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Merge pull request #1627 from pennae/rp-pio-irq

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rp/pio: use bind_interrupts for irqs
This commit is contained in:
Dario Nieuwenhuis 2023-07-07 14:31:09 +00:00 committed by GitHub
commit 7d68ca1f3b
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GPG Key ID: 4AEE18F83AFDEB23
13 changed files with 160 additions and 70 deletions
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1
embassy-rp/src/lib.rs
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@ -252,7 +252,6 @@ pub fn init(config: config::Config) -> Peripherals {
#[cfg(feature = "time-driver")]
timer::init();
dma::init();
pio::init();
gpio::init();
}

78
embassy-rp/src/pio.rs
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@ -16,12 +16,12 @@ use pio::{SideSet, Wrap};
use crate::dma::{Channel, Transfer, Word};
use crate::gpio::sealed::Pin as SealedPin;
use crate::gpio::{self, AnyPin, Drive, Level, Pull, SlewRate};
use crate::interrupt::InterruptExt;
use crate::interrupt::typelevel::{Binding, Handler, Interrupt};
use crate::pac::dma::vals::TreqSel;
use crate::relocate::RelocatedProgram;
use crate::{interrupt, pac, peripherals, pio_instr_util, RegExt};
use crate::{pac, peripherals, pio_instr_util, RegExt};
struct Wakers([AtomicWaker; 12]);
pub struct Wakers([AtomicWaker; 12]);
impl Wakers {
#[inline(always)]
@ -38,10 +38,6 @@ impl Wakers {
}
}
const NEW_AW: AtomicWaker = AtomicWaker::new();
const PIO_WAKERS_INIT: Wakers = Wakers([NEW_AW; 12]);
static WAKERS: [Wakers; 2] = [PIO_WAKERS_INIT; 2];
#[derive(Clone, Copy, PartialEq, Eq, Default, Debug)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[repr(u8)]
@ -85,42 +81,20 @@ const RXNEMPTY_MASK: u32 = 1 << 0;
const TXNFULL_MASK: u32 = 1 << 4;
const SMIRQ_MASK: u32 = 1 << 8;
#[cfg(feature = "rt")]
#[interrupt]
fn PIO0_IRQ_0() {
use crate::pac;
let ints = pac::PIO0.irqs(0).ints().read().0;
for bit in 0..12 {
if ints & (1 << bit) != 0 {
WAKERS[0].0[bit].wake();
}
}
pac::PIO0.irqs(0).inte().write_clear(|m| m.0 = ints);
pub struct InterruptHandler<PIO: Instance> {
_pio: PhantomData<PIO>,
}
#[cfg(feature = "rt")]
#[interrupt]
fn PIO1_IRQ_0() {
use crate::pac;
let ints = pac::PIO1.irqs(0).ints().read().0;
for bit in 0..12 {
if ints & (1 << bit) != 0 {
WAKERS[1].0[bit].wake();
impl<PIO: Instance> Handler<PIO::Interrupt> for InterruptHandler<PIO> {
unsafe fn on_interrupt() {
let ints = PIO::PIO.irqs(0).ints().read().0;
for bit in 0..12 {
if ints & (1 << bit) != 0 {
PIO::wakers().0[bit].wake();
}
}
PIO::PIO.irqs(0).inte().write_clear(|m| m.0 = ints);
}
pac::PIO1.irqs(0).inte().write_clear(|m| m.0 = ints);
}
pub(crate) unsafe fn init() {
interrupt::PIO0_IRQ_0.disable();
interrupt::PIO0_IRQ_0.set_priority(interrupt::Priority::P3);
pac::PIO0.irqs(0).inte().write(|m| m.0 = 0);
interrupt::PIO0_IRQ_0.enable();
