Ned/fixing ulab

.github/workflows/micropython.yml

@@ -7,7 +7,7 @@ on:
     types: [created]
 
 env:
-  MICROPYTHON_VERSION: 38e7b842c6bc8122753cbf0845eb141f28fbcb72
+  MICROPYTHON_VERSION: v1.20.0
 
 jobs:
   deps:
@@ -19,9 +19,9 @@ jobs:
       uses: actions/cache@v3
       with:
         path: ${{runner.workspace}}
-        key: workspace-micropython-${{env.MICROPYTHON_VERSION}}-with-libs
+        key: workspace-micropython-${{env.MICROPYTHON_VERSION}}-nano-specs
         restore-keys: |
-          workspace-micropython-${{env.MICROPYTHON_VERSION}}-with-libs
+          workspace-micropython-${{env.MICROPYTHON_VERSION}}-nano-specs
 
     # Check out MicroPython
     - name: Checkout MicroPython
@@ -41,17 +41,17 @@ jobs:
         repository: micropython/micropython-lib
         path: micropython-lib
 
-    - name: Fetch base MicroPython submodules
+    - name: Fetch Pico submodules
       if: steps.cache.outputs.cache-hit != 'true'
       shell: bash
-      working-directory: micropython
-      run: git submodule update --init
-
-    - name: Fetch Pico SDK submodules
-      if: steps.cache.outputs.cache-hit != 'true'
-      shell: bash
-      working-directory: micropython/lib/pico-sdk
-      run: git submodule update --init
+      working-directory: micropython/ports/rp2
+      run: |
+        git submodule update --init ../../lib/pico-sdk
+        git submodule update --init ../../lib/cyw43-driver
+        git submodule update --init ../../lib/lwip
+        git submodule update --init ../../lib/mbedtls
+        git submodule update --init ../../lib/micropython-lib
+        git submodule update --init ../../lib/tinyusb
 
     - name: Build mpy-cross
       if: steps.cache.outputs.cache-hit != 'true'
@@ -68,29 +68,8 @@ jobs:
         include:
         - name: pico
           board: PICO
-        - name: picow
-          board: PICO_W
-        - name: tiny2040
-          board: PIMORONI_TINY2040
-        - name: picolipo_4mb
-          board: PIMORONI_PICOLIPO_4MB
-        - name: picolipo_16mb
-          board: PIMORONI_PICOLIPO_16MB
-        - name: tufty2040
-          board: PIMORONI_TUFTY2040
-          local_board_dir: true
-        - name: enviro
-          board: PICO_W_ENVIRO
-          local_board_dir: true
-          patch: true
-        - name: galactic_unicorn
-          board: PICO_W
-        - name: cosmic_unicorn
-          board: PICO_W
-        - name: inky_frame
-          board: PICO_W_INKY
-          local_board_dir: true
-          patch: true
+        - name: interstate75_ulab
+          board: PICO
 
     env:
       # MicroPython version will be contained in github.event.release.tag_name for releases
@@ -125,55 +104,72 @@ jobs:
       with:
         submodules: true
         path: pimoroni-pico-${{ github.sha }}
+
+    - name: Set MicroPython Version Env Vars
+      shell: bash
+      run: |
+        echo "MICROPY_GIT_TAG=$MICROPYTHON_VERSION, ${{matrix.name}} ${{github.event.release.tag_name || github.sha}}" >> $GITHUB_ENV
+        echo "MICROPY_GIT_HASH=$MICROPYTHON_VERSION-${{github.event.release.tag_name || github.sha}}" >> $GITHUB_ENV
+
+    - name: "HACK: Clean ports/rp2/modules and ports/rp2/CMakeLists.txt"
+      shell: bash
+      working-directory: micropython/ports/rp2
+      run: |
+        rm -rf modules
+        git checkout modules
 
+    - name: "HACK: Revert Patches"  # Avoid an already-patched MicroPython tree breaking our build
+      shell: bash
+      working-directory: micropython
+      run: |
+        git checkout lib/pico-sdk
+        git checkout ports/rp2/CMakeLists.txt
+
+    - name: "HACK: CMakeLists.txt Disable C++ Exceptions Patch"
+      shell: bash
+      working-directory: micropython
+      run: git apply $GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/micropython_nano_specs.patch
+
     - name: "HACK: Pico SDK Patch"
       if: matrix.patch == true
       shell: bash
       working-directory: micropython
       run: |
         $GITHUB_WORKSPACE/pimoroni-pico-${{ github.sha }}/micropython/board/pico-sdk-patch.sh ${{matrix.board}}
 
