c44c108db5
this *finally* allows sound implementions of bidirectional transfers without blocking. the futures previously allowed only a single direction to be active at any given time, and the dma transfers didn't take a mutable reference and were thus unsound.
131 lines
3.7 KiB
Rust
131 lines
3.7 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use defmt::info;
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use embassy_executor::Spawner;
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use embassy_rp::peripherals::PIO0;
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use embassy_rp::pio::{Pio, PioCommon, PioIrq, PioPin, PioStateMachine, ShiftDirection};
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use embassy_rp::pio_instr_util;
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use embassy_rp::relocate::RelocatedProgram;
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use {defmt_rtt as _, panic_probe as _};
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fn setup_pio_task_sm0(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachine<PIO0, 0>, pin: impl PioPin) {
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// Setup sm0
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// Send data serially to pin
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let prg = pio_proc::pio_asm!(
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".origin 16",
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"set pindirs, 1",
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".wrap_target",
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"out pins,1 [19]",
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".wrap",
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);
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let relocated = RelocatedProgram::new(&prg.program);
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let out_pin = pio.make_pio_pin(pin);
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let pio_pins = [&out_pin];
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sm.set_out_pins(&pio_pins);
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pio.write_instr(relocated.origin() as usize, relocated.code());
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pio_instr_util::exec_jmp(sm, relocated.origin());
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sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32);
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sm.set_set_range(0, 1);
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let pio::Wrap { source, target } = relocated.wrap();
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sm.set_wrap(source, target);
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sm.set_autopull(true);
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sm.set_out_shift_dir(ShiftDirection::Left);
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}
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#[embassy_executor::task]
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async fn pio_task_sm0(mut sm: PioStateMachine<'static, PIO0, 0>) {
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sm.set_enable(true);
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let mut v = 0x0f0caffa;
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loop {
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sm.tx().wait_push(v).await;
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v ^= 0xffff;
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info!("Pushed {:032b} to FIFO", v);
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}
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}
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fn setup_pio_task_sm1(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachine<PIO0, 1>) {
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// