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rp/pio: remove PioStateMachineInstance

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move all methods into PioStateMachine instead. the huge trait wasn't
object-safe and thus didn't have any benefits whatsoever except for
making it *slightly* easier to write bounds for passing around state
machines. that would be much better solved with generics-less instances.
This commit is contained in:
pennae 2023-05-03 10:18:24 +02:00
parent 906d2b2db7
commit 486fe9e59d
6 changed files with 138 additions and 163 deletions
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271
embassy-rp/src/pio.rs
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@ -14,7 +14,6 @@ use crate::dma::{Channel, Transfer, Word};
use crate::gpio::sealed::Pin as SealedPin; use crate::gpio::sealed::Pin as SealedPin;
use crate::gpio::{self, AnyPin, Drive, Pull, SlewRate}; use crate::gpio::{self, AnyPin, Drive, Pull, SlewRate};
use crate::pac::dma::vals::TreqSel; use crate::pac::dma::vals::TreqSel;
use crate::pio::sealed::PioInstance as _;
use crate::{interrupt, pac, peripherals, RegExt}; use crate::{interrupt, pac, peripherals, RegExt};
struct Wakers([AtomicWaker; 12]); struct Wakers([AtomicWaker; 12]);
@ -97,23 +96,18 @@ pub(crate) unsafe fn init() {
/// Future that waits for TX-FIFO to become writable /// Future that waits for TX-FIFO to become writable
#[must_use = "futures do nothing unless you `.await` or poll them"] #[must_use = "futures do nothing unless you `.await` or poll them"]
pub struct FifoOutFuture<'a, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> { pub struct FifoOutFuture<'a, 'd, PIO: PioInstance, const SM: usize> {
sm: &'a mut SM, sm: &'a mut PioStateMachine<'d, PIO, SM>,
pio: PhantomData<PIO>,
value: u32, value: u32,
} }
impl<'a, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> FifoOutFuture<'a, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> FifoOutFuture<'a, 'd, PIO, SM> {
pub fn new(sm: &'a mut SM, value: u32) -> Self { pub fn new(sm: &'a mut PioStateMachine<'d, PIO, SM>, value: u32) -> Self {
FifoOutFuture { FifoOutFuture { sm, value }
sm,
pio: PhantomData::default(),
value,
}
} }
} }
impl<'d, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> Future for FifoOutFuture<'d, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> Future for FifoOutFuture<'a, 'd, PIO, SM> {
type Output = (); type Output = ();
fn poll(self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> { fn poll(self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
//debug!("Poll {},{}", PIO::PIO_NO, SM); //debug!("Poll {},{}", PIO::PIO_NO, SM);
@ -121,10 +115,10 @@ impl<'d, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> Future for FifoO
if self.get_mut().sm.try_push_tx(value) { if self.get_mut().sm.try_push_tx(value) {
Poll::Ready(()) Poll::Ready(())
} else { } else {
WAKERS[PIO::PIO_NO as usize].fifo_out()[SM::SM as usize].register(cx.waker()); WAKERS[PIO::PIO_NO as usize].fifo_out()[SM].register(cx.waker());
unsafe { unsafe {
PIO::PIO.irqs(0).inte().write_set(|m| { PIO::PIO.irqs(0).inte().write_set(|m| {
m.0 = TXNFULL_MASK << SM::SM; m.0 = TXNFULL_MASK << SM;
}); });
} }
// debug!("Pending"); // debug!("Pending");
@ -133,11 +127,11 @@ impl<'d, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> Future for FifoO
} }
} }
impl<'d, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> Drop for FifoOutFuture<'d, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> Drop for FifoOutFuture<'a, 'd, PIO, SM> {
fn drop(&mut self) { fn drop(&mut self) {
unsafe { unsafe {
PIO::PIO.irqs(0).inte().write_clear(|m| { PIO::PIO.irqs(0).inte().write_clear(|m| {
m.0 = TXNFULL_MASK << SM::SM; m.0 = TXNFULL_MASK << SM;
}); });
} }
} }
@ -145,31 +139,27 @@ impl<'d, PIO: PioInstance, SM: PioStateMachineInstance + Unpin> Drop for FifoOut
/// Future that waits for RX-FIFO to become readable /// Future that waits for RX-FIFO to become readable
#[must_use = "futures do nothing unless you `.await` or poll them"] #[must_use = "futures do nothing unless you `.await` or poll them"]
