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pico_devices.py
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# RP2350 uctype definitions for MicroPython
# See https://iosoft.blog/picofreq_python for description
#
# Copyright (c) 2024 Jeremy P Bentham
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# v0.01 JPB 7/10/21 Derived from adc_dma_test v0.05
# v0.02 JPB 15/8/23 Added DMA and PWM classes
# v0.03 JPB 19/8/23 Renamed rp_devices.py to pico_devices.py
# v0.04 JPB 20/8/23 Additions for gated frequency measurement
# v0.05 JPB 21/8/23 Tidied up for release
# v0.06 JPB 31/10/23 Corrected PAD_PINS definition (added offset)
# v0.07 JPB 14/10/24 Added Pico 2 (RP2350) definitions
from uctypes import BF_POS, BF_LEN, UINT32, BFUINT32, struct
import array, uctypes, uos
PICO2 = "2350" in uos.uname().machine
if PICO2:
CLOCK_FREQ = 150e6
GPIO_BASE = 0x40028000
PAD_BASE = 0x40038000
ADC_BASE = 0x400a0000
PWM_BASE = 0x400a8000
TIMER_BASE = 0x400b0000
DMA_BASE = 0x50000000
else:
CLOCK_FREQ = 125e6
GPIO_BASE = 0x40014000
PAD_BASE = 0x4001c000
ADC_BASE = 0x4004c000
PWM_BASE = 0x40050000
TIMER_BASE = 0x40054000
DMA_BASE = 0x50000000
# DMA: datasheet RP2040 2.5.7, RP2350 12.6.10
DMA_CHAN_WIDTH = 0x40
DMA_CHAN_COUNT = 16
DMA_SIZE_8, DMA_SIZE_16, DMA_SIZE_32 = 0, 1, 2
DMA_NORMAL, DMA_TRIGGER_SELF, DMA_ENDLESS = 0, 1, 15 # PICO2 only
DREQ_PIO0_TX0, DREQ_PIO0_RX0, DREQ_PIO1_TX0, DREQ_PIO1_RX0 = 0, 4, 8, 12
if PICO2:
DREQ_SPI0_TX, DREQ_SPI0_RX, DREQ_SPI1_TX, DREQ_SPI1_RX = 24, 25, 26, 27
DREQ_UART0_TX, DREQ_UART0_RX, DREQ_UART1_TX, DREQ_UART1_RX = 28, 29, 30, 31
DREQ_PWM_WRAP0,DREQ_PWM_WRAP1,DREQ_PWM_WRAP2,DREQ_PWM_WRAP3= 32, 33, 34, 35
DREQ_ADC = 48
else:
DREQ_SPI0_TX, DREQ_SPI0_RX, DREQ_SPI1_TX, DREQ_SPI1_RX = 16, 17, 18, 19
DREQ_UART0_TX, DREQ_UART0_RX, DREQ_UART1_TX, DREQ_UART1_RX = 20, 21, 22, 23
DREQ_PWM_WRAP0,DREQ_PWM_WRAP1,DREQ_PWM_WRAP2,DREQ_PWM_WRAP3= 24, 25, 26, 27
DREQ_ADC = 36
if PICO2:
DMA_CTRL_TRIG_FIELDS = {
"AHB_ERROR": 31<<BF_POS | 1<<BF_LEN | BFUINT32,
"READ_ERROR": 30<<BF_POS | 1<<BF_LEN | BFUINT32,
"WRITE_ERROR": 29<<BF_POS | 1<<BF_LEN | BFUINT32,
"BUSY": 26<<BF_POS | 1<<BF_LEN | BFUINT32,
"SNIFF_EN": 25<<BF_POS | 1<<BF_LEN | BFUINT32,
"BSWAP": 24<<BF_POS | 1<<BF_LEN | BFUINT32,
"IRQ_QUIET": 23<<BF_POS | 1<<BF_LEN | BFUINT32,
"TREQ_SEL": 17<<BF_POS | 6<<BF_LEN | BFUINT32,
"CHAIN_TO": 13<<BF_POS | 4<<BF_LEN | BFUINT32,
"RING_SEL": 12<<BF_POS | 1<<BF_LEN | BFUINT32,
"RING_SIZE": 8<<BF_POS | 4<<BF_LEN | BFUINT32,
"INCR_WRITE_REV":7<<BF_POS | 1<<BF_LEN | BFUINT32,
"INCR_WRITE": 6<<BF_POS | 1<<BF_LEN | BFUINT32,
"INCR_READ_REV": 5<<BF_POS | 1<<BF_LEN | BFUINT32,
"INCR_READ": 4<<BF_POS | 1<<BF_LEN | BFUINT32,
"DATA_SIZE": 2<<BF_POS | 2<<BF_LEN | BFUINT32,
"HIGH_PRIORITY": 1<<BF_POS | 1<<BF_LEN | BFUINT32,
"EN": 0<<BF_POS | 1<<BF_LEN | BFUINT32
}
else:
DMA_CTRL_TRIG_FIELDS = {
"AHB_ERROR": 31<<BF_POS | 1<<BF_LEN | BFUINT32,
"READ_ERROR": 30<<BF_POS | 1<<BF_LEN | BFUINT32,
"WRITE_ERROR": 29<<BF_POS | 1<<BF_LEN | BFUINT32,
"BUSY": 24<<BF_POS | 1<<BF_LEN | BFUINT32,
"SNIFF_EN": 23<<BF_POS | 1<<BF_LEN | BFUINT32,
"BSWAP": 22<<BF_POS | 1<<BF_LEN | BFUINT32,
"IRQ_QUIET": 21<<BF_POS | 1<<BF_LEN | BFUINT32,
"TREQ_SEL": 15<<BF_POS | 6<<BF_LEN | BFUINT32,
"CHAIN_TO": 11<<BF_POS | 4<<BF_LEN | BFUINT32,
"RING_SEL": 10<<BF_POS | 1<<BF_LEN | BFUINT32,
"RING_SIZE": 6<<BF_POS | 4<<BF_LEN | BFUINT32,
"INCR_WRITE": 5<<BF_POS | 1<<BF_LEN | BFUINT32,
"INCR_READ": 4<<BF_POS | 1<<BF_LEN | BFUINT32,
"DATA_SIZE": 2<<BF_POS | 2<<BF_LEN | BFUINT32,
"HIGH_PRIORITY":1<<BF_POS | 1<<BF_LEN | BFUINT32,
"EN": 0<<BF_POS | 1<<BF_LEN | BFUINT32
}
# Channel-specific DMA registers
DMA_CHAN_REGS = {
"READ_ADDR_REG": 0x00|UINT32,
"WRITE_ADDR_REG": 0x04|UINT32,
"TRANS_COUNT_REG": 0x08|UINT32,
"CTRL_TRIG_REG": 0x0c|UINT32,
"CTRL_TRIG": (0x0c,DMA_CTRL_TRIG_FIELDS)
}
# General DMA registers
if PICO2:
DMA_DEVICE_REGS = {
"INTR": 0x400|UINT32,
"INTE0": 0x404|UINT32,
"INTF0": 0x408|UINT32,
"INTS0": 0x40c|UINT32,
"INTE1": 0x414|UINT32,
"INTF1": 0x418|UINT32,
"INTS1": 0x41c|UINT32,
"INTE2": 0x424|UINT32,
"INTF2": 0x428|UINT32,
"INTS2": 0x42c|UINT32,
"INTE3": 0x434|UINT32,
"INTF3": 0x438|UINT32,
"INTS3": 0x43c|UINT32,
"TIMER0": 0x440|UINT32,
"TIMER1": 0x444|UINT32,
"TIMER2": 0x448|UINT32,
"TIMER3": 0x44c|UINT32,
"MULTI_CHAN_TRIGGER": 0x450|UINT32,
"SNIFF_CTRL": 0x454|UINT32,
"SNIFF_DATA": 0x458|UINT32,
"FIFO_LEVELS": 0x460|UINT32,
"CHAN_ABORT": 0x464|UINT32
}
else:
DMA_DEVICE_REGS = {
"INTR": 0x400|UINT32,
"INTE0": 0x404|UINT32,
"INTF0": 0x408|UINT32,
"INTS0": 0x40c|UINT32,
"INTE1": 0x414|UINT32,
"INTF1": 0x418|UINT32,
"INTS1": 0x41c|UINT32,
"TIMER0": 0x420|UINT32,
"TIMER1": 0x424|UINT32,
"TIMER2": 0x428|UINT32,
"TIMER3": 0x42c|UINT32,
"MULTI_CHAN_TRIGGER": 0x430|UINT32,
"SNIFF_CTRL": 0x434|UINT32,
"SNIFF_DATA": 0x438|UINT32,
"FIFO_LEVELS": 0x440|UINT32,
