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Merge pull request #1707 from pennae/rp-pio-load

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rp: relocate programs implicitly during load
This commit is contained in:
Dario Nieuwenhuis
2023-07-28 17:47:34 +00:00
committed by GitHub
parent e97b14c068 cbc8871a0b
commit e3cc0d168c
11 changed files with 200 additions and 71 deletions
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10
examples/rp/src/bin/pio_async.rs
View File

@ -8,7 +8,6 @@ use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
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 _};
@ -29,9 +28,8 @@ fn setup_pio_task_sm0<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
".wrap",
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&relocated), &[]);
cfg.use_program(&pio.load_program(&prg.program), &[]);
let out_pin = pio.make_pio_pin(pin);
cfg.set_out_pins(&[&out_pin]);
cfg.set_set_pins(&[&out_pin]);
@ -65,9 +63,8 @@ fn setup_pio_task_sm1<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
".wrap",
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&relocated), &[]);
cfg.use_program(&pio.load_program(&prg.program), &[]);
cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
cfg.shift_in.auto_fill = true;
cfg.shift_in.direction = ShiftDirection::Right;
@ -96,9 +93,8 @@ fn setup_pio_task_sm2<'a>(pio: &mut Common<'a, PIO0>, sm: &mut StateMachine<'a,
"irq 3 [15]",
".wrap",
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&relocated), &[]);
cfg.use_program(&pio.load_program(&prg.program), &[]);
cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
sm.set_config(&cfg);
}

4
examples/rp/src/bin/pio_dma.rs
View File

@ -8,7 +8,6 @@ use embassy_executor::Spawner;
use embassy_futures::join::join;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Config, InterruptHandler, Pio, ShiftConfig, ShiftDirection};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{bind_interrupts, Peripheral};
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
@ -46,9 +45,8 @@ async fn main(_spawner: Spawner) {
".wrap",
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[]);
cfg.use_program(&common.load_program(&prg.program), &[]);
cfg.clock_divider = (U56F8!(125_000_000) / U56F8!(10_000)).to_fixed();
cfg.shift_in = ShiftConfig {
auto_fill: true,

7
examples/rp/src/bin/pio_hd44780.rs
View File

@ -14,7 +14,6 @@ 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::{bind_interrupts, into_ref, Peripheral, PeripheralRef};
use embassy_time::{Duration, Instant, Timer};
use {defmt_rtt as _, panic_probe as _};
@ -127,9 +126,8 @@ impl<'l> HD44780<'l> {
sm0.set_pin_dirs(Direction::Out, &[&rs, &rw, &e, &db4, &db5, &db6, &db7]);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[&e]);
cfg.use_program(&common.load_program(&prg.program), &[&e]);
cfg.clock_divider = 125u8.into();
cfg.set_out_pins(&[&db4, &db5, &db6, &db7]);
cfg.shift_out = ShiftConfig {
@ -201,9 +199,8 @@ impl<'l> HD44780<'l> {
"#
);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[&e]);
cfg.use_program(&common.load_program(&prg.program), &[&e]);
cfg.clock_divider = 8u8.into(); // ~64ns/insn
cfg.set_jmp_pin(&db7);
cfg.set_set_pins(&[&rs, &rw]);

