src/adafruit_blinka/microcontroller/rp2040_u2if/rp2040_u2if.py

   1 # SPDX-FileCopyrightText: 2021 Melissa LeBlanc-Williams for Adafruit Industries
   2 #
   3 # SPDX-License-Identifier: MIT
   4 """Helper class for use with RP2040 running u2if firmware"""
   5 # https://github.com/execuc/u2if
   6
   7 import os
   8 import time
   9 import hid
  10
  11 # Use to set delay between reset and device reopen. if negative, don't reset at all
  12 RP2040_U2IF_RESET_DELAY = float(os.environ.get("RP2040_U2IF_RESET_DELAY", 1))
  13
  14 # pylint: disable=import-outside-toplevel,too-many-branches,too-many-statements
  15 # pylint: disable=too-many-arguments,too-many-function-args, too-many-public-methods
  16
  17
  18 class RP2040_u2if:
  19     """Helper class for use with RP2040 running u2if firmware"""
  20
  21     # MISC
  22     RESP_OK = 0x01
  23     SYS_RESET = 0x10
  24
  25     # GPIO
  26     GPIO_INIT_PIN = 0x20
  27     GPIO_SET_VALUE = 0x21
  28     GPIO_GET_VALUE = 0x22
  29
  30     # ADC
  31     ADC_INIT_PIN = 0x40
  32     ADC_GET_VALUE = 0x41
  33
  34     # I2C
  35     I2C0_INIT = 0x80
  36     I2C0_DEINIT = 0x81
  37     I2C0_WRITE = 0x82
  38     I2C0_READ = 0x83
  39     I2C0_WRITE_FROM_UART = 0x84
  40     I2C1_INIT = I2C0_INIT + 0x10
  41     I2C1_DEINIT = I2C0_DEINIT + 0x10
  42     I2C1_WRITE = I2C0_WRITE + 0x10
  43     I2C1_READ = I2C0_READ + 0x10
  44     I2C1_WRITE_FROM_UART = I2C0_WRITE_FROM_UART + 0x10
  45
  46     # SPI
  47     SPI0_INIT = 0x60
  48     SPI0_DEINIT = 0x61
  49     SPI0_WRITE = 0x62
  50     SPI0_READ = 0x63
  51     SPI0_WRITE_FROM_UART = 0x64
  52     SPI1_INIT = SPI0_INIT + 0x10
  53     SPI1_DEINIT = SPI0_DEINIT + 0x10
  54     SPI1_WRITE = SPI0_WRITE + 0x10
  55     SPI1_READ = SPI0_READ + 0x10
  56     SPI1_WRITE_FROM_UART = SPI0_WRITE_FROM_UART + 0x10
  57
  58     # WS2812B (LED)
  59     WS2812B_INIT = 0xA0
  60     WS2812B_DEINIT = 0xA1
  61     WS2812B_WRITE = 0xA2
  62
  63     # PWM
  64     PWM_INIT_PIN = 0x30
  65     PWM_DEINIT_PIN = 0x31
  66     PWM_SET_FREQ = 0x32
  67     PWM_GET_FREQ = 0x33
  68     PWM_SET_DUTY_U16 = 0x34
  69     PWM_GET_DUTY_U16 = 0x35
  70     PWM_SET_DUTY_NS = 0x36
  71     PWM_GET_DUTY_NS = 0x37
  72
  73     def __init__(self):
  74         self._vid = None
  75         self._pid = None
  76         self._hid = None
  77         self._opened = False
  78         self._i2c_index = None
  79         self._spi_index = None
  80         self._serial = None
  81         self._neopixel_initialized = False
  82         self._uart_rx_buffer = None
  83
  84     def _hid_xfer(self, report, response=True):
  85         """Perform HID Transfer"""
  86         # first byte is report ID, which =0
  87         # remaing bytes = 64 byte report data
  88         # https://github.com/libusb/hidapi/blob/083223e77952e1ef57e6b77796536a3359c1b2a3/hidapi/hidapi.h#L185
  89         self._hid.write(b"\0" + report + b"\0" * (64 - len(report)))
  90         if response:
  91             # return is 64 byte response report
  92             return self._hid.read(64)
  93         return None
  94
  95     def _reset(self):
  96         self._hid_xfer(bytes([self.SYS_RESET]), False)
  97         time.sleep(RP2040_U2IF_RESET_DELAY)
  98         start = time.monotonic()
  99         while time.monotonic() - start < 5:
 100             try:
 101                 self._hid.open(self._vid, self._pid)
 102             except OSError:
 103                 time.sleep(0.1)
 104                 continue
 105             return
 106         raise OSError("RP2040 u2if open error.")
