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Added RelocateProgram class for adjusting PIO-programs for different origins.

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This commit is contained in:
Simon Berg 2022-12-06 21:42:30 +01:00
parent 35db6e639b
commit cd59046e6c
5 changed files with 118 additions and 21 deletions
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2
embassy-rp/src/lib.rs
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@ -17,6 +17,8 @@ pub mod interrupt;
pub mod pio;
#[cfg(feature = "pio")]
pub mod pio_instr_util;
#[cfg(feature = "pio")]
pub mod relocate;
pub mod rom_data;
pub mod rtc;

19
embassy-rp/src/pio.rs
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@ -941,7 +941,10 @@ pub trait PioStateMachine: Sized + Unpin {
}
}
fn write_instr(&mut self, start: usize, instrs: &[u16]) {
fn write_instr<I>(&mut self, start: usize, instrs: I)
where
I: Iterator<Item = u16>,
{
let _ = self;
write_instr(
Self::Pio::PIO_NO,
@ -1098,8 +1101,11 @@ impl<PIO: PioInstance> PioCommon for PioCommonInstance<PIO> {
type Pio = PIO;
}
fn write_instr(pio_no: u8, start: usize, instrs: &[u16], mem_user: u32) {
for (i, instr) in instrs.iter().enumerate() {
fn write_instr<I>(pio_no: u8, start: usize, instrs: I, mem_user: u32)
where
I: Iterator<Item = u16>,
{
for (i, instr) in instrs.enumerate() {
let addr = (i + start) as u8;
assert!(
instr_mem_is_free(pio_no, addr),
@ -1108,7 +1114,7 @@ fn write_instr(pio_no: u8, start: usize, instrs: &[u16], mem_user: u32) {
);
unsafe {
PIOS[pio_no as usize].instr_mem(addr as usize).write(|w| {
w.set_instr_mem(*instr);
w.set_instr_mem(instr);
});
instr_mem_set_status(pio_no, addr, mem_user);
}
@ -1118,7 +1124,10 @@ fn write_instr(pio_no: u8, start: usize, instrs: &[u16], mem_user: u32) {
pub trait PioCommon: Sized {
type Pio: PioInstance;
fn write_instr(&mut self, start: usize, instrs: &[u16]) {
fn write_instr<I>(&mut self, start: usize, instrs: I)
where
I: Iterator<Item = u16>,
{
let _ = self;
write_instr(Self::Pio::PIO_NO, start, instrs, MEM_USED_BY_COMMON);
}

77
embassy-rp/src/relocate.rs Normal file
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@ -0,0 +1,77 @@
use core::iter::Iterator;
use pio::{Program, SideSet, Wrap};
pub struct CodeIterator<'a, I>
where
I: Iterator<Item = &'a u16>,
{
iter: I,
offset: u8,
}
impl<'a, I: Iterator<Item = &'a u16>> CodeIterator<'a, I> {
pub fn new(iter: I, offset: u8) -> CodeIterator<'a, I> {
CodeIterator { iter, offset }
}
}
impl<'a, I> Iterator for CodeIterator<'a, I>
where
I: Iterator<Item = &'a u16>,
{
type Item = u16;
fn next(&mut self) -> Option<Self::Item> {
self.iter.next().and_then(|&instr| {
Some(if instr & 0b1110_0000_0000_0000 == 0 {
// this is a JMP instruction -> add offset to address
let address = (instr & 0b1_1111) as u8;
let address = address + self.offset;
assert!(
address < pio::RP2040_MAX_PROGRAM_SIZE as u8,
"Invalid JMP out of the program after offset addition"
);
instr & (!0b11111) | address as u16
} else {
instr
})
})
}
}
pub struct RelocatedProgram<'a, const PROGRAM_SIZE: usize> {
program: &'a Program<PROGRAM_SIZE>,
origin: u8,
}
impl<'a, const PROGRAM_SIZE: usize> RelocatedProgram<'a, PROGRAM_SIZE> {
pub fn new(program: &Program<PROGRAM_SIZE>) -> RelocatedProgram<PROGRAM_SIZE> {
let origin = program.origin.unwrap_or(0);
RelocatedProgram { program, origin }
}
pub fn new_with_origin(program: &Program<PROGRAM_SIZE>, origin: u8) -> RelocatedProgram<PROGRAM_SIZE> {
RelocatedProgram { program, origin }
}
pub fn code(&'a self) -> CodeIterator<'a, core::slice::Iter<'a, u16>> {
CodeIterator::new(self.program.code.iter(), self.origin)
}
pub fn wrap(&self) -> Wrap {
let wrap = self.program.wrap;
let origin = self.origin;
Wrap {
source: wrap.source + origin,
target: wrap.target + origin,
}
}
pub fn side_set(&self) -> SideSet {
self.program.side_set
}
pub fn origin(&self) -> u8 {
self.origin
}
}