"CHAN_ABORT": 0x444|UINT32
}
DMA_CHANS = [struct(DMA_BASE + n*DMA_CHAN_WIDTH, DMA_CHAN_REGS) for n in range(0,DMA_CHAN_COUNT)]
DMA_DEVICE = struct(DMA_BASE, DMA_DEVICE_REGS)
# GPIO status and control: datasheet RP2040 2.19.6.1, RP2350 9.11.1
GPIO_CHAN_WIDTH = 0x08
GPIO_PIN_COUNT = 30
GPIO_FUNC_SPI, GPIO_FUNC_UART, GPIO_FUNC_I2C = 1, 2, 3
GPIO_FUNC_PWM, GPIO_FUNC_SIO, GPIO_FUNC_PIO0 = 4, 5, 6
GPIO_FUNC_NULL = 0x1f
GPIO_STATUS_FIELDS = {
"IRQTOPROC": 26<<BF_POS | 1<<BF_LEN | BFUINT32,
"IRQFROMPAD": 24<<BF_POS | 1<<BF_LEN | BFUINT32,
"INTOPERI": 19<<BF_POS | 1<<BF_LEN | BFUINT32,
"INFROMPAD": 17<<BF_POS | 1<<BF_LEN | BFUINT32,
"OETOPAD": 13<<BF_POS | 1<<BF_LEN | BFUINT32,
"OEFROMPERI": 12<<BF_POS | 1<<BF_LEN | BFUINT32,
"OUTTOPAD": 9<<BF_POS | 1<<BF_LEN | BFUINT32,
"OUTFROMPERI": 8<<BF_POS | 1<<BF_LEN | BFUINT32
}
GPIO_CTRL_FIELDS = {
"IRQOVER": 28<<BF_POS | 2<<BF_LEN | BFUINT32,
"INOVER": 16<<BF_POS | 2<<BF_LEN | BFUINT32,
"OEOVER": 12<<BF_POS | 2<<BF_LEN | BFUINT32,
"OUTOVER": 8<<BF_POS | 2<<BF_LEN | BFUINT32,
"FUNCSEL": 0<<BF_POS | 5<<BF_LEN | BFUINT32
}
GPIO_REGS = {
"GPIO_STATUS_REG": 0x00|UINT32,
"GPIO_STATUS": (0x00,GPIO_STATUS_FIELDS),
"GPIO_CTRL_REG": 0x04|UINT32,
"GPIO_CTRL": (0x04,GPIO_CTRL_FIELDS)
}
GPIO_PINS = [struct(GPIO_BASE + n*GPIO_CHAN_WIDTH, GPIO_REGS) for n in range(0,GPIO_PIN_COUNT)]
# PAD control: datasheet RP2040 2.19.6.3 RP2350 9.11.3
PAD_PIN_WIDTH = 0x04
PAD_FIELDS = {
"ISO": 8<<BF_POS | 1<<BF_LEN | BFUINT32, # PICO2 only
"OD": 7<<BF_POS | 1<<BF_LEN | BFUINT32,
"IE": 6<<BF_POS | 1<<BF_LEN | BFUINT32,
"DRIVE": 4<<BF_POS | 2<<BF_LEN | BFUINT32,
"PUE": 3<<BF_POS | 1<<BF_LEN | BFUINT32,
"PDE": 2<<BF_POS | 1<<BF_LEN | BFUINT32,
"SCHMITT": 1<<BF_POS | 1<<BF_LEN | BFUINT32,
"SLEWFAST": 0<<BF_POS | 1<<BF_LEN | BFUINT32
}
PAD_REGS = {
"PAD_REG": 0x00|UINT32,
"PAD": (0x00,PAD_FIELDS)
}
PAD_PINS = [struct(PAD_BASE + (n+1)*PAD_PIN_WIDTH, PAD_REGS) for n in range(0,GPIO_PIN_COUNT)]
# ADC: datasheet RP2040 4.9.6 RP2350 12.4.7
ADC_CS_FIELDS = {
"RROBIN": 16<<BF_POS | 5<<BF_LEN | BFUINT32,
"AINSEL": 12<<BF_POS | 3<<BF_LEN | BFUINT32,
"ERR_STICKY": 10<<BF_POS | 1<<BF_LEN | BFUINT32,
"ERR": 9<<BF_POS | 1<<BF_LEN | BFUINT32,
"READY": 8<<BF_POS | 1<<BF_LEN | BFUINT32,
"START_MANY": 3<<BF_POS | 1<<BF_LEN | BFUINT32,
"START_ONCE": 2<<BF_POS | 1<<BF_LEN | BFUINT32,
"TS_EN": 1<<BF_POS | 1<<BF_LEN | BFUINT32,
"EN": 0<<BF_POS | 1<<BF_LEN | BFUINT32
}
ADC_FCS_FIELDS = {
"THRESH": 24<<BF_POS | 4<<BF_LEN | BFUINT32,
"LEVEL": 16<<BF_POS | 4<<BF_LEN | BFUINT32,
"OVER": 11<<BF_POS | 1<<BF_LEN | BFUINT32,
"UNDER": 10<<BF_POS | 1<<BF_LEN | BFUINT32,
"FULL": 9<<BF_POS | 1<<BF_LEN | BFUINT32,
"EMPTY": 8<<BF_POS | 1<<BF_LEN | BFUINT32,
"DREQ_EN": 3<<BF_POS | 1<<BF_LEN | BFUINT32,
"ERR": 2<<BF_POS | 1<<BF_LEN | BFUINT32,
"SHIFT": 1<<BF_POS | 1<<BF_LEN | BFUINT32,
"EN": 0<<BF_POS | 1<<BF_LEN | BFUINT32,
}
ADC_DEVICE_REGS = {
"CS_REG": 0x00|UINT32,
"CS": (0x00,ADC_CS_FIELDS),
"RESULT_REG": 0x04|UINT32,
"FCS_REG": 0x08|UINT32,
"FCS": (0x08,ADC_FCS_FIELDS),
"FIFO_REG": 0x0c|UINT32,
"DIV_REG": 0x10|UINT32,
"INTR_REG": 0x14|UINT32,
"INTE_REG": 0x18|UINT32,
"INTF_REG": 0x1c|UINT32,
"INTS_REG": 0x20|UINT32
}
ADC_DEVICE = struct(ADC_BASE, ADC_DEVICE_REGS)
ADC_FIFO_ADDR = ADC_BASE + 0x0c
# PWM: datasheet RP2040 4.5.3 RP2350 12.5.3
PWM_SLICE_WIDTH = 0x14
PWM_SLICE_COUNT = 12 if PICO2 else 8
PWM_DIV_FREE_RUNNING, PWM_DIV_B_HIGH, PWM_DIV_B_RISING, PWM_DIV_B_FALLING = 0, 1, 2, 3
PWM_CSR_FIELDS = {
"PH_ADV": 7<<BF_POS | 1<<BF_LEN | BFUINT32,
"PH_RET": 6<<BF_POS | 1<<BF_LEN | BFUINT32,
"DIVMODE": 4<<BF_POS | 2<<BF_LEN | BFUINT32,
"B_INV": 3<<BF_POS | 1<<BF_LEN | BFUINT32,
"A_INV": 2<<BF_POS | 1<<BF_LEN | BFUINT32,
"PH_CORRECT":1<<BF_POS | 1<<BF_LEN | BFUINT32,
"EN": 0<<BF_POS | 1<<BF_LEN | BFUINT32
}
PWM_CC_FIELDS = {
"A": 0<<BF_POS | 16<<BF_LEN | BFUINT32,
"B": 16<<BF_POS | 16<<BF_LEN | BFUINT32
}
PWM_CHAN_A, PWM_CHAN_B = 0, 1
PWM_DIV_FIELDS = {
"INT": 4<<BF_POS | 8<<BF_LEN | BFUINT32,
"FRAC": 0<<BF_POS | 4<<BF_LEN | BFUINT32,
}
PWM_SLICE_REGS = {
"CSR_REG": 0x00|UINT32,
"CSR": (0x00,PWM_CSR_FIELDS),
"DIV_REG": 0x04|UINT32,
"DIV": (0x04,PWM_DIV_FIELDS),
"CTR_REG": 0x08|UINT32,
"CC_REG": 0x0c|UINT32,
"CC": (0x0C,PWM_CC_FIELDS),
"TOP_REG": 0x10|UINT32
}
# General PWM registers
PWM_DEVICE_REGS = {
"EN_REG": (0xf0 if PICO2 else 0xa0) | UINT32
}
PWM_DEVICE = struct(PWM_BASE, PWM_DEVICE_REGS)
PWM_SLICES = [struct(PWM_BASE + n*PWM_SLICE_WIDTH, PWM_SLICE_REGS) for n in range(0,PWM_SLICE_COUNT)]
PWM_EN_REG_ADDR = PWM_BASE + (0xf0 if PICO2 else 0xa0)
# Address of lower 32 bits of 1 MHz timer
TIMER_RAWL_ADDR = TIMER_BASE + 0x28
# Set GPIO pin function
def gpio_set_function(gpio, f):
PAD_PINS[gpio].PAD.OD = 0;
PAD_PINS[gpio].PAD.IE = 1;
if PICO2:
PAD_PINS[gpio].PAD.ISO = 0;
GPIO_PINS[gpio].GPIO_CTRL_REG = f
# Get address of variable (for DMA)
def addressof(var):
return uctypes.addressof(var)
# Create 32-bit array (to receive DMA data)
def array32(size):
return array.array('I', (0 for _ in range(size)))
# Class for RP2040/2350 DMA
class DMA:
instance_number = 0
def __init__(self):
self.chan_number = DMA.instance_number
DMA.instance_number += 1
self.DMA_DEVICE = DMA_DEVICE
self.chan = DMA_CHANS[self.chan_number]
self.abort()
self.chan.READ_ADDR_REG = self.chan.WRITE_ADDR_REG = 0
self.chan.TRANS_COUNT_REG = self.chan.CTRL_TRIG_REG =0
self.chan.CTRL_TRIG.CHAIN_TO = self.chan_number
# Cancel the current DMA transfer
def abort(self):
self.DMA_DEVICE.CHAN_ABORT = 1 << self.chan_number
while self.DMA_DEVICE.CHAN_ABORT & (1 << self.chan_number):
pass
# Enable DMA transfer, or resume if already started
def set_trigger(self, trigger):
if trigger:
self.chan.CTRL_TRIG.EN = 1
# Enable/resume data transfer, or suspend it
def set_enable(self, en):
self.chan.CTRL_TRIG.EN = 1 if en else 0
# Set size of data to be transferred: 8 / 16 / 32 bits
def set_transfer_data_size(self, size):
self.chan.CTRL_TRIG.DATA_SIZE = size
# Set source address
def set_read_addr(self, addr, trigger=False):
self.chan.READ_ADDR_REG = addr
self.set_trigger(trigger)
# Set destination address
def set_write_addr(self, addr, trigger=False):
self.chan.WRITE_ADDR_REG = addr
self.set_trigger(trigger)
# Set number of transfers (and mode if RP2350)
def set_trans_count(self, count, trigger=False, mode=DMA_NORMAL):
if PICO2 and mode:
count |= mode << 28
self.chan.TRANS_COUNT_REG = count
self.set_trigger(trigger)
# Enable/disable auto-increment of source address
def set_read_increment(self, incr):
self.chan.CTRL_TRIG.INCR_READ = 1 if incr else 0
# Enable/disable auto-increment of destination address
def set_write_increment(self, incr):
self.chan.CTRL_TRIG.INCR_WRITE = 1 if incr else 0
# Set signal that will request a transfer
def set_dreq(self, dreq):
self.chan.CTRL_TRIG.TREQ_SEL = dreq
# Set destination address and count, and enable DMA
def transfer_to_buffer_now(self, addr, count):
self.set_write_addr(addressof(addr))
self.set_trans_count(counter, True)
# Return number of transfers that remain
def get_trans_count(self):
return self.chan.TRANS_COUNT_REG & 0xfffffff
# Print register values
def print_regs(self):
print("READ_ADDR %08X, " % self.chan.READ_ADDR_REG, end="")
print("WRITE_ADDR %08X, " % self.chan.WRITE_ADDR_REG, end="")