pub struct FifoInFuture<'a, PIO: PioInstance, SM: PioStateMachineInstance> { pub struct FifoInFuture<'a, 'd, PIO: PioInstance, const SM: usize> {
sm: &'a mut SM, sm: &'a mut PioStateMachine<'d, PIO, SM>,
pio: PhantomData<PIO>,
} }
impl<'a, PIO: PioInstance, SM: PioStateMachineInstance> FifoInFuture<'a, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> FifoInFuture<'a, 'd, PIO, SM> {
pub fn new(sm: &'a mut SM) -> Self { pub fn new(sm: &'a mut PioStateMachine<'d, PIO, SM>) -> Self {
FifoInFuture { FifoInFuture { sm }
sm,
pio: PhantomData::default(),
}
} }
} }
impl<'d, PIO: PioInstance, SM: PioStateMachineInstance> Future for FifoInFuture<'d, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> Future for FifoInFuture<'a, 'd, PIO, SM> {
type Output = u32; type Output = u32;
fn poll(mut self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> { fn poll(mut self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
//debug!("Poll {},{}", PIO::PIO_NO, SM); //debug!("Poll {},{}", PIO::PIO_NO, SM);
if let Some(v) = self.sm.try_pull_rx() { if let Some(v) = self.sm.try_pull_rx() {
Poll::Ready(v) Poll::Ready(v)
} else { } else {
WAKERS[PIO::PIO_NO as usize].fifo_in()[SM::SM].register(cx.waker()); WAKERS[PIO::PIO_NO as usize].fifo_in()[SM].register(cx.waker());
unsafe { unsafe {
PIO::PIO.irqs(0).inte().write_set(|m| { PIO::PIO.irqs(0).inte().write_set(|m| {
m.0 = RXNEMPTY_MASK << SM::SM; m.0 = RXNEMPTY_MASK << SM;
}); });
} }
//debug!("Pending"); //debug!("Pending");
@ -178,11 +168,11 @@ impl<'d, PIO: PioInstance, SM: PioStateMachineInstance> Future for FifoInFuture<
} }
} }
impl<'d, PIO: PioInstance, SM: PioStateMachineInstance> Drop for FifoInFuture<'d, PIO, SM> { impl<'a, 'd, PIO: PioInstance, const SM: usize> Drop for FifoInFuture<'a, 'd, PIO, SM> {
fn drop(&mut self) { fn drop(&mut self) {
unsafe { unsafe {
PIO::PIO.irqs(0).inte().write_clear(|m| { PIO::PIO.irqs(0).inte().write_clear(|m| {
m.0 = RXNEMPTY_MASK << SM::SM; m.0 = RXNEMPTY_MASK << SM;
}); });
} }
} }
@ -325,69 +315,68 @@ impl<'d, PIO: PioInstance, const SM: usize> Drop for PioStateMachine<'d, PIO, SM
} }
} }
impl<'d, PIO: PioInstance, const SM: usize> sealed::PioStateMachineInstance for PioStateMachine<'d, PIO, SM> { impl<'d, PIO: PioInstance + 'd, const SM: usize> PioStateMachine<'d, PIO, SM> {
type Pio = PIO; #[inline(always)]
const SM: usize = SM; fn this_sm() -> crate::pac::pio::StateMachine {
} PIO::PIO.sm(SM)
impl<'d, PIO: PioInstance, const SM: usize> PioStateMachineInstance for PioStateMachine<'d, PIO, SM> {} }
pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unpin { pub fn restart(&mut self) {
fn restart(&mut self) { let mask = 1u8 << SM;
let mask = 1u8 << Self::SM;
unsafe { unsafe {
Self::Pio::PIO.ctrl().write_set(|w| w.set_sm_restart(mask)); PIO::PIO.ctrl().write_set(|w| w.set_sm_restart(mask));
} }
} }
fn set_enable(&mut self, enable: bool) { pub fn set_enable(&mut self, enable: bool) {
let mask = 1u8 << Self::SM; let mask = 1u8 << SM;
unsafe { unsafe {
if enable { if enable {
Self::Pio::PIO.ctrl().write_set(|w| w.set_sm_enable(mask)); PIO::PIO.ctrl().write_set(|w| w.set_sm_enable(mask));
} else { } else {
Self::Pio::PIO.ctrl().write_clear(|w| w.set_sm_enable(mask)); PIO::PIO.ctrl().write_clear(|w| w.set_sm_enable(mask));
} }
} }
} }
fn is_enabled(&self) -> bool { pub fn is_enabled(&self) -> bool {
unsafe { Self::Pio::PIO.ctrl().read().sm_enable() & (1u8 << Self::SM) != 0 } unsafe { PIO::PIO.ctrl().read().sm_enable() & (1u8 << SM) != 0 }
} }
fn is_tx_empty(&self) -> bool { pub fn is_tx_empty(&self) -> bool {
unsafe { Self::Pio::PIO.fstat().read().txempty() & (1u8 << Self::SM) != 0 } unsafe { PIO::PIO.fstat().read().txempty() & (1u8 << SM) != 0 }
} }
fn is_tx_full(&self) -> bool { pub fn is_tx_full(&self) -> bool {
unsafe { Self::Pio::PIO.fstat().read().txfull() & (1u8 << Self::SM) != 0 } unsafe { PIO::PIO.fstat().read().txfull() & (1u8 << SM) != 0 }
} }
fn is_rx_empty(&self) -> bool { pub fn is_rx_empty(&self) -> bool {
