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rp/pio: PioInstance::split -> Pio::new

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not requiring a PioInstance for splitting lets us split from a
PeripheralRef or borrowed PIO as well, mirroring every other peripheral
in embassy_rp. pio pins still have to be constructed from owned pin
instances for now.
This commit is contained in:
pennae 2023-04-26 19:43:57 +02:00
parent ac111f40d8
commit 8839f3f62a
5 changed files with 85 additions and 67 deletions
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92
embassy-rp/src/pio.rs
View File

@ -5,7 +5,7 @@ use core::sync::atomic::{compiler_fence, Ordering};
use core::task::{Context, Poll};
use embassy_cortex_m::interrupt::{Interrupt, InterruptExt};
use embassy_hal_common::PeripheralRef;
use embassy_hal_common::{Peripheral, PeripheralRef};
use embassy_sync::waitqueue::AtomicWaker;
use crate::dma::{Channel, Transfer, Word};
@ -316,16 +316,16 @@ impl<PIO: PioInstance> SealedPin for PioPin<PIO> {
}
}
pub struct PioStateMachineInstance<PIO: PioInstance, SM: SmInstance> {
pio: PhantomData<PIO>,
pub struct PioStateMachineInstance<'d, PIO: PioInstance, SM: SmInstance> {
pio: PhantomData<&'d PIO>,
sm: PhantomData<SM>,
}
impl<PIO: PioInstance, SM: SmInstance> sealed::PioStateMachine for PioStateMachineInstance<PIO, SM> {
impl<'d, PIO: PioInstance, SM: SmInstance> sealed::PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {
type Pio = PIO;
type Sm = SM;
}
impl<PIO: PioInstance, SM: SmInstance> PioStateMachine for PioStateMachineInstance<PIO, SM> {}
impl<'d, PIO: PioInstance, SM: SmInstance> PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {}
pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn pio_no(&self) -> u8 {
@ -792,21 +792,21 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
}
}
pub struct PioCommonInstance<PIO: PioInstance> {
pub struct PioCommonInstance<'d, PIO: PioInstance> {
instructions_used: u32,
pio: PhantomData<PIO>,
pio: PhantomData<&'d PIO>,
}
pub struct PioInstanceMemory<PIO: PioInstance> {
pub struct PioInstanceMemory<'d, PIO: PioInstance> {
used_mask: u32,
pio: PhantomData<PIO>,
pio: PhantomData<&'d PIO>,
}
impl<PIO: PioInstance> sealed::PioCommon for PioCommonInstance<PIO> {
impl<'d, PIO: PioInstance> sealed::PioCommon for PioCommonInstance<'d, PIO> {
type Pio = PIO;
}
impl<PIO: PioInstance> PioCommon for PioCommonInstance<PIO> {
fn write_instr<I>(&mut self, start: usize, instrs: I) -> PioInstanceMemory<Self::Pio>
impl<'d, PIO: PioInstance> PioCommon for PioCommonInstance<'d, PIO> {
fn write_instr<I>(&mut self, start: usize, instrs: I) -> PioInstanceMemory<'d, Self::Pio>
where
I: Iterator<Item = u16>,
{
@ -903,43 +903,45 @@ impl<const SM_NO: u8> sealed::SmInstance for SmInstanceBase<SM_NO> {
}
impl<const SM_NO: u8> SmInstance for SmInstanceBase<SM_NO> {}
pub struct Pio<'d, PIO: PioInstance> {
pub common: PioCommonInstance<'d, PIO>,
pub sm0: PioStateMachineInstance<'d, PIO, SmInstanceBase<0>>,
pub sm1: PioStateMachineInstance<'d, PIO, SmInstanceBase<1>>,
pub sm2: PioStateMachineInstance<'d, PIO, SmInstanceBase<2>>,
pub sm3: PioStateMachineInstance<'d, PIO, SmInstanceBase<3>>,
}
impl<'d, PIO: PioInstance> Pio<'d, PIO> {
pub fn new(_pio: impl Peripheral<P = PIO> + 'd) -> Self {
Self {
common: PioCommonInstance {
instructions_used: 0,
pio: PhantomData,
},
sm0: PioStateMachineInstance {
sm: PhantomData,
pio: PhantomData,
},
sm1: PioStateMachineInstance {
sm: PhantomData,
pio: PhantomData,
},
sm2: PioStateMachineInstance {
sm: PhantomData,
pio: PhantomData,
},
sm3: PioStateMachineInstance {
sm: PhantomData,
pio: PhantomData,
},
}
}
}
pub trait PioInstance: sealed::PioInstance + Sized + Unpin {
fn pio(&self) -> u8 {
Self::PIO_NO
}
fn split(
self,
) -> (
PioCommonInstance<Self>,
PioStateMachineInstance<Self, SmInstanceBase<0>>,
PioStateMachineInstance<Self, SmInstanceBase<1>>,
PioStateMachineInstance<Self, SmInstanceBase<2>>,
PioStateMachineInstance<Self, SmInstanceBase<3>>,
) {
(
PioCommonInstance {
instructions_used: 0,
pio: PhantomData::default(),
},
PioStateMachineInstance {
sm: PhantomData::default(),
pio: PhantomData::default(),
},
PioStateMachineInstance {
sm: PhantomData::default(),
pio: PhantomData::default(),
},
PioStateMachineInstance {
sm: PhantomData::default(),
pio: PhantomData::default(),
},
PioStateMachineInstance {
sm: PhantomData::default(),
pio: PhantomData::default(),
},
)
}
}
mod sealed {