print("TRANS_COUNT_REG %08X, " % self.chan.TRANS_COUNT_REG, end="")
print("CTRL_TRIG_REG %08X" % self.chan.CTRL_TRIG_REG)
# Class for RP2040/2350 PWM
class PWM:
def __init__(self, gpio, clock=CLOCK_FREQ):
self.gpio = gpio
self.clock = clock
self.slice_num = self.gpio_to_slice_num(gpio)
self.slice = PWM_SLICES[self.slice_num]
self.slice.CSR_REG = self.slice.DIV_REG = self.slice.CTR_REG = 0
self.slice.CC_REG = self.slice.TOP_REG = 0
self.set_clkdiv_int_frac(1, 0)
self.set_wrap(0xffff)
# Convert PIO number to slice number
def gpio_to_slice_num(self, gpio):
return (gpio >> 1) & 7
# Convert GPIO number to channel number 0 or 1 (A or B)
def gpio_to_channel(self, gpio):
return(gpio & 1)
# Set clock divisor (integer and fraction)
def set_clkdiv_int_frac(self, i, f):
self.slice.DIV.INT = i
self.slice.DIV.FRAC = f
# Set clock divisor (integer only)
def set_clkdiv(self, i):
self.set_clkdiv_int_frac(i, 0)
# Set clocking mode
def set_clkdiv_mode(self, mode):
self.slice.CSR.DIVMODE = mode
# Set wraparound value
def set_wrap(self, w):
self.slice.TOP_REG = w
# Set initial counter value
def set_ctr(self, val):
self.slice.CTR_REG = val
# Set PWM comparison value
def set_chan_level(self, chan, level):
if chan:
self.slice.CC.B = level
else:
self.slice.CC.A = level
# Enable/disable phase-correct operation
def set_phase_correct(self, correct):
self.slice.CSR.PH_CORRECT = 1 if correct else 0
# Enable/disable PWM
def set_enabled(self, en):
self.slice.CSR.EN = en
# Enable/disable multiple PWM slices, using bit-mask
def set_enables(self, mask, en):
if en:
PWM_DEVICE.EN_REG |= mask
else:
PWM_DEVICE.EN_REG &= ~mask
# Get current counter value
def get_counter(self):
return self.slice.CTR_REG
# Calculate current PWM output frequency
def get_output_frequency(self):
div = float(self.slice.DIV.INT) + self.slice.DIV.FRAC / 16.0
return self.clock / (div * (self.slice.TOP_REG + 1))
# Return a data-request signal for this slice
def get_dreq(self):
return DREQ_PWM_WRAP0 + self.slice_num
# Return address of CSR register, to be used by DMA
def get_csr_address(self):
return PWM_BASE + self.slice_num*PWM_SLICE_WIDTH
# Print register values
def print_regs(self):
print("CSR %08X, " % self.slice.CSR_REG, end="")
print("DIV %08X, " % self.slice.DIV_REG, end="")
print("CTR %08X, " % self.slice.CTR_REG, end="")
print("CC %08X, " % self.slice.CC_REG, end="")
print("TOP %08X" % self.slice.TOP_REG)
# EOF