Merge branch 'master' into multicore

embassy-rp/Cargo.toml

@@ -29,6 +29,7 @@ time-driver = []
 rom-func-cache = []
 intrinsics = []
 rom-v2-intrinsics = []
+pio = ["dep:pio", "dep:pio-proc"]
 
 # Enable nightly-only features
 nightly = ["embassy-executor/nightly", "embedded-hal-1", "embedded-hal-async", "embassy-embedded-hal/nightly", "dep:embassy-usb-driver", "dep:embedded-io"]
@@ -67,3 +68,10 @@ embedded-hal-02 = { package = "embedded-hal", version = "0.2.6", features = ["un
 embedded-hal-1 = { package = "embedded-hal", version = "=1.0.0-alpha.9", optional = true}
 embedded-hal-async = { version = "=0.2.0-alpha.0", optional = true}
 embedded-hal-nb = { version = "=1.0.0-alpha.1", optional = true}
+
+paste = "1.0"
+pio-proc = {version= "0.2", optional = true}
+pio = {version= "0.2", optional = true}
+
+[patch.crates-io]
+pio = {git = "https://github.com/rp-rs/pio-rs.git"}

embassy-rp/src/gpio.rs

@@ -48,6 +48,21 @@ pub enum Pull {
     Down,
 }
 
+/// Drive strength of an output
+#[derive(Debug, Eq, PartialEq)]
+pub enum Drive {
+    _2mA,
+    _4mA,
+    _8mA,
+    _12mA,
+}
+/// Slew rate of an output
+#[derive(Debug, Eq, PartialEq)]
+pub enum SlewRate {
+    Fast,
+    Slow,
+}
+
 /// A GPIO bank with up to 32 pins.
 #[derive(Debug, Eq, PartialEq)]
 pub enum Bank {
@@ -459,13 +474,40 @@ impl<'d, T: Pin> Flex<'d, T> {
     #[inline]
     pub fn set_pull(&mut self, pull: Pull) {
         unsafe {
-            self.pin.pad_ctrl().write(|w| {
+            self.pin.pad_ctrl().modify(|w| {
                 w.set_ie(true);
-                match pull {
-                    Pull::Up => w.set_pue(true),
-                    Pull::Down => w.set_pde(true),
-                    Pull::None => {}
-                }
+                let (pu, pd) = match pull {
+                    Pull::Up => (true, false),
+                    Pull::Down => (false, true),
+                    Pull::None => (false, false),
+                };
+                w.set_pue(pu);
+                w.set_pde(pd);
+            });
+        }
+    }
+
+    /// Set the pin's drive strength.
+    #[inline]
+    pub fn set_drive_strength(&mut self, strength: Drive) {
+        unsafe {
+            self.pin.pad_ctrl().modify(|w| {
+                w.set_drive(match strength {
+                    Drive::_2mA => pac::pads::vals::Drive::_2MA,
+                    Drive::_4mA => pac::pads::vals::Drive::_4MA,
+                    Drive::_8mA => pac::pads::vals::Drive::_8MA,
+                    Drive::_12mA => pac::pads::vals::Drive::_12MA,
+                });
+            });
+        }
+    }
+
+    // Set the pin's slew rate.
+    #[inline]
+    pub fn set_slew_rate(&mut self, slew_rate: SlewRate) {
+        unsafe {
+            self.pin.pad_ctrl().modify(|w| {
+                w.set_slewfast(slew_rate == SlewRate::Fast);
             });
         }
     }

embassy-rp/src/lib.rs

@@ -15,6 +15,14 @@ pub mod dma;
 pub mod gpio;
 pub mod i2c;
 pub mod interrupt;
+
+#[cfg(feature = "pio")]
+pub mod pio;
+#[cfg(feature = "pio")]
+pub mod pio_instr_util;
+#[cfg(feature = "pio")]
+pub mod relocate;
+
 pub mod rom_data;
 pub mod rtc;
 pub mod spi;
@@ -108,6 +116,9 @@ embassy_hal_common::peripherals! {
     ADC,
 
     CORE1,
+    
+    PIO0,
+    PIO1,
 }
 
 #[link_section = ".boot2"]