31
examples/rp/src/bin/pio_async.rs
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@ -6,6 +6,7 @@ use embassy_executor::Spawner;
use embassy_rp::gpio::{AnyPin, Pin};
use embassy_rp::pio::{Pio0, PioPeripherial, 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]
@ -21,15 +22,17 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
".wrap",
);
let origin = prg.program.origin.unwrap_or(0);
let relocated = RelocatedProgram::new(&prg.program);
let out_pin = sm.make_pio_pin(pin);
let pio_pins = [&out_pin];
sm.set_out_pins(&pio_pins);
sm.write_instr(origin as usize, &prg.program.code);
pio_instr_util::exec_jmp(&mut sm, origin);
sm.write_instr(relocated.origin() as usize, relocated.code());
pio_instr_util::exec_jmp(&mut sm, relocated.origin());
sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32);
sm.set_set_range(0, 1);
sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin);
let pio::Wrap { source, target } = relocated.wrap();
sm.set_wrap(source, target);
sm.set_autopull(true);
sm.set_out_shift_dir(ShiftDirection::Left);
@ -50,12 +53,14 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, 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 origin = prg.program.origin.unwrap_or(0);
sm.write_instr(origin as usize, &prg.program.code);
pio_instr_util::exec_jmp(&mut sm, origin);
let relocated = RelocatedProgram::new(&prg.program);
sm.write_instr(relocated.origin() as usize, relocated.code());
pio_instr_util::exec_jmp(&mut sm, relocated.origin());
sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
sm.set_set_range(0, 0);
sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin);
let pio::Wrap { source, target } = relocated.wrap();
sm.set_wrap(source, target);
sm.set_autopush(true);
sm.set_in_shift_dir(ShiftDirection::Right);
sm.set_enable(true);
@ -79,11 +84,13 @@ async fn pio_task_sm2(mut sm: PioStateMachineInstance<Pio0, Sm2>) {
"irq 3 [15]",
".wrap",
);
let origin = prg.program.origin.unwrap_or(0);
let relocated = RelocatedProgram::new(&prg.program);
sm.write_instr(relocated.origin() as usize, relocated.code());
sm.write_instr(origin as usize, &prg.program.code);
sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin);
pio_instr_util::exec_jmp(&mut sm, origin);
let pio::Wrap { source, target } = relocated.wrap();
sm.set_wrap(source, target);
pio_instr_util::exec_jmp(&mut sm, relocated.origin());
sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
sm.set_enable(true);
loop {

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

@ -5,6 +5,7 @@ use defmt::info;
use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_rp::pio::{PioPeripherial, PioStateMachine, ShiftDirection};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{pio_instr_util, Peripheral};
use {defmt_rtt as _, panic_probe as _};
@ -32,11 +33,12 @@ async fn main(_spawner: Spawner) {
".wrap",
);
let origin = prg.program.origin.unwrap_or(0);
sm.write_instr(origin as usize, &prg.program.code);
pio_instr_util::exec_jmp(&mut sm, origin);
let relocated = RelocatedProgram::new(&prg.program);
sm.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);
sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin);
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);