interrupt::PIO1_IRQ_0.disable();
interrupt::PIO1_IRQ_0.set_priority(interrupt::Priority::P3);
pac::PIO1.irqs(0).inte().write(|m| m.0 = 0);
interrupt::PIO1_IRQ_0.enable();
}
/// Future that waits for TX-FIFO to become writable
@ -144,7 +118,7 @@ impl<'a, 'd, PIO: Instance, const SM: usize> Future for FifoOutFuture<'a, 'd, PI
if self.get_mut().sm_tx.try_push(value) {
Poll::Ready(())
} else {
WAKERS[PIO::PIO_NO as usize].fifo_out()[SM].register(cx.waker());
PIO::wakers().fifo_out()[SM].register(cx.waker());
PIO::PIO.irqs(0).inte().write_set(|m| {
m.0 = TXNFULL_MASK << SM;
});
@ -181,7 +155,7 @@ impl<'a, 'd, PIO: Instance, const SM: usize> Future for FifoInFuture<'a, 'd, PIO
if let Some(v) = self.sm_rx.try_pull() {
Poll::Ready(v)
} else {
WAKERS[PIO::PIO_NO as usize].fifo_in()[SM].register(cx.waker());
PIO::wakers().fifo_in()[SM].register(cx.waker());
PIO::PIO.irqs(0).inte().write_set(|m| {
m.0 = RXNEMPTY_MASK << SM;
});
@ -217,7 +191,7 @@ impl<'a, 'd, PIO: Instance> Future for IrqFuture<'a, 'd, PIO> {
return Poll::Ready(());
}
WAKERS[PIO::PIO_NO as usize].irq()[self.irq_no as usize].register(cx.waker());
PIO::wakers().irq()[self.irq_no as usize].register(cx.waker());
PIO::PIO.irqs(0).inte().write_set(|m| {
m.0 = SMIRQ_MASK << self.irq_no;
});
@ -949,9 +923,11 @@ pub struct Pio<'d, PIO: Instance> {
}
impl<'d, PIO: Instance> Pio<'d, PIO> {
pub fn new(_pio: impl Peripheral<P = PIO> + 'd) -> Self {
pub fn new(_pio: impl Peripheral<P = PIO> + 'd, _irq: impl Binding<PIO::Interrupt, InterruptHandler<PIO>>) -> Self {
PIO::state().users.store(5, Ordering::Release);
PIO::state().used_pins.store(0, Ordering::Release);
PIO::Interrupt::unpend();
unsafe { PIO::Interrupt::enable() };
Self {
common: Common {
instructions_used: 0,
@ -1017,6 +993,15 @@ mod sealed {
const PIO_NO: u8;
const PIO: &'static crate::pac::pio::Pio;
const FUNCSEL: crate::pac::io::vals::Gpio0ctrlFuncsel;
type Interrupt: crate::interrupt::typelevel::Interrupt;
#[inline]
fn wakers() -> &'static Wakers {
const NEW_AW: AtomicWaker = AtomicWaker::new();
static WAKERS: Wakers = Wakers([NEW_AW; 12]);
&WAKERS
}
#[inline]
fn state() -> &'static State {
@ -1033,18 +1018,19 @@ mod sealed {
pub trait Instance: sealed::Instance + Sized + Unpin {}
macro_rules! impl_pio {
($name:ident, $pio:expr, $pac:ident, $funcsel:ident) => {
($name:ident, $pio:expr, $pac:ident, $funcsel:ident, $irq:ident) => {
impl sealed::Instance for peripherals::$name {
const PIO_NO: u8 = $pio;
const PIO: &'static pac::pio::Pio = &pac::$pac;
const FUNCSEL: pac::io::vals::Gpio0ctrlFuncsel = pac::io::vals::Gpio0ctrlFuncsel::$funcsel;
type Interrupt = crate::interrupt::typelevel::$irq;
}
impl Instance for peripherals::$name {}
};
}
impl_pio!(PIO0, 0, PIO0, PIO0_0);
impl_pio!(PIO1, 1, PIO1, PIO1_0);
impl_pio!(PIO0, 0, PIO0, PIO0_0, PIO0_IRQ_0);
impl_pio!(PIO1, 1, PIO1, PIO1_0, PIO1_IRQ_0);
pub trait PioPin: sealed::PioPin + gpio::Pin {}