22
examples/rp/src/bin/pio_async.rs
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@ -6,7 +6,7 @@ use embassy_executor::Spawner;
use embassy_rp::gpio::{AnyPin, Pin};
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{
PioCommon, PioCommonInstance, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2,
Pio, PioCommon, PioCommonInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2,
};
use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram;
@ -40,7 +40,7 @@ fn setup_pio_task_sm0(pio: &mut PioCommonInstance<PIO0>, sm: &mut PioStateMachin
}
#[embassy_executor::task]
async fn pio_task_sm0(mut sm: PioStateMachineInstance<PIO0, Sm0>) {
async fn pio_task_sm0(mut sm: PioStateMachineInstance<'static, PIO0, Sm0>) {
sm.set_enable(true);
let mut v = 0x0f0caffa;
@ -70,7 +70,7 @@ fn setup_pio_task_sm1(pio: &mut PioCommonInstance<PIO0>, sm: &mut PioStateMachin
}
#[embassy_executor::task]
async fn pio_task_sm1(mut sm: PioStateMachineInstance<PIO0, Sm1>) {
async fn pio_task_sm1(mut sm: PioStateMachineInstance<'static, PIO0, Sm1>) {
sm.set_enable(true);
loop {
let rx = sm.wait_pull().await;
@ -102,7 +102,7 @@ fn setup_pio_task_sm2(pio: &mut PioCommonInstance<PIO0>, sm: &mut PioStateMachin
}
#[embassy_executor::task]
async fn pio_task_sm2(mut sm: PioStateMachineInstance<PIO0, Sm2>) {
async fn pio_task_sm2(mut sm: PioStateMachineInstance<'static, PIO0, Sm2>) {
sm.set_enable(true);
loop {
sm.wait_irq(3).await;
@ -115,11 +115,17 @@ async fn main(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let pio = p.PIO0;
let (mut pio0, mut sm0, mut sm1, mut sm2, ..) = pio.split();
let Pio {
mut common,
mut sm0,
mut sm1,
mut sm2,
..
} = Pio::new(pio);
setup_pio_task_sm0(&mut pio0, &mut sm0, p.PIN_0.degrade());
setup_pio_task_sm1(&mut pio0, &mut sm1);
setup_pio_task_sm2(&mut pio0, &mut sm2);
setup_pio_task_sm0(&mut common, &mut sm0, p.PIN_0.degrade());
setup_pio_task_sm1(&mut common, &mut sm1);
setup_pio_task_sm2(&mut common, &mut sm2);
spawner.spawn(pio_task_sm0(sm0)).unwrap();
spawner.spawn(pio_task_sm1(sm1)).unwrap();
spawner.spawn(pio_task_sm2(sm2)).unwrap();