unsafe { Self::Pio::PIO.fstat().read().rxempty() & (1u8 << Self::SM) != 0 } unsafe { PIO::PIO.fstat().read().rxempty() & (1u8 << SM) != 0 }
} }
fn is_rx_full(&self) -> bool { pub fn is_rx_full(&self) -> bool {
unsafe { Self::Pio::PIO.fstat().read().rxfull() & (1u8 << Self::SM) != 0 } unsafe { PIO::PIO.fstat().read().rxfull() & (1u8 << SM) != 0 }
} }
fn tx_level(&self) -> u8 { pub fn tx_level(&self) -> u8 {
unsafe { unsafe {
let flevel = Self::Pio::PIO.flevel().read().0; let flevel = PIO::PIO.flevel().read().0;
(flevel >> (Self::SM * 8)) as u8 & 0x0f (flevel >> (SM * 8)) as u8 & 0x0f
} }
} }
fn rx_level(&self) -> u8 { pub fn rx_level(&self) -> u8 {
unsafe { unsafe {
let flevel = Self::Pio::PIO.flevel().read().0; let flevel = PIO::PIO.flevel().read().0;
(flevel >> (Self::SM * 8 + 4)) as u8 & 0x0f (flevel >> (SM * 8 + 4)) as u8 & 0x0f
} }
} }
fn push_tx(&mut self, v: u32) { pub fn push_tx(&mut self, v: u32) {
unsafe { unsafe {
Self::Pio::PIO.txf(Self::SM).write_value(v); PIO::PIO.txf(SM).write_value(v);
} }
} }
fn try_push_tx(&mut self, v: u32) -> bool { pub fn try_push_tx(&mut self, v: u32) -> bool {
if self.is_tx_full() { if self.is_tx_full() {
return false; return false;
} }
@ -395,65 +384,65 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
true true
} }
fn pull_rx(&mut self) -> u32 { pub fn pull_rx(&mut self) -> u32 {
unsafe { Self::Pio::PIO.rxf(Self::SM).read() } unsafe { PIO::PIO.rxf(SM).read() }
} }
fn try_pull_rx(&mut self) -> Option<u32> { pub fn try_pull_rx(&mut self) -> Option<u32> {
if self.is_rx_empty() { if self.is_rx_empty() {
return None; return None;
} }
Some(self.pull_rx()) Some(self.pull_rx())
} }
fn set_clkdiv(&mut self, div_x_256: u32) { pub fn set_clkdiv(&mut self, div_x_256: u32) {
unsafe { unsafe {
Self::this_sm().clkdiv().write(|w| w.0 = div_x_256 << 8); Self::this_sm().clkdiv().write(|w| w.0 = div_x_256 << 8);
} }
} }
fn get_clkdiv(&self) -> u32 { pub fn get_clkdiv(&self) -> u32 {
unsafe { Self::this_sm().clkdiv().read().0 >> 8 } unsafe { Self::this_sm().clkdiv().read().0 >> 8 }
} }
fn clkdiv_restart(&mut self) { pub fn clkdiv_restart(&mut self) {
let mask = 1u8 << Self::SM; let mask = 1u8 << SM;
unsafe { unsafe {
Self::Pio::PIO.ctrl().write_set(|w| w.set_clkdiv_restart(mask)); PIO::PIO.ctrl().write_set(|w| w.set_clkdiv_restart(mask));
} }
} }
fn set_side_enable(&self, enable: bool) { pub fn set_side_enable(&self, enable: bool) {
unsafe { unsafe {
Self::this_sm().execctrl().modify(|w| w.set_side_en(enable)); Self::this_sm().execctrl().modify(|w| w.set_side_en(enable));
} }
} }
fn is_side_enabled(&self) -> bool { pub fn is_side_enabled(&self) -> bool {
unsafe { Self::this_sm().execctrl().read().side_en() } unsafe { Self::this_sm().execctrl().read().side_en() }
} }
fn set_side_pindir(&mut self, pindir: bool) { pub fn set_side_pindir(&mut self, pindir: bool) {
unsafe { unsafe {
Self::this_sm().execctrl().modify(|w| w.set_side_pindir(pindir)); Self::this_sm().execctrl().modify(|w| w.set_side_pindir(pindir));
} }
} }
fn is_side_pindir(&self) -> bool { pub fn is_side_pindir(&self) -> bool {
unsafe { Self::this_sm().execctrl().read().side_pindir() } unsafe { Self::this_sm().execctrl().read().side_pindir() }
} }
fn set_jmp_pin(&mut self, pin: u8) { pub fn set_jmp_pin(&mut self, pin: u8) {
unsafe { unsafe {
Self::this_sm().execctrl().modify(|w| w.set_jmp_pin(pin)); Self::this_sm().execctrl().modify(|w| w.set_jmp_pin(pin));
} }
} }
fn get_jmp_pin(&mut self) -> u8 { pub fn get_jmp_pin(&mut self) -> u8 {
unsafe { Self::this_sm().execctrl().read().jmp_pin() } unsafe { Self::this_sm().execctrl().read().jmp_pin() }
} }
fn set_wrap(&self, source: u8, target: u8) { pub fn set_wrap(&self, source: u8, target: u8) {
unsafe { unsafe {
Self::this_sm().execctrl().modify(|w| { Self::this_sm().execctrl().modify(|w| {
w.set_wrap_top(source); w.set_wrap_top(source);
@ -463,14 +452,14 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
/// Get wrapping addresses. Returns (source, target). /// Get wrapping addresses. Returns (source, target).