embassy-rp/src/pio_instr_util.rs

@@ -0,0 +1,90 @@
+use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestination};
+
+use crate::pio::PioStateMachine;
+
+pub fn set_x<SM: PioStateMachine>(sm: &mut SM, value: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::X,
+        bit_count: 32,
+    }
+    .encode();
+    sm.push_tx(value);
+    sm.exec_instr(OUT);
+}
+
+pub fn get_x<SM: PioStateMachine>(sm: &mut SM) -> u32 {
+    const IN: u16 = InstructionOperands::IN {
+        source: InSource::X,
+        bit_count: 32,
+    }
+    .encode();
+    sm.exec_instr(IN);
+    sm.pull_rx()
+}
+
+pub fn set_y<SM: PioStateMachine>(sm: &mut SM, value: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::Y,
+        bit_count: 32,
+    }
+    .encode();
+    sm.push_tx(value);
+    sm.exec_instr(OUT);
+}
+
+pub fn get_y<SM: PioStateMachine>(sm: &mut SM) -> u32 {
+    const IN: u16 = InstructionOperands::IN {
+        source: InSource::Y,
+        bit_count: 32,
+    }
+    .encode();
+    sm.exec_instr(IN);
+
+    sm.pull_rx()
+}
+
+pub fn set_pindir<SM: PioStateMachine>(sm: &mut SM, data: u8) {
+    let set: u16 = InstructionOperands::SET {
+        destination: SetDestination::PINDIRS,
+        data,
+    }
+    .encode();
+    sm.exec_instr(set);
+}
+
+pub fn set_pin<SM: PioStateMachine>(sm: &mut SM, data: u8) {
+    let set: u16 = InstructionOperands::SET {
+        destination: SetDestination::PINS,
+        data,
+    }
+    .encode();
+    sm.exec_instr(set);
+}
+
+pub fn set_out_pin<SM: PioStateMachine>(sm: &mut SM, data: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::PINS,
+        bit_count: 32,
+    }
+    .encode();
+    sm.push_tx(data);
+    sm.exec_instr(OUT);
+}
+pub fn set_out_pindir<SM: PioStateMachine>(sm: &mut SM, data: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::PINDIRS,
+        bit_count: 32,
+    }
+    .encode();
+    sm.push_tx(data);
+    sm.exec_instr(OUT);
+}
+
+pub fn exec_jmp<SM: PioStateMachine>(sm: &mut SM, to_addr: u8) {
+    let jmp: u16 = InstructionOperands::JMP {
+        address: to_addr,
+        condition: JmpCondition::Always,
+    }
+    .encode();
+    sm.exec_instr(jmp);
+}

embassy-rp/src/relocate.rs

@@ -0,0 +1,77 @@
+use core::iter::Iterator;
+
+use pio::{Program, SideSet, Wrap};
+
+pub struct CodeIterator<'a, I>
+where
+    I: Iterator<Item = &'a u16>,
+{
+    iter: I,
+    offset: u8,
+}
+
+impl<'a, I: Iterator<Item = &'a u16>> CodeIterator<'a, I> {
+    pub fn new(iter: I, offset: u8) -> CodeIterator<'a, I> {
+        CodeIterator { iter, offset }
+    }
+}
+
+impl<'a, I> Iterator for CodeIterator<'a, I>
+where
+    I: Iterator<Item = &'a u16>,
+{
+    type Item = u16;
+    fn next(&mut self) -> Option<Self::Item> {
+        self.iter.next().and_then(|&instr| {
+            Some(if instr & 0b1110_0000_0000_0000 == 0 {
+                // this is a JMP instruction -> add offset to address
+                let address = (instr & 0b1_1111) as u8;
+                let address = address + self.offset;
+                assert!(
+                    address < pio::RP2040_MAX_PROGRAM_SIZE as u8,
+                    "Invalid JMP out of the program after offset addition"
+                );
+                instr & (!0b11111) | address as u16
+            } else {
+                instr
+            })
+        })
+    }
+}
+
+pub struct RelocatedProgram<'a, const PROGRAM_SIZE: usize> {
+    program: &'a Program<PROGRAM_SIZE>,
+    origin: u8,
+}
+
+impl<'a, const PROGRAM_SIZE: usize> RelocatedProgram<'a, PROGRAM_SIZE> {
+    pub fn new(program: &Program<PROGRAM_SIZE>) -> RelocatedProgram<PROGRAM_SIZE> {
+        let origin = program.origin.unwrap_or(0);
+        RelocatedProgram { program, origin }
+    }
+
+    pub fn new_with_origin(program: &Program<PROGRAM_SIZE>, origin: u8) -> RelocatedProgram<PROGRAM_SIZE> {
+        RelocatedProgram { program, origin }
+    }
+
+    pub fn code(&'a self) -> CodeIterator<'a, core::slice::Iter<'a, u16>> {
+        CodeIterator::new(self.program.code.iter(), self.origin)
+    }
+
+    pub fn wrap(&self) -> Wrap {
+        let wrap = self.program.wrap;
+        let origin = self.origin;
+        Wrap {
+            source: wrap.source + origin,
+            target: wrap.target + origin,
+        }
+    }
+
+    pub fn side_set(&self) -> SideSet {
+        self.program.side_set
+    }
+
+    pub fn origin(&self) -> u8 {
+        self.origin
+    }
+}