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rp/pio: move non-sm-specific methods to PioCommon

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pin and irq operations affect the entire pio block. with pins this is
not very problematic since pins themselves are resources, but irqs are
not treated like that and can thus interfere across state machines. the
ability to wait for an irq on a state machine is kept to make
synchronization with user code easier, and since we can't inspect loaded
programs at build time we wouldn't gain much from disallowing waits from
state machines anyway.
This commit is contained in:
pennae
2023-04-25 20:16:27 +02:00
parent 4cd5ed81aa
commit 58e727d3b9
3 changed files with 47 additions and 45 deletions
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20
examples/rp/src/bin/pio_async.rs
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@ -4,13 +4,15 @@
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::gpio::{AnyPin, Pin};
use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2};
use embassy_rp::pio::{
Pio0, PioCommon, PioCommonInstance, PioPeripheral, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0,
Sm1, Sm2,
};
use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram;
use {defmt_rtt as _, panic_probe as _};
#[embassy_executor::task]
async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
fn setup_pio_task_sm0(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
// Setup sm0
// Send data serially to pin
@ -23,11 +25,11 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
);
let relocated = RelocatedProgram::new(&prg.program);
let out_pin = sm.make_pio_pin(pin);
let out_pin = pio.make_pio_pin(pin);
let pio_pins = [&out_pin];
sm.set_out_pins(&pio_pins);
sm.write_instr(relocated.origin() as usize, relocated.code());
pio_instr_util::exec_jmp(&mut sm, relocated.origin());
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();
@ -35,7 +37,10 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
sm.set_autopull(true);
sm.set_out_shift_dir(ShiftDirection::Left);
}
#[embassy_executor::task]
async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>) {
sm.set_enable(true);
let mut v = 0x0f0caffa;
@ -104,9 +109,10 @@ async fn main(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let pio = p.PIO0;
let (_, sm0, sm1, sm2, ..) = pio.split();
let (mut pio0, mut sm0, sm1, sm2, ..) = pio.split();
spawner.spawn(pio_task_sm0(sm0, p.PIN_0.degrade())).unwrap();
setup_pio_task_sm0(&mut pio0, &mut sm0, p.PIN_0.degrade());
spawner.spawn(pio_task_sm0(sm0)).unwrap();
spawner.spawn(pio_task_sm1(sm1)).unwrap();
spawner.spawn(pio_task_sm2(sm2)).unwrap();
}