fn get_wrap(&self) -> (u8, u8) { pub fn get_wrap(&self) -> (u8, u8) {
unsafe { unsafe {
let r = Self::this_sm().execctrl().read(); let r = Self::this_sm().execctrl().read();
(r.wrap_top(), r.wrap_bottom()) (r.wrap_top(), r.wrap_bottom())
} }
} }
fn set_fifo_join(&mut self, join: FifoJoin) { pub fn set_fifo_join(&mut self, join: FifoJoin) {
let (rx, tx) = match join { let (rx, tx) = match join {
FifoJoin::Duplex => (false, false), FifoJoin::Duplex => (false, false),
FifoJoin::RxOnly => (true, false), FifoJoin::RxOnly => (true, false),
@ -483,7 +472,7 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
}); });
} }
} }
fn get_fifo_join(&self) -> FifoJoin { pub fn get_fifo_join(&self) -> FifoJoin {
unsafe { unsafe {
let r = Self::this_sm().shiftctrl().read(); let r = Self::this_sm().shiftctrl().read();
// Ignores the invalid state when both bits are set // Ignores the invalid state when both bits are set
@ -497,7 +486,7 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
} }
fn clear_fifos(&mut self) { pub fn clear_fifos(&mut self) {
// Toggle FJOIN_RX to flush FIFOs // Toggle FJOIN_RX to flush FIFOs
unsafe { unsafe {
let shiftctrl = Self::this_sm().shiftctrl(); let shiftctrl = Self::this_sm().shiftctrl();
@ -510,33 +499,33 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
} }
fn set_pull_threshold(&mut self, threshold: u8) { pub fn set_pull_threshold(&mut self, threshold: u8) {
unsafe { unsafe {
Self::this_sm().shiftctrl().modify(|w| w.set_pull_thresh(threshold)); Self::this_sm().shiftctrl().modify(|w| w.set_pull_thresh(threshold));
} }
} }
fn get_pull_threshold(&self) -> u8 { pub fn get_pull_threshold(&self) -> u8 {
unsafe { Self::this_sm().shiftctrl().read().pull_thresh() } unsafe { Self::this_sm().shiftctrl().read().pull_thresh() }
} }
fn set_push_threshold(&mut self, threshold: u8) { pub fn set_push_threshold(&mut self, threshold: u8) {
unsafe { unsafe {
Self::this_sm().shiftctrl().modify(|w| w.set_push_thresh(threshold)); Self::this_sm().shiftctrl().modify(|w| w.set_push_thresh(threshold));
} }
} }
fn get_push_threshold(&self) -> u8 { pub fn get_push_threshold(&self) -> u8 {
unsafe { Self::this_sm().shiftctrl().read().push_thresh() } unsafe { Self::this_sm().shiftctrl().read().push_thresh() }
} }
fn set_out_shift_dir(&mut self, dir: ShiftDirection) { pub fn set_out_shift_dir(&mut self, dir: ShiftDirection) {
unsafe { unsafe {
Self::this_sm() Self::this_sm()
.shiftctrl() .shiftctrl()
.modify(|w| w.set_out_shiftdir(dir == ShiftDirection::Right)); .modify(|w| w.set_out_shiftdir(dir == ShiftDirection::Right));
} }
} }
fn get_out_shiftdir(&self) -> ShiftDirection { pub fn get_out_shiftdir(&self) -> ShiftDirection {
unsafe { unsafe {
if Self::this_sm().shiftctrl().read().out_shiftdir() { if Self::this_sm().shiftctrl().read().out_shiftdir() {
ShiftDirection::Right ShiftDirection::Right
@ -546,14 +535,14 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
} }
fn set_in_shift_dir(&mut self, dir: ShiftDirection) { pub fn set_in_shift_dir(&mut self, dir: ShiftDirection) {
unsafe { unsafe {
Self::this_sm() Self::this_sm()
.shiftctrl() .shiftctrl()
.modify(|w| w.set_in_shiftdir(dir == ShiftDirection::Right)); .modify(|w| w.set_in_shiftdir(dir == ShiftDirection::Right));
} }
} }
fn get_in_shiftdir(&self) -> ShiftDirection { pub fn get_in_shiftdir(&self) -> ShiftDirection {
unsafe { unsafe {
if Self::this_sm().shiftctrl().read().in_shiftdir() { if Self::this_sm().shiftctrl().read().in_shiftdir() {
ShiftDirection::Right ShiftDirection::Right
@ -563,46 +552,46 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
} }
fn set_autopull(&mut self, auto: bool) { pub fn set_autopull(&mut self, auto: bool) {
unsafe { unsafe {