41
examples/rp/src/bin/pio_uart.rs
View File

@ -222,8 +222,8 @@ mod uart {
mut common, sm0, sm1, ..
} = Pio::new(pio, Irqs);
let (tx, origin) = PioUartTx::new(&mut common, sm0, tx_pin, baud, None);
let (rx, _) = PioUartRx::new(&mut common, sm1, rx_pin, baud, Some(origin));
let tx = PioUartTx::new(&mut common, sm0, tx_pin, baud);
let rx = PioUartRx::new(&mut common, sm1, rx_pin, baud);
PioUart { tx, rx }
}
@ -240,7 +240,6 @@ mod uart_tx {
use embassy_rp::gpio::Level;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine};
use embassy_rp::relocate::RelocatedProgram;
use embedded_io::asynch::Write;
use embedded_io::Io;
use fixed::traits::ToFixed;
@ -256,9 +255,8 @@ mod uart_tx {
mut sm_tx: StateMachine<'a, PIO0, 0>,
tx_pin: impl PioPin,
baud: u64,
origin: Option<u8>,
) -> (Self, u8) {
let mut prg = pio_proc::pio_asm!(
) -> Self {
let prg = pio_proc::pio_asm!(
r#"
.side_set 1 opt
@ -272,17 +270,14 @@ mod uart_tx {
jmp x-- bitloop [6] ; Each loop iteration is 8 cycles.
"#
);
prg.program.origin = origin;
let tx_pin = common.make_pio_pin(tx_pin);
sm_tx.set_pins(Level::High, &[&tx_pin]);
sm_tx.set_pin_dirs(Direction::Out, &[&tx_pin]);
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.set_out_pins(&[&tx_pin]);
cfg.use_program(&common.load_program(&relocated), &[&tx_pin]);
cfg.use_program(&common.load_program(&prg.program), &[&tx_pin]);
cfg.shift_out.auto_fill = false;
cfg.shift_out.direction = ShiftDirection::Right;
cfg.fifo_join = FifoJoin::TxOnly;
@ -290,18 +285,7 @@ mod uart_tx {
sm_tx.set_config(&cfg);
sm_tx.set_enable(true);
// The 4 state machines of the PIO each have their own program counter that starts taking
// instructions at an offset (origin) of the 32 instruction "space" the PIO device has.
// It is up to the programmer to sort out where to place these instructions.
// From the pio_asm! macro you get a ProgramWithDefines which has a field .program.origin
// which takes an Option<u8>.
//
// When you load more than one RelocatedProgram into the PIO,
// you load your first program at origin = 0.
// The RelocatedProgram has .code().count() which returns a usize,
// for which you can then use as your next program's origin.
let offset = relocated.code().count() as u8 + origin.unwrap_or_default();
(Self { sm_tx }, offset)
Self { sm_tx }
}
pub async fn write_u8(&mut self, data: u8) {
@ -329,7 +313,6 @@ mod uart_rx {
use embassy_rp::gpio::Level;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine};
use embassy_rp::relocate::RelocatedProgram;
use embedded_io::asynch::Read;
use embedded_io::Io;
use fixed::traits::ToFixed;
@ -345,9 +328,8 @@ mod uart_rx {
mut sm_rx: StateMachine<'a, PIO0, 1>,
rx_pin: impl PioPin,
baud: u64,
origin: Option<u8>,
) -> (Self, u8) {
let mut prg = pio_proc::pio_asm!(
) -> Self {
let prg = pio_proc::pio_asm!(
r#"
; Slightly more fleshed-out 8n1 UART receiver which handles framing errors and
; break conditions more gracefully.
@ -369,10 +351,8 @@ mod uart_rx {
push ; important in case the TX clock is slightly too fast.
"#
);
prg.program.origin = origin;
let relocated = RelocatedProgram::new(&prg.program);
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[]);
cfg.use_program(&common.load_program(&prg.program), &[]);
let rx_pin = common.make_pio_pin(rx_pin);
sm_rx.set_pins(Level::High, &[&rx_pin]);
@ -387,8 +367,7 @@ mod uart_rx {
sm_rx.set_config(&cfg);
sm_rx.set_enable(true);
let offset = relocated.code().count() as u8 + origin.unwrap_or_default();
(Self { sm_rx }, offset)
Self { sm_rx }
}
pub async fn read_u8(&mut self) -> u8 {

4
examples/rp/src/bin/pio_ws2812.rs
View File

@ -12,7 +12,6 @@ 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::{bind_interrupts, clocks, into_ref, Peripheral, PeripheralRef};
use embassy_time::{Duration, Timer};
use fixed::types::U24F8;
@ -73,8 +72,7 @@ impl<'d, P: Instance, const S: usize, const N: usize> Ws2812<'d, P, S, N> {
cfg.set_out_pins(&[&out_pin]);
cfg.set_set_pins(&[&out_pin]);
let relocated = RelocatedProgram::new(&prg);
cfg.use_program(&pio.load_program(&relocated), &[&out_pin]);
cfg.use_program(&pio.load_program(&prg), &[&out_pin]);
// Clock config, measured in kHz to avoid overflows
// TODO CLOCK_FREQ should come from embassy_rp