9
examples/rp/src/bin/pio_async.rs
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@ -3,13 +3,18 @@
#![feature(type_alias_impl_trait)]
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Common, Config, Irq, Pio, PioPin, ShiftDirection, StateMachine};
use embassy_rp::pio::{Common, Config, InterruptHandler, Irq, Pio, PioPin, ShiftDirection, StateMachine};
use embassy_rp::relocate::RelocatedProgram;
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a, PIO0, 0>, pin: impl PioPin) {
// Setup sm0
@ -110,7 +115,7 @@ async fn main(spawner: Spawner) {
mut sm1,
mut sm2,
..
} = Pio::new(pio);
} = Pio::new(pio, Irqs);
setup_pio_task_sm0(&mut common, &mut sm0, p.PIN_0);
setup_pio_task_sm1(&mut common, &mut sm1);

11
examples/rp/src/bin/pio_dma.rs
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@ -4,13 +4,18 @@
use defmt::info;
use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_rp::pio::{Config, Pio, ShiftConfig, ShiftDirection};
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Config, InterruptHandler, Pio, ShiftConfig, ShiftDirection};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::Peripheral;
use embassy_rp::{bind_interrupts, Peripheral};
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
fn swap_nibbles(v: u32) -> u32 {
let v = (v & 0x0f0f_0f0f) << 4 | (v & 0xf0f0_f0f0) >> 4;
let v = (v & 0x00ff_00ff) << 8 | (v & 0xff00_ff00) >> 8;
@ -25,7 +30,7 @@ async fn main(_spawner: Spawner) {
mut common,
sm0: mut sm,
..
} = Pio::new(pio);
} = Pio::new(pio, Irqs);
let prg = pio_proc::pio_asm!(
".origin 0",

15
examples/rp/src/bin/pio_hd44780.rs
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@ -7,13 +7,19 @@ use core::fmt::Write;
use embassy_executor::Spawner;
use embassy_rp::dma::{AnyChannel, Channel};
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Config, Direction, FifoJoin, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
use embassy_rp::pio::{
Config, Direction, FifoJoin, InterruptHandler, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine,
};
use embassy_rp::pwm::{self, Pwm};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{into_ref, Peripheral, PeripheralRef};
use embassy_rp::{bind_interrupts, into_ref, Peripheral, PeripheralRef};
use embassy_time::{Duration, Instant, Timer};
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(pub struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
// this test assumes a 2x16 HD44780 display attached as follow:
@ -37,7 +43,7 @@ async fn main(_spawner: Spawner) {
});
let mut hd = HD44780::new(
p.PIO0, p.DMA_CH3, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5, p.PIN_6,
p.PIO0, Irqs, p.DMA_CH3, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5, p.PIN_6,
)
.await;
@ -72,6 +78,7 @@ pub struct HD44780<'l> {
impl<'l> HD44780<'l> {
pub async fn new(
pio: impl Peripheral<P = PIO0> + 'l,
irq: Irqs,
dma: impl Peripheral<P = impl Channel> + 'l,
rs: impl PioPin,
rw: impl PioPin,
@ -88,7 +95,7 @@ impl<'l> HD44780<'l> {
mut irq0,
mut sm0,
..
} = Pio::new(pio);
} = Pio::new(pio, irq);
// takes command words (<wait:24> <command:4> <0:4>)
let prg = pio_proc::pio_asm!(

13
examples/rp/src/bin/pio_ws2812.rs
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@ -5,15 +5,22 @@
use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::dma::{AnyChannel, Channel};
use embassy_rp::pio::{Common, Config, FifoJoin, Instance, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine};
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{
Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftConfig, ShiftDirection, StateMachine,
};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{clocks, into_ref, Peripheral, PeripheralRef};
use embassy_rp::{bind_interrupts, clocks, into_ref, Peripheral, PeripheralRef};
use embassy_time::{Duration, Timer};
use fixed::types::U24F8;
use fixed_macro::fixed;
use smart_leds::RGB8;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
pub struct Ws2812<'d, P: Instance, const S: usize, const N: usize> {
dma: PeripheralRef<'d, AnyChannel>,
sm: StateMachine<'d, P, S>,
@ -123,7 +130,7 @@ async fn main(_spawner: Spawner) {
info!("Start");
let p = embassy_rp::init(Default::default());
let Pio { mut common, sm0, .. } = Pio::new(p.PIO0);
let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs);
// This is the number of leds in the string. Helpfully, the sparkfun thing plus and adafruit
// feather boards for the 2040 both have one built in.