Self::this_sm().shiftctrl().modify(|w| w.set_autopull(auto)); Self::this_sm().shiftctrl().modify(|w| w.set_autopull(auto));
} }
} }
fn is_autopull(&self) -> bool { pub fn is_autopull(&self) -> bool {
unsafe { Self::this_sm().shiftctrl().read().autopull() } unsafe { Self::this_sm().shiftctrl().read().autopull() }
} }
fn set_autopush(&mut self, auto: bool) { pub fn set_autopush(&mut self, auto: bool) {
unsafe { unsafe {
Self::this_sm().shiftctrl().modify(|w| w.set_autopush(auto)); Self::this_sm().shiftctrl().modify(|w| w.set_autopush(auto));
} }
} }
fn is_autopush(&self) -> bool { pub fn is_autopush(&self) -> bool {
unsafe { Self::this_sm().shiftctrl().read().autopush() } unsafe { Self::this_sm().shiftctrl().read().autopush() }
} }
fn get_addr(&self) -> u8 { pub fn get_addr(&self) -> u8 {
unsafe { Self::this_sm().addr().read().addr() } unsafe { Self::this_sm().addr().read().addr() }
} }
fn set_sideset_count(&mut self, count: u8) { pub fn set_sideset_count(&mut self, count: u8) {
unsafe { unsafe {
Self::this_sm().pinctrl().modify(|w| w.set_sideset_count(count)); Self::this_sm().pinctrl().modify(|w| w.set_sideset_count(count));
} }
} }
fn get_sideset_count(&self) -> u8 { pub fn get_sideset_count(&self) -> u8 {
unsafe { Self::this_sm().pinctrl().read().sideset_count() } unsafe { Self::this_sm().pinctrl().read().sideset_count() }
} }
fn set_sideset_base_pin(&mut self, base_pin: &Pin<Self::Pio>) { pub fn set_sideset_base_pin(&mut self, base_pin: &Pin<PIO>) {
unsafe { unsafe {
Self::this_sm().pinctrl().modify(|w| w.set_sideset_base(base_pin.pin())); Self::this_sm().pinctrl().modify(|w| w.set_sideset_base(base_pin.pin()));
} }
} }
fn get_sideset_base(&self) -> u8 { pub fn get_sideset_base(&self) -> u8 {
unsafe { unsafe {
let r = Self::this_sm().pinctrl().read(); let r = Self::this_sm().pinctrl().read();
r.sideset_base() r.sideset_base()
@ -610,7 +599,7 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
/// Set the range of out pins affected by a set instruction. /// Set the range of out pins affected by a set instruction.
fn set_set_range(&mut self, base: u8, count: u8) { pub fn set_set_range(&mut self, base: u8, count: u8) {
assert!(base + count < 32); assert!(base + count < 32);
unsafe { unsafe {
Self::this_sm().pinctrl().modify(|w| { Self::this_sm().pinctrl().modify(|w| {
@ -621,27 +610,27 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
/// Get the range of out pins affected by a set instruction. Returns (base, count). /// Get the range of out pins affected by a set instruction. Returns (base, count).
fn get_set_range(&self) -> (u8, u8) { pub fn get_set_range(&self) -> (u8, u8) {
unsafe { unsafe {
let r = Self::this_sm().pinctrl().read(); let r = Self::this_sm().pinctrl().read();
(r.set_base(), r.set_count()) (r.set_base(), r.set_count())
} }
} }
fn set_in_base_pin(&mut self, base: &Pin<Self::Pio>) { pub fn set_in_base_pin(&mut self, base: &Pin<PIO>) {
unsafe { unsafe {
Self::this_sm().pinctrl().modify(|w| w.set_in_base(base.pin())); Self::this_sm().pinctrl().modify(|w| w.set_in_base(base.pin()));
} }
} }
fn get_in_base(&self) -> u8 { pub fn get_in_base(&self) -> u8 {
unsafe { unsafe {
let r = Self::this_sm().pinctrl().read(); let r = Self::this_sm().pinctrl().read();
r.in_base() r.in_base()
} }
} }
fn set_out_range(&mut self, base: u8, count: u8) { pub fn set_out_range(&mut self, base: u8, count: u8) {
assert!(base + count < 32); assert!(base + count < 32);
unsafe { unsafe {
Self::this_sm().pinctrl().modify(|w| { Self::this_sm().pinctrl().modify(|w| {
@ -652,14 +641,14 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
} }
/// Get the range of out pins affected by a set instruction. Returns (base, count). /// Get the range of out pins affected by a set instruction. Returns (base, count).
