef struct {
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uint32_t gpio_set;
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uint32_t gpio_clr;
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int32_t delay;
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int32_t delay_min;
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int32_t delay_max;
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uint32_t count;
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uint32_t count_left;
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uint16_t loop;
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} pulse_entry_t;
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typedef struct {
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uint32_t entry_count;
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volatile uint32_t steps;
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volatile uint16_t entry_pos;
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volatile uint16_t active_pos;
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volatile int16_t stop_pos; // -1 is stop nowhere, -2 is stop everywhere, otherwise is stop point
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pulse_entry_t *entry;
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volatile uint32_t expected_end_time;
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volatile uint32_t desired_end_time;
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volatile int32_t next_adjust;
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volatile int32_t pending_delay;
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volatile int cb_ref;
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} pulse_t;
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static int active_pulser_ref;
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static pulse_t *active_pulser;
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static platform_task_handle_t tasknumber;
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static int gpio_pulse_push_state(lua_State *L, pulse_t *pulser) {
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uint32_t now;
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uint32_t expected_end_time;
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uint32_t active_pos;
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uint32_t steps;
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do {
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now = 0x7FFFFFFF & system_get_time();
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expected_end_time = pulser->expected_end_time;
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active_pos = pulser->active_pos;
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steps = pulser->steps;
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} while (expected_end_time != pulser->expected_end_time ||
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active_pos != pulser->active_pos ||
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steps != pulser->steps);
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if (active_pos >= pulser->entry_count) {
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lua_pushnil(L);
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} else {
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lua_pushinteger(L, active_pos + 1); // Lua is 1 offset
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}
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lua_pushinteger(L, steps);
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int32_t diff = (expected_end_time - now) & 0x7fffffff;
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lua_pushinteger(L, (diff << 1) >> 1);
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lua_pushinteger(L, now);
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return 4;
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}
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static int gpio_pulse_getstate(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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return gpio_pulse_push_state(L, pulser);
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}
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static int gpio_pulse_stop(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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if (pulser != active_pulser) {
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return 0;
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}
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int argno = 2;
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int32_t stop_pos = -2;
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if (lua_type(L, argno) == LUA_TNUMBER) {
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stop_pos = luaL_checkinteger(L, 2);
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if (stop_pos != -2) {
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if (stop_pos < 1 || stop_pos > pulser->entry_count) {
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return luaL_error( L, "bad stop position: %d (valid range 1 - %d)", stop_pos, pulser->entry_count );
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}
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stop_pos = stop_pos - 1;
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}
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argno++;
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}
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if (lua_isfunction(L, argno)) {
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lua_pushvalue(L, argno);
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} else {
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return luaL_error( L, "missing callback" );
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}
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int new_cb_ref = luaL_ref(L, LUA_REGISTRYINDEX);
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int cb_ref = pulser->cb_ref;
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pulser->cb_ref = LUA_NOREF;
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pulser->stop_pos = -1;
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pulser->cb_ref = new_cb_ref;
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pulser->stop_pos = stop_pos;
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luaL_unref(L, LUA_REGISTRYINDEX, cb_ref);
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lua_pushboolean(L, 1);
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return 1;
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}
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static int gpio_pulse_delete(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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if (pulser == active_pulser) {
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return 0;
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}
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luaL_unref(L, LUA_REGISTRYINDEX, pulser->cb_ref);
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return 0;
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}
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static void fill_entry_from_table(lua_State *L, pulse_entry_t *entry) {
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if (lua_type(L, -1) != LUA_TTABLE) {
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luaL_error(L, "All entries must be tables");
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}
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lua_pushnil(L); // key position
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while (lua_next(L, -2)) {
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// stack now contains: -1 => value; -2 => key; -3 => table
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if (lua_type(L, -2) == LUA_TNUMBER) {
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int pin = luaL_checkint(L, -2);
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int value = luaL_checkint(L, -1);
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if (pin < 0 || pin >= GPIO_PIN_NUM) {
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luaL_error(L, "pin number %d must be in range 0 .. %d", pin, GPIO_PIN_NUM - 1);
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}
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if (value) {
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entry->gpio_set |= BIT(pin_num[pin]);
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} else {
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entry->gpio_clr |= BIT(pin_num[pin]);
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}
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} else {
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const char *str = luaL_checkstring(L, -2);
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if (strcmp(str, "delay") == 0) {
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entry->delay = luaL_checkint(L, -1);
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if (entry->delay < 0 || entry->delay > DELAY_LIMIT) {
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luaL_error(L, "delay of %d must be in the range 0 .. " xstr(DELAY_LIMIT) " microseconds", entry->delay);
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}
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} else if (strcmp(str, "min") == 0) {
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entry->delay_min = luaL_checkint(L, -1);
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if (entry->delay_min < 0 || entry->delay_min > DELAY_LIMIT) {
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luaL_error(L, "delay minimum of %d must be in the range 0 .. " xstr(DELAY_LIMIT) " microseconds", entry->delay_min);