-    - name: Configure MicroPython (Local Board Dir)
-      if: matrix.local_board_dir == true
-      shell: bash
-      working-directory: micropython/ports/rp2
-      run: |
-        cmake -S . -B build-${{matrix.board}} -DPICO_BUILD_DOCS=0 -DUSER_C_MODULES=${{env.USER_C_MODULES}} -DMICROPY_BOARD_DIR=${{env.MICROPY_BOARD_DIR}} -DMICROPY_BOARD=${{matrix.board}} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-
-    - name: Configure MicroPython (Upstream Board Dir)
-      if: matrix.local_board_dir != true
+    - name: Configure MicroPython
       shell: bash
       working-directory: micropython/ports/rp2
       run: |
-        cmake -S . -B build-${{matrix.board}} -DPICO_BUILD_DOCS=0 -DUSER_C_MODULES=${{env.USER_C_MODULES}} -DMICROPY_BOARD=${{matrix.board}} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
-  
-    - name: Build MicroPython
+        cmake -S . -B build-${{matrix.name}} -DPICO_BUILD_DOCS=0 -DUSER_C_MODULES=${{env.USER_C_MODULES}} -DMICROPY_BOARD_DIR=${{env.MICROPY_BOARD_DIR}} -DMICROPY_BOARD=${{matrix.board}} -DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+    - name: Build MicroPython  # Multiple simultaneous jobs trigger https://github.com/pimoroni/pimoroni-pico/issues/761
       shell: bash
       working-directory: micropython/ports/rp2
       run: |
         ccache --zero-stats || true
-        cmake --build build-${{matrix.board}} -j 2
+        cmake --build build-${{matrix.name}} -j 1
         ccache --show-stats || true
 
     - name: Rename .uf2 for artifact
       shell: bash
-      working-directory: micropython/ports/rp2/build-${{matrix.board}}
+      working-directory: micropython/ports/rp2/build-${{matrix.name}}
       run: |
         cp firmware.uf2 $RELEASE_FILE.uf2
 
     - name: Store .uf2 as artifact
       uses: actions/upload-artifact@v3
       with:
         name: ${{env.RELEASE_FILE}}.uf2
-        path: micropython/ports/rp2/build-${{matrix.board}}/${{env.RELEASE_FILE}}.uf2
+        path: micropython/ports/rp2/build-${{matrix.name}}/${{env.RELEASE_FILE}}.uf2
 
     - name: Upload .uf2
       if: github.event_name == 'release'
       uses: actions/upload-release-asset@v1
       env:
         GITHUB_TOKEN: ${{secrets.GITHUB_TOKEN}}
       with:
-        asset_path: micropython/ports/rp2/build-${{matrix.board}}/firmware.uf2
+        asset_path: micropython/ports/rp2/build-${{matrix.name}}/firmware.uf2
         upload_url: ${{github.event.release.upload_url}}
         asset_name: ${{env.RELEASE_FILE}}.uf2
         asset_content_type: application/octet-stream

CMakeLists.txt

@@ -39,4 +39,4 @@ add_subdirectory(drivers)
 add_subdirectory(libraries)
 
 # Example Pico Pack projects
-add_subdirectory(examples)
+# add_subdirectory(examples)

README.md

@@ -116,6 +116,7 @@ We also maintain a C++/CMake boilerplate with GitHub workflows configured for te
 * MICS6814 - Gas Sensor - https://shop.pimoroni.com/products/mics6814-gas-sensor-breakout
 * RGB Potentiometer - https://shop.pimoroni.com/products/rgb-potentiometer-breakout
 * RGB Encoder - https://shop.pimoroni.com/products/rgb-encoder-breakout
+* RGB Encoder Wheel - https://shop.pimoroni.com/products/rgb-encoder-wheel-breakout
 * IO Expander - https://shop.pimoroni.com/products/io-expander
 * RV3028 - Real-Time Clock (RTC) - https://shop.pimoroni.com/products/rv3028-real-time-clock-rtc-breakout
 * ST7735 - 0.96" LCD - https://shop.pimoroni.com/products/0-96-spi-colour-lcd-160x80-breakout