fn get_out_range(&self) -> (u8, u8) { pub fn get_out_range(&self) -> (u8, u8) {
unsafe { unsafe {
let r = Self::this_sm().pinctrl().read(); let r = Self::this_sm().pinctrl().read();
(r.out_base(), r.out_count()) (r.out_base(), r.out_count())
} }
} }
fn set_out_pins<'a, 'b: 'a>(&'a mut self, pins: &'b [&Pin<Self::Pio>]) { pub fn set_out_pins<'a, 'b: 'a>(&'a mut self, pins: &'b [&Pin<PIO>]) {
let count = pins.len(); let count = pins.len();
assert!(count >= 1); assert!(count >= 1);
let start = pins[0].pin() as usize; let start = pins[0].pin() as usize;
@ -670,7 +659,7 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
self.set_out_range(start as u8, count as u8); self.set_out_range(start as u8, count as u8);
} }
fn set_set_pins<'a, 'b: 'a>(&'a mut self, pins: &'b [&Pin<Self::Pio>]) { pub fn set_set_pins<'a, 'b: 'a>(&'a mut self, pins: &'b [&Pin<PIO>]) {
let count = pins.len(); let count = pins.len();
assert!(count >= 1); assert!(count >= 1);
let start = pins[0].pin() as usize; let start = pins[0].pin() as usize;
@ -681,76 +670,75 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
self.set_set_range(start as u8, count as u8); self.set_set_range(start as u8, count as u8);
} }
fn get_current_instr() -> u32 { pub fn get_current_instr() -> u32 {
unsafe { Self::this_sm().instr().read().0 } unsafe { Self::this_sm().instr().read().0 }
} }
fn exec_instr(&mut self, instr: u16) { pub fn exec_instr(&mut self, instr: u16) {
unsafe { unsafe {
Self::this_sm().instr().write(|w| w.set_instr(instr)); Self::this_sm().instr().write(|w| w.set_instr(instr));
} }
} }
fn wait_push<'a>(&'a mut self, value: u32) -> FifoOutFuture<'a, Self::Pio, Self> { pub fn wait_push<'a>(&'a mut self, value: u32) -> FifoOutFuture<'a, 'd, PIO, SM> {
FifoOutFuture::new(self, value) FifoOutFuture::new(self, value)
} }
fn wait_pull<'a>(&'a mut self) -> FifoInFuture<'a, Self::Pio, Self> { pub fn wait_pull<'a>(&'a mut self) -> FifoInFuture<'a, 'd, PIO, SM> {
FifoInFuture::new(self) FifoInFuture::new(self)
} }
fn wait_irq(&self, irq_no: u8) -> IrqFuture<Self::Pio> { pub fn wait_irq(&self, irq_no: u8) -> IrqFuture<PIO> {
IrqFuture::new(irq_no) IrqFuture::new(irq_no)
} }
fn has_tx_stalled(&self) -> bool { pub fn has_tx_stalled(&self) -> bool {
unsafe { unsafe {
let fdebug = Self::Pio::PIO.fdebug(); let fdebug = PIO::PIO.fdebug();
let ret = fdebug.read().txstall() & (1 << Self::SM) != 0; let ret = fdebug.read().txstall() & (1 << SM) != 0;
fdebug.write(|w| w.set_txstall(1 << Self::SM)); fdebug.write(|w| w.set_txstall(1 << SM));
ret ret
} }
} }
fn has_tx_overflowed(&self) -> bool { pub fn has_tx_overflowed(&self) -> bool {
unsafe { unsafe {
let fdebug = Self::Pio::PIO.fdebug(); let fdebug = PIO::PIO.fdebug();
let ret = fdebug.read().txover() & (1 << Self::SM) != 0; let ret = fdebug.read().txover() & (1 << SM) != 0;
fdebug.write(|w| w.set_txover(1 << Self::SM)); fdebug.write(|w| w.set_txover(1 << SM));
ret ret
} }
} }
fn has_rx_stalled(&self) -> bool { pub fn has_rx_stalled(&self) -> bool {
unsafe { unsafe {
let fdebug = Self::Pio::PIO.fdebug(); let fdebug = PIO::PIO.fdebug();
let ret = fdebug.read().rxstall() & (1 << Self::SM) != 0; let ret = fdebug.read().rxstall() & (1 << SM) != 0;
fdebug.write(|w| w.set_rxstall(1 << Self::SM)); fdebug.write(|w| w.set_rxstall(1 << SM));
ret ret
} }
} }
fn has_rx_underflowed(&self) -> bool { pub fn has_rx_underflowed(&self) -> bool {
unsafe { unsafe {
let fdebug = Self::Pio::PIO.fdebug(); let fdebug = PIO::PIO.fdebug();
let ret = fdebug.read().rxunder() & (1 << Self::SM) != 0; let ret = fdebug.read().rxunder() & (1 << SM) != 0;
fdebug.write(|w| w.set_rxunder(1 << Self::SM)); fdebug.write(|w| w.set_rxunder(1 << SM));
ret ret
} }
} }
fn dma_push<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a [W]) -> Transfer<'a, C> { pub fn dma_push<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a [W]) -> Transfer<'a, C> {
unsafe { unsafe {
let pio_no = Self::Pio::PIO_NO; let pio_no = PIO::PIO_NO;
let sm_no = Self::SM;
let p = ch.regs(); let p = ch.regs();
p.read_addr().write_value(data.as_ptr() as u32); p.read_addr().write_value(data.as_ptr() as u32);
p.write_addr().write_value(Self::Pio::PIO.txf(sm_no).ptr() as u32); p.write_addr().write_value(PIO::PIO.txf(SM).ptr() as u32);
p.trans_count().write_value(data.len() as u32); p.trans_count().write_value(data.len() as u32);
compiler_fence(Ordering::SeqCst); compiler_fence(Ordering::SeqCst);
