diff --git a/embassy-rp/src/pio.rs b/embassy-rp/src/pio.rs index ea6814fb..f835fc8d 100644 --- a/embassy-rp/src/pio.rs +++ b/embassy-rp/src/pio.rs @@ -9,12 +9,14 @@ use embassy_cortex_m::interrupt::{Interrupt, InterruptExt}; use embassy_hal_common::{into_ref, Peripheral, PeripheralRef}; use embassy_sync::waitqueue::AtomicWaker; use pac::io::vals::Gpio0ctrlFuncsel; +use pio::{SideSet, Wrap}; use crate::dma::{Channel, Transfer, Word}; use crate::gpio::sealed::Pin as SealedPin; use crate::gpio::{self, AnyPin, Drive, Pull, SlewRate}; use crate::pac::dma::vals::TreqSel; -use crate::{interrupt, pac, peripherals, RegExt}; +use crate::relocate::RelocatedProgram; +use crate::{interrupt, pac, peripherals, pio_instr_util, RegExt}; struct Wakers([AtomicWaker; 12]); @@ -460,6 +462,13 @@ impl<'d, PIO: Instance, const SM: usize> Drop for StateMachine<'d, PIO, SM> { } } +fn assert_consecutive<'d, PIO: Instance>(pins: &[&Pin<'d, PIO>]) { + for (p1, p2) in pins.iter().zip(pins.iter().skip(1)) { + // purposely does not allow wrap-around because we can't claim pins 30 and 31. + assert!(p1.pin() + 1 == p2.pin(), "pins must be consecutive"); + } +} + impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> { #[inline(always)] fn this_sm() -> crate::pac::pio::StateMachine { @@ -504,26 +513,26 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> { } } - pub fn set_side_enable(&self, enable: bool) { + /// Configures this state machine to use the given program, including jumping to the origin + /// of the program. The state machine is not started. + pub fn use_program(&mut self, prog: &LoadedProgram<'d, PIO>, side_set: &[&Pin<'d, PIO>]) { + assert!((prog.side_set.bits() - prog.side_set.optional() as u8) as usize == side_set.len()); + assert_consecutive(side_set); unsafe { - Self::this_sm().execctrl().modify(|w| w.set_side_en(enable)); + Self::this_sm().execctrl().modify(|w| { + w.set_side_en(prog.side_set.optional()); + w.set_side_pindir(prog.side_set.pindirs()); + w.set_wrap_bottom(prog.wrap.target); + w.set_wrap_top(prog.wrap.source); + }); + Self::this_sm().pinctrl().modify(|w| { + w.set_sideset_count(prog.side_set.bits()); + w.set_sideset_base(side_set.first().map_or(0, |p| p.pin())); + }); + pio_instr_util::exec_jmp(self, prog.origin); } } - pub fn is_side_enabled(&self) -> bool { - unsafe { Self::this_sm().execctrl().read().side_en() } - } - - pub fn set_side_pindir(&mut self, pindir: bool) { - unsafe { - Self::this_sm().execctrl().modify(|w| w.set_side_pindir(pindir)); - } - } - - pub fn is_side_pindir(&self) -> bool { - unsafe { Self::this_sm().execctrl().read().side_pindir() } - } - pub fn set_jmp_pin(&mut self, pin: u8) { unsafe { Self::this_sm().execctrl().modify(|w| w.set_jmp_pin(pin)); @@ -534,23 +543,6 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> { unsafe { Self::this_sm().execctrl().read().jmp_pin() } } - pub fn set_wrap(&self, source: u8, target: u8) { - unsafe { - Self::this_sm().execctrl().modify(|w| { - w.set_wrap_top(source); - w.set_wrap_bottom(target) - }); - } - } - - /// Get wrapping addresses. Returns (source, target). - pub fn get_wrap(&self) -> (u8, u8) { - unsafe { - let r = Self::this_sm().execctrl().read(); - (r.wrap_top(), r.wrap_bottom()) - } - } - pub fn set_fifo_join(&mut self, join: FifoJoin) { let (rx, tx) = match join { FifoJoin::Duplex => (false, false), @@ -667,28 +659,6 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> { pub fn get_addr(&self) -> u8 { unsafe { Self::this_sm().addr().read().addr() } } - pub fn set_sideset_count(&mut self, count: u8) { - unsafe { - Self::this_sm().pinctrl().modify(|w| w.set_sideset_count(count)); - } - } - - pub fn get_sideset_count(&self) -> u8 { - unsafe { Self::this_sm().pinctrl().read().sideset_count() } - } - - pub fn set_sideset_base_pin(&mut self, base_pin: &Pin) { - unsafe { - Self::this_sm().pinctrl().modify(|w| w.set_sideset_base(base_pin.pin())); - } - } - - pub fn get_sideset_base(&self) -> u8 { - unsafe { - let r = Self::this_sm().pinctrl().read(); - r.sideset_base() - } - } /// Set the range of out pins affected by a set instruction. pub fn set_set_range(&mut self, base: u8, count: u8) { @@ -799,8 +769,35 @@ pub struct InstanceMemory<'d, PIO: Instance> { pio: PhantomData<&'d mut PIO>, } +pub struct LoadedProgram<'d, PIO: Instance> { + pub used_memory: InstanceMemory<'d, PIO>, + origin: u8, + wrap: Wrap, + side_set: SideSet, +} + impl<'d, PIO: Instance> Common<'d, PIO> { - pub fn write_instr(&mut self, start: usize, instrs: I) -> InstanceMemory<'d, PIO> + pub fn load_program(&mut self, prog: &RelocatedProgram) -> LoadedProgram<'d, PIO> { + match self.try_load_program(prog) { + Ok(r) => r, + Err(at) => panic!