drivers/ioexpander/ioexpander.cpp

@@ -320,8 +320,21 @@ namespace pimoroni {
           Pin::adc(1, 7, 0)}
   {}
 
-  bool IOExpander::init(bool skipChipIdCheck) {
-    bool succeeded = true;
+  bool IOExpander::init(bool skipChipIdCheck, bool perform_reset) {
+    if(!skipChipIdCheck) {
+      uint16_t chip_id = get_chip_id();
+      if(chip_id != CHIP_ID) {
+        if(debug) {
+          printf("Chip ID invalid: %04x expected: %04x\n", chip_id, CHIP_ID);
+        }
+        return false;
+      }
+    }
+
+    // Reset the chip if requested, to put it into a known state
+    if(perform_reset && !reset()) {
+      return false;
+    }
 
     if(interrupt != PIN_UNUSED) {
       gpio_set_function(interrupt, GPIO_FUNC_SIO);
@@ -331,17 +344,36 @@ namespace pimoroni {
       enable_interrupt_out(true);
     }
 
-    if(!skipChipIdCheck) {
-      uint16_t chip_id = get_chip_id();
-      if(chip_id != CHIP_ID) {
-        if(debug) {
-          printf("Chip ID invalid: %04x expected: %04x\n", chip_id, CHIP_ID);
-        }
-        succeeded = false;
+    return true;
+  }
+
+  uint8_t IOExpander::check_reset() {
+    uint8_t user_flash_reg = reg::USER_FLASH;
+    uint8_t value;
+    if(i2c_write_blocking(i2c->get_i2c(), address, &user_flash_reg, 1, false) == PICO_ERROR_GENERIC) {
+      return 0x00;
+    }
+    if(i2c_read_blocking(i2c->get_i2c(), address, (uint8_t *)&value, sizeof(uint8_t), false) == PICO_ERROR_GENERIC) {
+      return 0x00;
+    }
+
+    return value;
+  }
+
+  bool IOExpander::reset() {
+    uint32_t start_time = millis();
+    set_bits(reg::CTRL, ctrl_mask::RESET);
+    // Wait for a register to read its initialised value
+    while(check_reset() != 0x78) {
+      sleep_ms(1);
+      if(millis() - start_time >= RESET_TIMEOUT_MS) {
+        if(debug)
+          printf("Timed out waiting for Reset!");
+        return false;
       }
     }
 
-    return succeeded;
+    return true;
   }
 
   i2c_inst_t* IOExpander::get_i2c() const {
@@ -370,7 +402,7 @@ namespace pimoroni {
 
   void IOExpander::set_address(uint8_t address) {
     set_bit(reg::CTRL, 4);
-    i2c->reg_write_uint8(address, reg::ADDR, address);
+    i2c->reg_write_uint8(this->address, reg::ADDR, address);
     this->address = address;
     sleep_ms(250); //TODO Handle addr change IOError better
     //wait_for_flash()
@@ -491,13 +523,35 @@ namespace pimoroni {
     return divider_good;
   }
 
-  void IOExpander::set_pwm_period(uint16_t value, bool load) {
+  void IOExpander::set_pwm_period(uint16_t value, bool load, bool wait_for_load) {
     value &= 0xffff;
     i2c->reg_write_uint8(address, reg::PWMPL, (uint8_t)(value & 0xff));
     i2c->reg_write_uint8(address, reg::PWMPH, (uint8_t)(value >> 8));
 
     if(load)
-      pwm_load();
+      pwm_load(wait_for_load);
+  }
+
+  uint16_t IOExpander::set_pwm_frequency(float frequency, bool load, bool wait_for_load) {
+    uint32_t period = (uint32_t)(CLOCK_FREQ / frequency);
+    if (period / 128 > MAX_PERIOD) {
+      return MAX_PERIOD;
+    }
+    if (period < 2) {
+      return 2;
+    }
+
+    uint8_t divider = 1;
+    while ((period > MAX_PERIOD) && (divider < MAX_DIVIDER)) {
+      period >>= 1;
+      divider <<= 1;
+    }
+
+    period = MIN(period, MAX_PERIOD); // Should be unnecessary because of earlier raised errors, but kept in case
+    set_pwm_control(divider);
+    set_pwm_period((uint16_t)(period - 1), load, wait_for_load);
+
+    return (uint16_t)period;
   }
 
   uint8_t IOExpander::get_mode(uint8_t pin) {
@@ -669,7 +723,7 @@ namespace pimoroni {
     }
   }
 