p.ctrl_trig().write(|w| { p.ctrl_trig().write(|w| {
// Set TX DREQ for this statemachine // Set TX DREQ for this statemachine
w.set_treq_sel(TreqSel(pio_no * 8 + sm_no as u8)); w.set_treq_sel(TreqSel(pio_no * 8 + SM as u8));
w.set_data_size(W::size()); w.set_data_size(W::size());
w.set_chain_to(ch.number()); w.set_chain_to(ch.number());
w.set_incr_read(true); w.set_incr_read(true);
@ -762,18 +750,17 @@ pub trait PioStateMachineInstance: sealed::PioStateMachineInstance + Sized + Unp
Transfer::new(ch) Transfer::new(ch)
} }
fn dma_pull<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a mut [W]) -> Transfer<'a, C> { pub fn dma_pull<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a mut [W]) -> Transfer<'a, C> {
unsafe { unsafe {
let pio_no = Self::Pio::PIO_NO; let pio_no = PIO::PIO_NO;
let sm_no = Self::SM;
let p = ch.regs(); let p = ch.regs();
p.write_addr().write_value(data.as_ptr() as u32); p.write_addr().write_value(data.as_ptr() as u32);
p.read_addr().write_value(Self::Pio::PIO.rxf(sm_no).ptr() as u32); p.read_addr().write_value(PIO::PIO.rxf(SM).ptr() as u32);
p.trans_count().write_value(data.len() as u32); p.trans_count().write_value(data.len() as u32);
compiler_fence(Ordering::SeqCst); compiler_fence(Ordering::SeqCst);
p.ctrl_trig().write(|w| { p.ctrl_trig().write(|w| {
// Set RX DREQ for this statemachine // Set RX DREQ for this statemachine
w.set_treq_sel(TreqSel(pio_no * 8 + sm_no as u8 + 4)); w.set_treq_sel(TreqSel(pio_no * 8 + SM as u8 + 4));
w.set_data_size(W::size()); w.set_data_size(W::size());
w.set_chain_to(ch.number()); w.set_chain_to(ch.number());
w.set_incr_read(false); w.set_incr_read(false);
@ -944,16 +931,6 @@ fn on_pio_drop<PIO: PioInstance>() {
mod sealed { mod sealed {
use super::*; use super::*;
pub trait PioStateMachineInstance {
type Pio: super::PioInstance;
const SM: usize;
#[inline(always)]
fn this_sm() -> crate::pac::pio::StateMachine {
Self::Pio::PIO.sm(Self::SM as usize)
}
}
pub trait PioPin {} pub trait PioPin {}
pub trait PioInstance { pub trait PioInstance {

20
embassy-rp/src/pio_instr_util.rs
View File

@ -1,8 +1,8 @@
use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestination}; use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestination};
use crate::pio::PioStateMachineInstance; use crate::pio::{PioInstance, PioStateMachine};
pub fn set_x<SM: PioStateMachineInstance>(sm: &mut SM, value: u32) { pub fn set_x<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, value: u32) {
const OUT: u16 = InstructionOperands::OUT { const OUT: u16 = InstructionOperands::OUT {
destination: OutDestination::X, destination: OutDestination::X,
bit_count: 32, bit_count: 32,
@ -12,7 +12,7 @@ pub fn set_x<SM: PioStateMachineInstance>(sm: &mut SM, value: u32) {
sm.exec_instr(OUT); sm.exec_instr(OUT);
} }
pub fn get_x<SM: PioStateMachineInstance>(sm: &mut SM) -> u32 { pub fn get_x<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>) -> u32 {
const IN: u16 = InstructionOperands::IN { const IN: u16 = InstructionOperands::IN {
source: InSource::X, source: InSource::X,
bit_count: 32, bit_count: 32,
@ -22,7 +22,7 @@ pub fn get_x<SM: PioStateMachineInstance>(sm: &mut SM) -> u32 {
sm.pull_rx() sm.pull_rx()
} }
pub fn set_y<SM: PioStateMachineInstance>(sm: &mut SM, value: u32) { pub fn set_y<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, value: u32) {
const OUT: u16 = InstructionOperands::OUT { const OUT: u16 = InstructionOperands::OUT {
destination: OutDestination::Y, destination: OutDestination::Y,
bit_count: 32, bit_count: 32,
@ -32,7 +32,7 @@ pub fn set_y<SM: PioStateMachineInstance>(sm: &mut SM, value: u32) {
sm.exec_instr(OUT); sm.exec_instr(OUT);
} }
pub fn get_y<SM: PioStateMachineInstance>(sm: &mut SM) -> u32 { pub fn get_y<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>) -> u32 {
const IN: u16 = InstructionOperands::IN { const IN: u16 = InstructionOperands::IN {
source: InSource::Y, source: InSource::Y,
bit_count: 32, bit_count: 32,
@ -43,7 +43,7 @@ pub fn get_y<SM: PioStateMachineInstance>(sm: &mut SM) -> u32 {
sm.pull_rx() sm.pull_rx()
} }
pub fn set_pindir<SM: PioStateMachineInstance>(sm: &mut SM, data: u8) { pub fn set_pindir<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, data: u8) {
let set: u16 = InstructionOperands::SET { let set: u16 = InstructionOperands::SET {
destination: SetDestination::PINDIRS, destination: SetDestination::PINDIRS,
data, data,