 107
 108     # ----------------------------------------------------------------
 109     # MISC
 110     # ----------------------------------------------------------------
 111     def open(self, vid, pid):
 112         """Open HID interface for given USB VID and PID."""
 113
 114         if self._opened:
 115             return
 116         self._vid = vid
 117         self._pid = pid
 118         self._hid = hid.device()
 119         self._hid.open(self._vid, self._pid)
 120         if RP2040_U2IF_RESET_DELAY >= 0:
 121             self._reset()
 122         self._opened = True
 123
 124     # ----------------------------------------------------------------
 125     # GPIO
 126     # ----------------------------------------------------------------
 127     def gpio_init_pin(self, pin_id, direction, pull):
 128         """Configure GPIO Pin."""
 129         self._hid_xfer(
 130             bytes(
 131                 [
 132                     self.GPIO_INIT_PIN,
 133                     pin_id,
 134                     direction,
 135                     pull,
 136                 ]
 137             )
 138         )
 139
 140     def gpio_set_pin(self, pin_id, value):
 141         """Set Current GPIO Pin Value"""
 142         self._hid_xfer(
 143             bytes(
 144                 [
 145                     self.GPIO_SET_VALUE,
 146                     pin_id,
 147                     int(value),
 148                 ]
 149             )
 150         )
 151
 152     def gpio_get_pin(self, pin_id):
 153         """Get Current GPIO Pin Value"""
 154         resp = self._hid_xfer(
 155             bytes(
 156                 [
 157                     self.GPIO_GET_VALUE,
 158                     pin_id,
 159                 ]
 160             ),
 161             True,
 162         )
 163         return resp[3] != 0x00
 164
 165     # ----------------------------------------------------------------
 166     # ADC
 167     # ----------------------------------------------------------------
 168     def adc_init_pin(self, pin_id):
 169         """Configure ADC Pin."""
 170         self._hid_xfer(
 171             bytes(
 172                 [
 173                     self.ADC_INIT_PIN,
 174                     pin_id,
 175                 ]
 176             )
 177         )
 178
 179     def adc_get_value(self, pin_id):
 180         """Get ADC value for pin."""
 181         resp = self._hid_xfer(
 182             bytes(
 183                 [
 184                     self.ADC_GET_VALUE,
 185                     pin_id,
 186                 ]
 187             ),
 188             True,
 189         )
 190         return int.from_bytes(resp[3 : 3 + 2], byteorder="little")
 191
 192     # ----------------------------------------------------------------
 193     # I2C
 194     # ----------------------------------------------------------------
 195     def i2c_configure(self, baudrate, pullup=False):
 196         """Configure I2C."""
 197         if self._i2c_index is None:
 198             raise RuntimeError("I2C bus not initialized.")
 199
 200         resp = self._hid_xfer(
 201             bytes(
 202                 [
 203                     self.I2C0_INIT if self._i2c_index == 0 else self.I2C1_INIT,
 204                     0x00 if not pullup else 0x01,
 205                 ]
 206             )
 207             + baudrate.to_bytes(4, byteorder="little"),
 208             True,
 209         )
 210         if resp[1] != self.RESP_OK:
 211             raise RuntimeError("I2C init error.")