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}
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} else if (strcmp(str, "max") == 0) {
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entry->delay_max = luaL_checkint(L, -1);
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if (entry->delay_max < 0 || entry->delay_max > DELAY_LIMIT) {
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luaL_error(L, "delay maximum of %d must be in the range 0 .. " xstr(DELAY_LIMIT) " microseconds", entry->delay_max);
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}
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} else if (strcmp(str, "count") == 0) {
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entry->count = luaL_checkint(L, -1);
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} else if (strcmp(str, "loop") == 0) {
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entry->loop = luaL_checkint(L, -1);
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} else {
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luaL_error(L, "Unrecognized key found: %s", str);
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}
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}
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lua_pop(L, 1);
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}
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if (entry->delay_min != -1 || entry->delay_max != -1) {
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if (entry->delay_min == -1) {
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entry->delay_min = 0;
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}
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if (entry->delay_min > entry->delay ||
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entry->delay_max < entry->delay) {
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luaL_error(L, "Delay of %d must be between min and max", entry->delay);
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}
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}
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lua_pop(L, 1);
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}
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static int gpio_pulse_build(lua_State *L) {
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// Take a table argument
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luaL_checktype(L, 1, LUA_TTABLE);
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// First figure out how big we need the block to be
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size_t size = lua_objlen(L, 1);
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if (size > 100) {
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return luaL_error(L, "table is too large: %d entries is more than 100", size);
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}
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size_t memsize = sizeof(pulse_t) + size * sizeof(pulse_entry_t);
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pulse_t *pulser = (pulse_t *) lua_newuserdata(L, memsize);
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memset(pulser, 0, memsize);
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//
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// Associate its metatable
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luaL_getmetatable(L, "gpio.pulse");
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lua_setmetatable(L, -2);
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pulser->entry = (pulse_entry_t *) (pulser + 1);
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pulser->entry_count = size;
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size_t i;
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for (i = 0; i < size; i++) {
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pulse_entry_t *entry = pulser->entry + i;
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entry->delay_min = -1;
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entry->delay_max = -1;
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lua_rawgeti(L, 1, i + 1);
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fill_entry_from_table(L, entry);
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}
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return 1;
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}
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static int gpio_pulse_update(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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int entry_pos = luaL_checkinteger(L, 2);
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if (entry_pos < 1 || entry_pos > pulser->entry_count) {
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return luaL_error(L, "entry number must be in range 1 .. %d", pulser->entry_count);
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}
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pulse_entry_t *entry = pulser->entry + entry_pos - 1;
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pulse_entry_t new_entry = *entry;
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lua_pushvalue(L, 3);
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fill_entry_from_table(L, &new_entry);
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// Now do the update
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ETS_FRC1_INTR_DISABLE();
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*entry = new_entry;
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ETS_FRC1_INTR_ENABLE();
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return 0;
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}
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static int gpio_pulse_adjust(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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if (active_pulser != pulser) {
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return 0;
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}
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int offset = luaL_checkinteger(L, 2);
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// This will alter the next adjustable
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pulser->next_adjust = offset;
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int rc = gpio_pulse_push_state(L, active_pulser);
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return rc;
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}
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static int gpio_pulse_cancel(lua_State *L) {
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pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
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if (active_pulser != pulser) {
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return 0;
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}
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// Shut off the timer
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platform_hw_timer_close(TIMER_OWNER);
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int rc = gpio_pulse_push_state(L, active_pulser);
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active_pulser = NULL;
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int pulser_ref = active_pulser_ref;
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active_pulser_ref = LUA_NOREF;
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luaL_unref(L, LUA_REGISTRYINDEX, pulser_ref);
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return rc;
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}
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static void ICACHE_RAM_ATTR gpio_pulse_timeout(os_param_t p) {
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(void) p;
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uint32_t now = system_get_time();
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int delay;
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if (active_pulser) {
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delay = active_pulser->pending_delay;
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if (delay > 0) {
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if (delay > 1200000) {
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delay = 1000000;
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}
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active_pulser->pending_delay -= delay;
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platform_hw_timer_arm_us(TIMER_OWNER, delay);
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return;
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}
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}
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do {
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active_pulser->active_pos = active_pulser->entry_pos;
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if (!active_pulser || active_pulser->entry_pos >= active_pulser->entry_count) {
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if (active_pulser) {
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active_pulser->steps++;
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}
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platform_hw_timer_close(TIMER_OWNER);
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platform_post_low(tasknumber, 0);
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return;
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}
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active_pulser->steps++;
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pulse_entry_t *entry = active_pulser->entry + active_pulser->entry_pos;
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// Yes, this means that there is more skew on D0 than on other pins....