10
examples/rp/src/bin/pio_dma.rs
View File

@ -4,7 +4,7 @@
use defmt::info;
use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_rp::pio::{PioCommon, PioInstance, PioStateMachine, ShiftDirection};
use embassy_rp::pio::{Pio, PioCommon, PioStateMachine, ShiftDirection};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{pio_instr_util, Peripheral};
use {defmt_rtt as _, panic_probe as _};
@ -19,7 +19,11 @@ fn swap_nibbles(v: u32) -> u32 {
async fn main(_spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let pio = p.PIO0;
let (mut pio0, mut sm, ..) = pio.split();
let Pio {
mut common,
sm0: mut sm,
..
} = Pio::new(pio);
let prg = pio_proc::pio_asm!(
".origin 0",
@ -34,7 +38,7 @@ async fn main(_spawner: Spawner) {
);
let relocated = RelocatedProgram::new(&prg.program);
pio0.write_instr(relocated.origin() as usize, relocated.code());
common.write_instr(relocated.origin() as usize, relocated.code());
pio_instr_util::exec_jmp(&mut sm, relocated.origin());
sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32);
let pio::Wrap { source, target } = relocated.wrap();

10
examples/rp/src/bin/pio_hd44780.rs
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@ -9,7 +9,7 @@ use embassy_rp::dma::{AnyChannel, Channel};
use embassy_rp::gpio::Pin;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{
FifoJoin, PioCommon, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, SmInstanceBase,
FifoJoin, Pio, PioCommon, PioStateMachine, PioStateMachineInstance, ShiftDirection, SmInstanceBase,
};
use embassy_rp::pwm::{Config, Pwm};
use embassy_rp::relocate::RelocatedProgram;
@ -67,14 +67,14 @@ async fn main(_spawner: Spawner) {
pub struct HD44780<'l> {
dma: PeripheralRef<'l, AnyChannel>,
sm: PioStateMachineInstance<PIO0, SmInstanceBase<0>>,
sm: PioStateMachineInstance<'l, PIO0, SmInstanceBase<0>>,
buf: [u8; 40],
}
impl<'l> HD44780<'l> {
pub async fn new(
pio: PIO0,
pio: impl Peripheral<P = PIO0> + 'l,
dma: impl Peripheral<P = impl Channel> + 'l,
rs: impl Pin,
rw: impl Pin,
@ -87,7 +87,9 @@ impl<'l> HD44780<'l> {
into_ref!(dma);
let db7pin = db7.pin();
let (mut common, mut sm0, ..) = pio.split();
let Pio {
mut common, mut sm0, ..
} = Pio::new(pio);
// takes command words (<wait:24> <command:4> <0:4>)
let prg = pio_proc::pio_asm!(

18
examples/rp/src/bin/ws2812-pio.rs
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@ -6,7 +6,7 @@ use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::gpio::{self, Pin};
use embassy_rp::pio::{
FifoJoin, PioCommon, PioCommonInstance, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection,
FifoJoin, Pio, PioCommon, PioCommonInstance, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection,
SmInstance,
};
use embassy_rp::pio_instr_util;
@ -14,12 +14,16 @@ use embassy_rp::relocate::RelocatedProgram;
use embassy_time::{Duration, Timer};
use smart_leds::RGB8;
use {defmt_rtt as _, panic_probe as _};
pub struct Ws2812<P: PioInstance, S: SmInstance> {
sm: PioStateMachineInstance<P, S>,
pub struct Ws2812<'d, P: PioInstance, S: SmInstance> {
sm: PioStateMachineInstance<'d, P, S>,
}
impl<P: PioInstance, S: SmInstance> Ws2812<P, S> {
pub fn new(mut pio: PioCommonInstance<P>, mut sm: PioStateMachineInstance<P, S>, pin: gpio::AnyPin) -> Self {
impl<'d, P: PioInstance, S: SmInstance> Ws2812<'d, P, S> {
pub fn new(
mut pio: PioCommonInstance<'d, P>,
mut sm: PioStateMachineInstance<'d, P, S>,
pin: gpio::AnyPin,
) -> Self {
// Setup sm0
// prepare the PIO program
@ -116,7 +120,7 @@ async fn main(_spawner: Spawner) {
info!("Start");
let p = embassy_rp::init(Default::default());
let (pio0, sm0, _sm1, _sm2, _sm3) = p.PIO0.split();
let Pio { common, sm0, .. } = Pio::new(p.PIO0);
// 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.
@ -125,7 +129,7 @@ async fn main(_spawner: Spawner) {
// For the thing plus, use pin 8
// For the feather, use pin 16
let mut ws2812 = Ws2812::new(pio0, sm0, p.PIN_8.degrade());
let mut ws2812 = Ws2812::new(common, sm0, p.PIN_8.degrade());
// Loop forever making RGB values and pushing them out to the WS2812.
loop {