("Trying to write already used PIO instruction memory at {}", at), + } + } + + pub fn try_load_program( + &mut self, + prog: &RelocatedProgram, + ) -> Result, usize> { + let used_memory = self.try_write_instr(prog.origin() as _, prog.code())?; + Ok(LoadedProgram { + used_memory, + origin: prog.origin(), + wrap: prog.wrap(), + side_set: prog.side_set(), + }) + } + + pub fn try_write_instr(&mut self, start: usize, instrs: I) -> Result, usize> where I: Iterator, { @@ -808,11 +805,9 @@ impl<'d, PIO: Instance> Common<'d, PIO> { for (i, instr) in instrs.enumerate() { let addr = (i + start) as u8; let mask = 1 << (addr as usize); - assert!( - self.instructions_used & mask == 0, - "Trying to write already used PIO instruction memory at {}", - addr - ); + if self.instructions_used & mask != 0 { + return Err(addr as usize); + } unsafe { PIO::PIO.instr_mem(addr as usize).write(|w| { w.set_instr_mem(instr); @@ -821,15 +816,14 @@ impl<'d, PIO: Instance> Common<'d, PIO> { used_mask |= mask; } self.instructions_used |= used_mask; - InstanceMemory { + Ok(InstanceMemory { used_mask, pio: PhantomData, - } + }) } - /// Free instruction memory previously allocated with [`Common::write_instr`]. - /// This is always possible but unsafe if any state machine is still using this - /// bit of memory. + /// Free instruction memory. This is always possible but unsafe if any + /// state machine is still using this bit of memory. pub unsafe fn free_instr(&mut self, instrs: InstanceMemory) { self.instructions_used &= !instrs.used_mask; } diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs index 461ea3ff..9f47c231 100644 --- a/examples/rp/src/bin/pio_async.rs +++ b/examples/rp/src/bin/pio_async.rs @@ -5,11 +5,10 @@ use defmt::info; use embassy_executor::Spawner; use embassy_rp::peripherals::PIO0; use embassy_rp::pio::{Common, Irq, Pio, PioPin, ShiftDirection, StateMachine}; -use embassy_rp::pio_instr_util; use embassy_rp::relocate::RelocatedProgram; use {defmt_rtt as _, panic_probe as _}; -fn setup_pio_task_sm0(pio: &mut Common, sm: &mut StateMachine, pin: impl PioPin) { +fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 0>, pin: impl PioPin) { // Setup sm0 // Send data serially to pin @@ -22,15 +21,12 @@ fn setup_pio_task_sm0(pio: &mut Common, sm: &mut StateMachine, pi ); let relocated = RelocatedProgram::new(&prg.program); + sm.use_program(&pio.load_program(&relocated), &[]); let out_pin = pio.make_pio_pin(pin); let pio_pins = [&out_pin]; sm.set_out_pins(&pio_pins); - pio.write_instr(relocated.origin() as usize, relocated.code()); - pio_instr_util::exec_jmp(sm, relocated.origin()); sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32); sm.set_set_range(0, 1); - let pio::Wrap { source, target } = relocated.wrap(); - sm.set_wrap(source, target); sm.set_autopull(true); sm.set_out_shift_dir(ShiftDirection::Left); @@ -48,20 +44,16 @@ async fn pio_task_sm0(mut sm: StateMachine<'static, PIO0, 0>) { } } -fn setup_pio_task_sm1(pio: &mut Common, sm: &mut StateMachine) { +fn setup_pio_task_sm1<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 1>) { // Setupm sm1 // Read 0b10101 repeatedly until ISR is full let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",); let relocated = RelocatedProgram::new(&prg.program); - pio.write_instr(relocated.origin() as usize, relocated.code()); - pio_instr_util::exec_jmp(sm, relocated.origin()); + sm.use_program(&pio.load_program(&relocated), &[]); sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32); sm.set_set_range(0, 0); - let pio::Wrap { source, target } = relocated.wrap(); - sm.set_wrap(source, target); - sm.set_autopush(true); sm.set_in_shift_dir(ShiftDirection::Right); } @@ -75,7 +67,7 @@ async fn pio_task_sm1(mut sm: StateMachine<'static, PIO0, 1>) { } } -fn setup_pio_task_sm2(pio: &mut Common, sm: &mut StateMachine) { +fn setup_pio_task_sm2<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 2>) { // Setup sm2 // Repeatedly trigger IRQ 3 @@ -89,12 +81,7 @@ fn