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if (entry->gpio_set & 0x10000) {
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gpio16_output_set(1);
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}
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GPIO_REG_WRITE(GPIO_OUT_W1TS_ADDRESS, entry->gpio_set);
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GPIO_REG_WRITE(GPIO_OUT_W1TC_ADDRESS, entry->gpio_clr);
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if (entry->gpio_clr & 0x10000) {
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gpio16_output_set(0);
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}
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int16_t stop = active_pulser->stop_pos;
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if (stop == -2 || stop == active_pulser->entry_pos) {
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platform_hw_timer_close(TIMER_OWNER);
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platform_post_low(tasknumber, 0);
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return;
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}
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if (entry->loop) {
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if (entry->count_left == 0) {
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entry->count_left = entry->count + 1;
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}
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if (--entry->count_left >= 1) {
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active_pulser->entry_pos = entry->loop - 1; // zero offset
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} else {
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active_pulser->entry_pos++;
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}
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} else {
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active_pulser->entry_pos++;
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}
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delay = entry->delay;
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int delay_offset = 0;
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if (entry->delay_min != -1) {
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int offset = active_pulser->next_adjust;
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active_pulser->next_adjust = 0;
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delay_offset = ((0x7fffffff & (now - active_pulser->desired_end_time)) << 1) >> 1;
|
||
|
|
delay -= delay_offset;
|
||
|
|
delay += offset;
|
||
|
|
//dbg_printf("%d(et %d diff %d): Delay was %d us, offset = %d, delay_offset = %d, new delay = %d, range=%d..%d\n",
|
||
|
|
// now, active_pulser->desired_end_time, now - active_pulser->desired_end_time,
|
||
|
|
// entry->delay, offset, delay_offset, delay, entry->delay_min, entry->delay_max);
|
||
|
|
if (delay < entry->delay_min) {
|
||
|
|
// we can't delay as little as 'delay', so we need to adjust
|
||
|
|
// the next period as well.
|
||
|
|
active_pulser->next_adjust = (entry->delay - entry->delay_min) + offset;
|
||
|
|
delay = entry->delay_min;
|
||
|
|
} else if (delay > entry->delay_max) {
|
||
|
|
// we can't delay as much as 'delay', so we need to adjust
|
||
|
|
// the next period as well.
|
||
|
|
active_pulser->next_adjust = (entry->delay - entry->delay_max) + offset;
|
||
|
|
delay = entry->delay_max;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
active_pulser->desired_end_time += delay + delay_offset;
|
||
|
|