@ -52,7 +52,7 @@ pub fn set_pindir<SM: PioStateMachineInstance>(sm: &mut SM, data: u8) {
sm.exec_instr(set); sm.exec_instr(set);
} }
pub fn set_pin<SM: PioStateMachineInstance>(sm: &mut SM, data: u8) { pub fn set_pin<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, data: u8) {
let set: u16 = InstructionOperands::SET { let set: u16 = InstructionOperands::SET {
destination: SetDestination::PINS, destination: SetDestination::PINS,
data, data,
@ -61,7 +61,7 @@ pub fn set_pin<SM: PioStateMachineInstance>(sm: &mut SM, data: u8) {
sm.exec_instr(set); sm.exec_instr(set);
} }
pub fn set_out_pin<SM: PioStateMachineInstance>(sm: &mut SM, data: u32) { pub fn set_out_pin<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, data: u32) {
const OUT: u16 = InstructionOperands::OUT { const OUT: u16 = InstructionOperands::OUT {
destination: OutDestination::PINS, destination: OutDestination::PINS,
bit_count: 32, bit_count: 32,
@ -70,7 +70,7 @@ pub fn set_out_pin<SM: PioStateMachineInstance>(sm: &mut SM, data: u32) {
sm.push_tx(data); sm.push_tx(data);
sm.exec_instr(OUT); sm.exec_instr(OUT);
} }
pub fn set_out_pindir<SM: PioStateMachineInstance>(sm: &mut SM, data: u32) { pub fn set_out_pindir<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, data: u32) {
const OUT: u16 = InstructionOperands::OUT { const OUT: u16 = InstructionOperands::OUT {
destination: OutDestination::PINDIRS, destination: OutDestination::PINDIRS,
bit_count: 32, bit_count: 32,
@ -80,7 +80,7 @@ pub fn set_out_pindir<SM: PioStateMachineInstance>(sm: &mut SM, data: u32) {
sm.exec_instr(OUT); sm.exec_instr(OUT);
} }
pub fn exec_jmp<SM: PioStateMachineInstance>(sm: &mut SM, to_addr: u8) { pub fn exec_jmp<PIO: PioInstance, const SM: usize>(sm: &mut PioStateMachine<PIO, SM>, to_addr: u8) {
let jmp: u16 = InstructionOperands::JMP { let jmp: u16 = InstructionOperands::JMP {
address: to_addr, address: to_addr,
condition: JmpCondition::Always, condition: JmpCondition::Always,

2
examples/rp/src/bin/pio_async.rs
View File

@ -4,7 +4,7 @@
use defmt::info; use defmt::info;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_rp::peripherals::PIO0; use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Pio, PioCommon, PioPin, PioStateMachine, PioStateMachineInstance, ShiftDirection}; use embassy_rp::pio::{Pio, PioCommon, PioPin, PioStateMachine, ShiftDirection};
use embassy_rp::pio_instr_util; use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram; use embassy_rp::relocate::RelocatedProgram;
use {defmt_rtt as _, panic_probe as _}; use {defmt_rtt as _, panic_probe as _};

2
examples/rp/src/bin/pio_dma.rs
View File

@ -4,7 +4,7 @@
use defmt::info; use defmt::info;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_futures::join::join; use embassy_futures::join::join;
use embassy_rp::pio::{Pio, PioStateMachineInstance, ShiftDirection}; use embassy_rp::pio::{Pio, ShiftDirection};
use embassy_rp::relocate::RelocatedProgram; use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{pio_instr_util, Peripheral}; use embassy_rp::{pio_instr_util, Peripheral};
use {defmt_rtt as _, panic_probe as _}; use {defmt_rtt as _, panic_probe as _};

2
examples/rp/src/bin/pio_hd44780.rs
View File

@ -7,7 +7,7 @@ use core::fmt::Write;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_rp::dma::{AnyChannel, Channel}; use embassy_rp::dma::{AnyChannel, Channel};
use embassy_rp::peripherals::PIO0; use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{FifoJoin, Pio, PioPin, PioStateMachine, PioStateMachineInstance, ShiftDirection}; use embassy_rp::pio::{FifoJoin, Pio, PioPin, PioStateMachine, ShiftDirection};
use embassy_rp::pwm::{Config, Pwm}; use embassy_rp::pwm::{Config, Pwm};
use embassy_rp::relocate::RelocatedProgram; use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{into_ref, Peripheral, PeripheralRef}; use embassy_rp::{into_ref, Peripheral, PeripheralRef};

4
examples/rp/src/bin/ws2812-pio.rs
View File

@ -4,9 +4,7 @@
use defmt::*; use defmt::*;
use embassy_executor::Spawner; use embassy_executor::Spawner;
use embassy_rp::pio::{ use embassy_rp::pio::{FifoJoin, Pio, PioCommon, PioInstance, PioPin, PioStateMachine, ShiftDirection};
FifoJoin, Pio, PioCommon, PioInstance, PioPin, PioStateMachine, PioStateMachineInstance, ShiftDirection,
};
use embassy_rp::pio_instr_util; use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram; use embassy_rp::relocate::RelocatedProgram;
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};