docs: embassy-rp rustdoc and refactoring

embassy-rp/src/pio/instr.rs

@@ -0,0 +1,101 @@
+//! Instructions controlling the PIO.
+use pio::{InSource, InstructionOperands, JmpCondition, OutDestination, SetDestination};
+
+use crate::pio::{Instance, StateMachine};
+
+/// Set value of scratch register X.
+pub unsafe fn set_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::X,
+        bit_count: 32,
+    }
+    .encode();
+    sm.tx().push(value);
+    sm.exec_instr(OUT);
+}
+
+/// Get value of scratch register X.
+pub unsafe fn get_x<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
+    const IN: u16 = InstructionOperands::IN {
+        source: InSource::X,
+        bit_count: 32,
+    }
+    .encode();
+    sm.exec_instr(IN);
+    sm.rx().pull()
+}
+
+/// Set value of scratch register Y.
+pub unsafe fn set_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, value: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::Y,
+        bit_count: 32,
+    }
+    .encode();
+    sm.tx().push(value);
+    sm.exec_instr(OUT);
+}
+
+/// Get value of scratch register Y.
+pub unsafe fn get_y<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>) -> u32 {
+    const IN: u16 = InstructionOperands::IN {
+        source: InSource::Y,
+        bit_count: 32,
+    }
+    .encode();
+    sm.exec_instr(IN);
+
+    sm.rx().pull()
+}
+
+/// Set instruction for pindir destination.
+pub unsafe fn set_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
+    let set: u16 = InstructionOperands::SET {
+        destination: SetDestination::PINDIRS,
+        data,
+    }
+    .encode();
+    sm.exec_instr(set);
+}
+
+/// Set instruction for pin destination.
+pub unsafe fn set_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u8) {
+    let set: u16 = InstructionOperands::SET {
+        destination: SetDestination::PINS,
+        data,
+    }
+    .encode();
+    sm.exec_instr(set);
+}
+
+/// Out instruction for pin destination.
+pub unsafe fn set_out_pin<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::PINS,
+        bit_count: 32,
+    }
+    .encode();
+    sm.tx().push(data);
+    sm.exec_instr(OUT);
+}
+
+/// Out instruction for pindir destination.
+pub unsafe fn set_out_pindir<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, data: u32) {
+    const OUT: u16 = InstructionOperands::OUT {
+        destination: OutDestination::PINDIRS,
+        bit_count: 32,
+    }
+    .encode();
+    sm.tx().push(data);
+    sm.exec_instr(OUT);
+}
+
+/// Jump instruction to address.
+pub unsafe fn exec_jmp<PIO: Instance, const SM: usize>(sm: &mut StateMachine<PIO, SM>, to_addr: u8) {
+    let jmp: u16 = InstructionOperands::JMP {
+        address: to_addr,
+        condition: JmpCondition::Always,
+    }
+    .encode();
+    sm.exec_instr(jmp);
+}