 212
 213     def i2c_set_port(self, index):
 214         """Set I2C port."""
 215         if index not in (0, 1):
 216             raise ValueError("I2C index must be 0 or 1.")
 217         self._i2c_index = index
 218
 219     def _i2c_write(self, address, buffer, start=0, end=None, stop=True):
 220         """Write data from the buffer to an address"""
 221         if self._i2c_index is None:
 222             raise RuntimeError("I2C bus not initialized.")
 223
 224         end = end if end else len(buffer)
 225
 226         write_cmd = self.I2C0_WRITE if self._i2c_index == 0 else self.I2C1_WRITE
 227         stop_flag = 0x01 if stop else 0x00
 228
 229         while (end - start) > 0:
 230             remain_bytes = end - start
 231             chunk = min(remain_bytes, 64 - 7)
 232             resp = self._hid_xfer(
 233                 bytes([write_cmd, address, stop_flag])
 234                 + remain_bytes.to_bytes(4, byteorder="little")
 235                 + buffer[start : (start + chunk)],
 236                 True,
 237             )
 238             if resp[1] != self.RESP_OK:
 239                 raise RuntimeError("I2C write error")
 240             start += chunk
 241
 242     def _i2c_read(self, address, buffer, start=0, end=None):
 243         """Read data from an address and into the buffer"""
 244         # TODO: support chunkified reads
 245         if self._i2c_index is None:
 246             raise RuntimeError("I2C bus not initialized.")
 247
 248         end = end if end else len(buffer)
 249
 250         read_cmd = self.I2C0_READ if self._i2c_index == 0 else self.I2C1_READ
 251         stop_flag = 0x01  # always stop
 252         read_size = end - start
 253
 254         resp = self._hid_xfer(bytes([read_cmd, address, stop_flag, read_size]), True)
 255         if resp[1] != self.RESP_OK:
 256             raise RuntimeError("I2C write error")
 257         # move into buffer
 258         for i in range(read_size):
 259             buffer[start + i] = resp[i + 2]
 260
 261     def i2c_writeto(self, address, buffer, *, start=0, end=None):
 262         """Write data from the buffer to an address"""
 263         self._i2c_write(address, buffer, start, end)
 264
 265     def i2c_readfrom_into(self, address, buffer, *, start=0, end=None):
 266         """Read data from an address and into the buffer"""
 267         self._i2c_read(address, buffer, start, end)
 268
 269     def i2c_writeto_then_readfrom(
 270         self,
 271         address,
 272         out_buffer,
 273         in_buffer,
 274         *,
 275         out_start=0,
 276         out_end=None,
 277         in_start=0,
 278         in_end=None,
 279     ):
 280         """Write data from buffer_out to an address and then
 281         read data from an address and into buffer_in
 282         """
 283         self._i2c_write(address, out_buffer, out_start, out_end, False)
 284         self._i2c_read(address, in_buffer, in_start, in_end)
 285
 286     def i2c_scan(self, *, start=0, end=0x79):
 287         """Perform an I2C Device Scan"""
 288         if self._i2c_index is None:
 289             raise RuntimeError("I2C bus not initialized.")
 290         found = []
 291         for addr in range(start, end + 1):
 292             # try a write
 293             try:
 294                 self.i2c_writeto(addr, b"\x00\x00\x00")
 295             except RuntimeError:  # no reply!
 296                 continue
 297             # store if success
 298             found.append(addr)
 299         return found
 300
 301     # ----------------------------------------------------------------
 302     # SPI
 303     # ----------------------------------------------------------------
 304     def spi_configure(self, baudrate):
 305         """Configure SPI."""
 306         if self._spi_index is None:
 307             raise RuntimeError("SPI bus not initialized.")