setup_pio_task_sm2(pio: &mut Common, sm: &mut StateMachine) { ".wrap", ); let relocated = RelocatedProgram::new(&prg.program); - pio.write_instr(relocated.origin() as usize, relocated.code()); - - let pio::Wrap { source, target } = relocated.wrap(); - sm.set_wrap(source, target); - - pio_instr_util::exec_jmp(sm, relocated.origin()); + sm.use_program(&pio.load_program(&relocated), &[]); sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32); } diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs index c664482e..1c4e127c 100644 --- a/examples/rp/src/bin/pio_dma.rs +++ b/examples/rp/src/bin/pio_dma.rs @@ -6,7 +6,7 @@ use embassy_executor::Spawner; use embassy_futures::join::join; use embassy_rp::pio::{Pio, ShiftDirection}; use embassy_rp::relocate::RelocatedProgram; -use embassy_rp::{pio_instr_util, Peripheral}; +use embassy_rp::Peripheral; use {defmt_rtt as _, panic_probe as _}; fn swap_nibbles(v: u32) -> u32 { @@ -38,11 +38,8 @@ async fn main(_spawner: Spawner) { ); let relocated = RelocatedProgram::new(&prg.program); - common.write_instr(relocated.origin() as usize, relocated.code()); - pio_instr_util::exec_jmp(&mut sm, relocated.origin()); + sm.use_program(&common.load_program(&relocated), &[]); sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32); - let pio::Wrap { source, target } = relocated.wrap(); - sm.set_wrap(source, target); sm.set_autopull(true); sm.set_autopush(true); sm.set_pull_threshold(32); diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs index 17b2440c..c3466b55 100644 --- a/examples/rp/src/bin/pio_hd44780.rs +++ b/examples/rp/src/bin/pio_hd44780.rs @@ -123,15 +123,9 @@ impl<'l> HD44780<'l> { embassy_rp::pio_instr_util::set_pindir(&mut sm0, 0b11111); let relocated = RelocatedProgram::new(&prg.program); - common.write_instr(relocated.origin() as usize, relocated.code()); - embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin()); + sm0.use_program(&common.load_program(&relocated), &[&e]); sm0.set_clkdiv(125 * 256); - let pio::Wrap { source, target } = relocated.wrap(); - sm0.set_wrap(source, target); - sm0.set_side_enable(true); sm0.set_out_pins(&[&db4, &db5, &db6, &db7]); - sm0.set_sideset_base_pin(&e); - sm0.set_sideset_count(2); sm0.set_out_shift_dir(ShiftDirection::Left); sm0.set_fifo_join(FifoJoin::TxOnly); sm0.set_autopull(true); @@ -199,17 +193,11 @@ impl<'l> HD44780<'l> { ); let relocated = RelocatedProgram::new(&prg.program); - common.write_instr(relocated.origin() as usize, relocated.code()); - embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin()); - let pio::Wrap { source, target } = relocated.wrap(); + sm0.use_program(&common.load_program(&relocated), &[&e]); sm0.set_clkdiv(8 * 256); // ~64ns/insn - sm0.set_side_enable(false); sm0.set_jmp_pin(db7pin); - sm0.set_wrap(source, target); sm0.set_set_pins(&[&rs, &rw]); sm0.set_out_pins(&[&db4, &db5, &db6, &db7]); - sm0.set_sideset_base_pin(&e); - sm0.set_sideset_count(1); sm0.set_out_shift_dir(ShiftDirection::Left); sm0.set_fifo_join(FifoJoin::TxOnly); diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs index 2e6860d8..88997054 100644 --- a/examples/rp/src/bin/ws2812-pio.rs +++ b/examples/rp/src/bin/ws2812-pio.rs @@ -5,7 +5,6 @@ use defmt::*; use embassy_executor::Spawner; use embassy_rp::pio::{Common, FifoJoin, Instance, Pio, PioPin, ShiftDirection, StateMachine}; -use embassy_rp::pio_instr_util; use embassy_rp::relocate::RelocatedProgram; use embassy_time::{Duration, Timer}; use smart_leds::RGB8; @@ -45,15 +44,11 @@ impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> { let prg = a.assemble_with_wrap(wrap_source, wrap_target); - let relocated = RelocatedProgram::new(&prg); - pio.write_instr(relocated.origin() as usize, relocated.code()); - pio_instr_util::exec_jmp(&mut sm, relocated.origin()); - // Pin config let out_pin = pio.make_pio_pin(pin); - sm.set_set_pins(&[&out_pin]); - sm.set_sideset_base_pin(&out_pin); - sm.set_sideset_count(1); + + let relocated = RelocatedProgram::new(&prg); + sm.use_program(&pio.load_program(&relocated), &[&out_pin]); // Clock config // TODO CLOCK_FREQ should come from embassy_rp @@ -70,8 +65,6 @@ impl<'d, P: Instance, const S: usize> Ws2812<'d, P, S> { } sm.set_clkdiv((int << 8) | frac); - let pio::Wrap { source, target } = relocated.wrap(); - sm.set_wrap(source, target); // FIFO config sm.set_autopull(true);