9
examples/rp/src/bin/wifi_ap_tcp_server.rs
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@ -11,14 +11,19 @@ use defmt::*;
use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, Stack, StackResources};
use embassy_rp::bind_interrupts;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_time::Duration;
use embedded_io::asynch::Write;
use static_cell::make_static;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
@ -49,7 +54,7 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = make_static!(cyw43::State::new());

9
examples/rp/src/bin/wifi_blinky.rs
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@ -5,13 +5,18 @@
use cyw43_pio::PioSpi;
use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_time::{Duration, Timer};
use static_cell::make_static;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
@ -34,7 +39,7 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = make_static!(cyw43::State::new());

9
examples/rp/src/bin/wifi_scan.rs
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@ -10,12 +10,17 @@ use cyw43_pio::PioSpi;
use defmt::*;
use embassy_executor::Spawner;
use embassy_net::Stack;
use embassy_rp::bind_interrupts;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embassy_rp::pio::{InterruptHandler, Pio};
use static_cell::make_static;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
@ -46,7 +51,7 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = make_static!(cyw43::State::new());

9
examples/rp/src/bin/wifi_tcp_server.rs
View File

@ -11,14 +11,19 @@ use defmt::*;
use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, Stack, StackResources};
use embassy_rp::bind_interrupts;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_time::Duration;
use embedded_io::asynch::Write;
use static_cell::make_static;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
const WIFI_NETWORK: &str = "EmbassyTest";
const WIFI_PASSWORD: &str = "V8YxhKt5CdIAJFud";
@ -52,7 +57,7 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = make_static!(cyw43::State::new());

2
tests/rp/Cargo.toml
View File

@ -29,6 +29,8 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
embedded-io = { version = "0.4.0", features = ["async"] }
embedded-storage = { version = "0.3" }
static_cell = { version = "1.1", features = ["nightly"]}
pio = "0.2"
pio-proc = "0.2"
[profile.dev]
debug = 2

10
tests/rp/src/bin/cyw43-perf.rs
View File

@ -12,12 +12,16 @@ use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, Ipv4Address, Stack, StackResources};
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embassy_rp::rom_data;
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::{bind_interrupts, rom_data};
use embassy_time::{with_timeout, Duration, Timer};
use static_cell::make_static;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
teleprobe_meta::timeout!(120);
#[embassy_executor::task]
@ -51,7 +55,7 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let mut pio = Pio::new(p.PIO0);
let mut pio = Pio::new(p.PIO0, Irqs);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = make_static!(cyw43::State::new());

55
tests/rp/src/bin/pio_irq.rs Normal file
View File

@ -0,0 +1,55 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
#[path = "../common.rs"]
mod common;
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Config, InterruptHandler, Pio};
use embassy_rp::relocate::RelocatedProgram;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
#[embassy_executor::main]
async fn main(_spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let pio = p.PIO0;
let Pio {
mut common,
sm0: mut sm,
irq_flags,
..
} = Pio::new(pio, Irqs);
let prg = pio_proc::pio_asm!(
"irq set 0",
"irq wait 0",
"irq set 1",
// pause execution here
"irq wait 1",
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[]);
sm.set_config(&cfg);
sm.set_enable(true);
// not using the wait futures on purpose because they clear the irq bits,
// and we want to see in which order they are set.
while !irq_flags.check(0) {}
cortex_m::asm::nop();
assert!(!irq_flags.check(1));
irq_flags.clear(0);
cortex_m::asm::nop();
assert!(irq_flags.check(1));
info!("Test OK");
cortex_m::asm::bkpt();
}