 308
 309         resp = self._hid_xfer(
 310             bytes(
 311                 [
 312                     self.SPI0_INIT if self._spi_index == 0 else self.SPI1_INIT,
 313                     0x00,  # mode, not yet implemented
 314                 ]
 315             )
 316             + baudrate.to_bytes(4, byteorder="little"),
 317             True,
 318         )
 319         if resp[1] != self.RESP_OK:
 320             raise RuntimeError("SPI init error.")
 321
 322     def spi_set_port(self, index):
 323         """Set SPI port."""
 324         if index not in (0, 1):
 325             raise ValueError("SPI index must be 0 or 1.")
 326         self._spi_index = index
 327
 328     def spi_write(self, buffer, *, start=0, end=None):
 329         """SPI write."""
 330         if self._spi_index is None:
 331             raise RuntimeError("SPI bus not initialized.")
 332
 333         end = end if end else len(buffer)
 334
 335         write_cmd = self.SPI0_WRITE if self._spi_index == 0 else self.SPI1_WRITE
 336
 337         while (end - start) > 0:
 338             remain_bytes = end - start
 339             chunk = min(remain_bytes, 64 - 3)
 340             resp = self._hid_xfer(
 341                 bytes([write_cmd, chunk]) + buffer[start : (start + chunk)], True
 342             )
 343             if resp[1] != self.RESP_OK:
 344                 raise RuntimeError("SPI write error")
 345             start += chunk
 346
 347     def spi_readinto(self, buffer, *, start=0, end=None, write_value=0):
 348         """SPI readinto."""
 349         if self._spi_index is None:
 350             raise RuntimeError("SPI bus not initialized.")
 351
 352         end = end if end else len(buffer)
 353         read_cmd = self.SPI0_READ if self._spi_index == 0 else self.SPI1_READ
 354         read_size = end - start
 355
 356         resp = self._hid_xfer(bytes([read_cmd, write_value, read_size]), True)
 357         if resp[1] != self.RESP_OK:
 358             raise RuntimeError("SPI write error")
 359         # move into buffer
 360         for i in range(read_size):
 361             buffer[start + i] = resp[i + 2]
 362
 363     def spi_write_readinto(
 364         self,
 365         buffer_out,
 366         buffer_in,
 367         *,
 368         out_start=0,
 369         out_end=None,
 370         in_start=0,
 371         in_end=None,
 372     ):
 373         """SPI write and readinto."""
 374         raise NotImplementedError("SPI write_readinto Not implemented")
 375
 376     # ----------------------------------------------------------------
 377     # NEOPIXEL
 378     # ----------------------------------------------------------------
 379     def neopixel_write(self, gpio, buf):
 380         """NeoPixel write."""
 381         # open serial (data is sent over this)
 382         if self._serial is None:
 383             import serial
 384             import serial.tools.list_ports
 385
 386             ports = serial.tools.list_ports.comports()
 387             for port in ports:
 388                 if port.vid == self._vid and port.pid == self._pid:
 389                     self._serial = serial.Serial(port.device)
 390                     break
 391         if self._serial is None:
 392             raise RuntimeError("Could not find Pico com port.")
 393
 394         # init
 395         if not self._neopixel_initialized:
 396             # deinit any current setup
 397             # pylint: disable=protected-access
 398             self._hid_xfer(bytes([self.WS2812B_DEINIT]))
 399             resp = self._hid_xfer(
 400                 bytes(
 401                     [
 402                         self.WS2812B_INIT,
 403                         gpio._pin.id,
 404                     ]
 405                 ),
 406                 True,
 407             )
 408             if resp[1] != self.RESP_OK:
 409                 raise RuntimeError("Neopixel init error")
 410             self._neopixel_initialized = True
 411
 412         self._serial.reset_output_buffer()
 413
 414         # write
 415         # command is done over HID
 416         remain_bytes = len(buf)
 417         resp = self._hid_xfer(
 418             bytes([self.WS2812B_WRITE]) + remain_bytes.to_bytes(4, byteorder="little"),
 419             True,
 420         )
 421         if resp[1] != self.RESP_OK:
 422             # pylint: disable=no-else-raise
 423             if resp[2] == 0x01:
 424                 raise RuntimeError(
 425                     "Neopixel write error : too many pixel for the firmware."