active_pulser->expected_end_time = system_get_time() + delay;
|
||
|
|
} while (delay < 3);
|
||
|
|
|
||
|
|
if (delay > 1200000) {
|
||
|
|
active_pulser->pending_delay = delay - 1000000;
|
||
|
|
delay = 1000000;
|
||
|
|
}
|
||
|
|
platform_hw_timer_arm_us(TIMER_OWNER, delay);
|
||
|
|
}
|
||
|
|
|
||
|
|
static int gpio_pulse_start(lua_State *L) {
|
||
|
|
pulse_t *pulser = luaL_checkudata(L, 1, "gpio.pulse");
|
||
|
|
|
||
|
|
if (active_pulser) {
|
||
|
|
return luaL_error(L, "pulse operation already in progress");
|
||
|
|
}
|
||
|
|
|
||
|
|
int argno = 2;
|
||
|
|
int initial_adjust;
|
||
|
|
|
||
|
|
if (lua_type(L, argno) == LUA_TNUMBER) {
|
||
|
|
initial_adjust = luaL_checkinteger(L, argno);
|
||
|
|
argno++;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (lua_isfunction(L, argno)) {
|
||
|
|
lua_pushvalue(L, argno);
|
||
|
|
} else {
|
||
|
|
return luaL_error( L, "missing callback" );
|
||
|
|
}
|
||
|
|
|
||
|
|
if (pulser->cb_ref) {
|
||
|
|
luaL_unref(L, LUA_REGISTRYINDEX, pulser->cb_ref);
|
||
|
|
}
|
||
|
|
pulser->cb_ref = luaL_ref(L, LUA_REGISTRYINDEX);
|
||
|
|
|
||
|
|
active_pulser = pulser;
|
||
|
|
lua_pushvalue(L, 1);
|
||
|
|
active_pulser_ref = luaL_ref(L, LUA_REGISTRYINDEX);
|
||
|
|
|
||
|
|
size_t i;
|
||
|
|
for (i = 0; i < pulser->entry_count; i++) {
|
||
|
|
pulser->entry[i].count_left = 0;
|
||
|
|
}
|
||
|
|
pulser->entry_pos = 0;
|
||
|
|
pulser->active_pos = 0;
|
||
|
|
pulser->steps = 0;
|
||
|
|
pulser->stop_pos = -1;
|
||
|
|
pulser->next_adjust = initial_adjust;
|
||
|
|
|
||
|
|
// Now start things up
|
||
|
|
if (!platform_hw_timer_init(TIMER_OWNER, FRC1_SOURCE, FALSE)) {
|
||
|
|
// Failed to init the timer
|
||
|
|
luaL_error(L, "Unable to initialize timer");
|
||
|
|
}
|
||
|
|
|
||
|
|
active_pulser->expected_end_time = 0x7fffffff & system_get_time();
|
||
|
|
platform_hw_timer_set_func(TIMER_OWNER, gpio_pulse_timeout, 0);
|
||
|
|
gpio_pulse_timeout(0);
|
||
|
|
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
static void gpio_pulse_task(os_param_t param, uint8_t prio)
|
||
|
|
{
|
||
|
|
(void) param;
|
||
|
|
(void) prio;
|
||
|
|
|
||
|
|
if (active_pulser) {
|
||
|
|
lua_State *L = lua_getstate();
|
||
|
|
// Invoke the callback
|
||
|
|
lua_rawgeti(L, LUA_REGISTRYINDEX, active_pulser->cb_ref);
|
||
|
|
|
||
|
|
int rc = gpio_pulse_push_state(L, active_pulser);
|
||
|
|
|
||
|
|
active_pulser = NULL;
|
||
|
|
int pulser_ref = active_pulser_ref;
|
||
|
|
active_pulser_ref = LUA_NOREF;
|
||
|
|
luaL_unref(L, LUA_REGISTRYINDEX, pulser_ref);
|
||
|
|
|
||
|
|
luaL_pcallx(L, rc, 0);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
LROT_BEGIN(pulse, NULL, LROT_MASK_GC_INDEX)
|
||
|
|
LROT_FUNCENTRY( __gc, gpio_pulse_delete )
|
||
|
|
LROT_TABENTRY( __index, pulse )
|
||
|
|
LROT_FUNCENTRY( getstate, gpio_pulse_getstate )
|
||
|
|
LROT_FUNCENTRY( stop, gpio_pulse_stop )
|
||
|
|
LROT_FUNCENTRY( cancel, gpio_pulse_cancel )
|
||
|
|
LROT_FUNCENTRY( start, gpio_pulse_start )
|
||
|
|
LROT_FUNCENTRY( adjust, gpio_pulse_adjust )
|
||
|
|
LROT_FUNCENTRY( update, gpio_pulse_update )
|
||
|
|
LROT_END(pulse, NULL, LROT_MASK_GC_INDEX)
|
||
|
|
|
||
|
|
|
||
|
|
LROT_BEGIN(gpio_pulse, NULL, 0)
|
||
|
|
LROT_FUNCENTRY( build, gpio_pulse_build )
|
||
|
|
LROT_END(gpio_pulse, NULL, 0)
|
||
|
|
|
||
|
|
|
||
|
|
int gpio_pulse_init(lua_State *L)
|
||
|
|
{
|
||
|
|
luaL_rometatable(L, "gpio.pulse", LROT_TABLEREF(pulse));
|
||
|
|
tasknumber = platform_task_get_id(gpio_pulse_task);
|
||
|
|
return 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
NODEMCU_MODULE(GPIOPULSE, "gpiopulse", gpio_pulse, gpio_pulse_init);
|
||
|
|
|