-  void IOExpander::output(uint8_t pin, uint16_t value, bool load) {
+  void IOExpander::output(uint8_t pin, uint16_t value, bool load, bool wait_for_load) {
     if(pin < 1 || pin > NUM_PINS) {
       printf("Pin should be in range 1-14.");
       return;
@@ -685,7 +739,7 @@ namespace pimoroni {
       i2c->reg_write_uint8(address, io_pin.reg_pwml, (uint8_t)(value & 0xff));
       i2c->reg_write_uint8(address, io_pin.reg_pwmh, (uint8_t)(value >> 8));
       if(load)
-        pwm_load();
+        pwm_load(wait_for_load);
     }
     else {
       if(value == LOW) {

drivers/ioexpander/ioexpander.hpp

@@ -26,6 +26,8 @@ namespace pimoroni {
     static const uint8_t PIN_MODE_PWM = 0b00101;  // PWM, Output, Push-Pull mode
     static const uint8_t PIN_MODE_ADC = 0b01010;  // ADC, Input-only (high-impedance)
 
+    static const uint32_t RESET_TIMEOUT_MS = 1000;
+
   public:
     static const uint8_t DEFAULT_I2C_ADDRESS = 0x18;
 
@@ -45,6 +47,10 @@ namespace pimoroni {
     static const uint16_t LOW = 0;
     static const uint16_t HIGH = 1;
 
+    static const uint32_t CLOCK_FREQ = 24000000;
+    static const uint32_t MAX_PERIOD = (1 << 16) - 1;
+    static const uint32_t MAX_DIVIDER = (1 << 7);
+
 
     //--------------------------------------------------
     // Subclasses
@@ -171,7 +177,12 @@ namespace pimoroni {
     // Methods
     //--------------------------------------------------
   public:
-    bool init(bool skip_chip_id_check = false);
+    bool init(bool skip_chip_id_check = false, bool perform_reset = false);
+
+  private:
+    uint8_t check_reset();
+  public:
+    bool reset();
 
     // For print access in micropython
     i2c_inst_t* get_i2c() const;
@@ -198,15 +209,16 @@ namespace pimoroni {
     void pwm_clear(bool wait_for_clear = true);
     bool pwm_clearing();
     bool set_pwm_control(uint8_t divider);
-    void set_pwm_period(uint16_t value, bool load = true);
+    void set_pwm_period(uint16_t value, bool load = true, bool wait_for_load = true);
+    uint16_t set_pwm_frequency(float frequency, bool load = true, bool wait_for_load = true);
 
     uint8_t get_mode(uint8_t pin);
     void set_mode(uint8_t pin, uint8_t mode, bool schmitt_trigger = false, bool invert = false);
 
     int16_t input(uint8_t pin, uint32_t adc_timeout = 1);
     float input_as_voltage(uint8_t pin, uint32_t adc_timeout = 1);
 
-    void output(uint8_t pin, uint16_t value, bool load = true);
+    void output(uint8_t pin, uint16_t value, bool load = true, bool wait_for_load = true);
 
     void setup_rotary_encoder(uint8_t channel, uint8_t pin_a, uint8_t pin_b, uint8_t pin_c = 0, bool count_microsteps = false);
     int16_t read_rotary_encoder(uint8_t channel);

drivers/ltp305/ltp305.cpp

@@ -64,8 +64,8 @@ namespace pimoroni {
   }
 
   void LTP305::set_character(uint8_t x, uint16_t ch) {
-    uint8_t *data = nullptr;
-    for(auto c : dotfont) {
+    const uint8_t *data = nullptr;
+    for(const auto& c : dotfont) {
       if(c.code == ch) {
         data = &c.data[0];
         break;
@@ -128,4 +128,4 @@ namespace pimoroni {
     i2c->reg_write_uint8(address, CMD_BRIGHTNESS, brightness);
     i2c->reg_write_uint8(address, CMD_UPDATE, 0x01);
   }
-}
+}