 426                 )
 427             elif resp[2] == 0x02:
 428                 raise RuntimeError(
 429                     "Neopixel write error : transfer already in progress."
 430                 )
 431             else:
 432                 raise RuntimeError("Neopixel write error.")
 433         # buffer is sent over serial
 434         self._serial.write(buf)
 435         # hack (see u2if)
 436         if len(buf) % 64 == 0:
 437             self._serial.write([0])
 438         self._serial.flush()
 439         # polling loop to wait for write complete?
 440         time.sleep(0.1)
 441         resp = self._hid.read(64)
 442         while resp[0] != self.WS2812B_WRITE:
 443             resp = self._hid.read(64)
 444         if resp[1] != self.RESP_OK:
 445             raise RuntimeError("Neopixel write (flush) error.")
 446
 447     # ----------------------------------------------------------------
 448     # PWM
 449     # ----------------------------------------------------------------
 450     # pylint: disable=unused-argument
 451     def pwm_configure(self, pin, frequency=500, duty_cycle=0, variable_frequency=False):
 452         """Configure PWM."""
 453         self.pwm_deinit(pin)
 454         resp = self._hid_xfer(bytes([self.PWM_INIT_PIN, pin.id]), True)
 455         if resp[1] != self.RESP_OK:
 456             raise RuntimeError("PWM init error.")
 457
 458         self.pwm_set_frequency(pin, frequency)
 459         self.pwm_set_duty_cycle(pin, duty_cycle)
 460
 461     def pwm_deinit(self, pin):
 462         """Deinit PWM."""
 463         self._hid_xfer(bytes([self.PWM_DEINIT_PIN, pin.id]))
 464
 465     def pwm_get_frequency(self, pin):
 466         """PWM get freq."""
 467         resp = self._hid_xfer(bytes([self.PWM_GET_FREQ, pin.id]), True)
 468         if resp[1] != self.RESP_OK:
 469             raise RuntimeError("PWM get frequency error.")
 470         return int.from_bytes(resp[3 : 3 + 4], byteorder="little")
 471
 472     def pwm_set_frequency(self, pin, frequency):
 473         """PWM set freq."""
 474         resp = self._hid_xfer(
 475             bytes([self.PWM_SET_FREQ, pin.id])
 476             + frequency.to_bytes(4, byteorder="little"),
 477             True,
 478         )
 479         if resp[1] != self.RESP_OK:
 480             # pylint: disable=no-else-raise
 481             if resp[3] == 0x01:
 482                 raise RuntimeError("PWM different frequency on same slice.")
 483             elif resp[3] == 0x02:
 484                 raise RuntimeError("PWM frequency too low.")
 485             elif resp[3] == 0x03:
 486                 raise RuntimeError("PWM frequency too high.")
 487             else:
 488                 raise RuntimeError("PWM frequency error.")
 489
 490     def pwm_get_duty_cycle(self, pin):
 491         """PWM get duty cycle."""
 492         resp = self._hid_xfer(bytes([self.PWM_GET_DUTY_U16, pin.id]), True)
 493         if resp[1] != self.RESP_OK:
 494             raise RuntimeError("PWM get duty cycle error.")
 495         return int.from_bytes(resp[3 : 3 + 4], byteorder="little")
 496
 497     def pwm_set_duty_cycle(self, pin, duty_cycle):
 498         """PWM set duty cycle."""
 499         resp = self._hid_xfer(
 500             bytes([self.PWM_SET_DUTY_U16, pin.id])
 501             + duty_cycle.to_bytes(2, byteorder="little"),
 502             True,
 503         )
 504         if resp[1] != self.RESP_OK:
 505             raise RuntimeError("PWM set duty cycle error.")
 506
 507
 508 rp2040_u2if = RP2040_u2if()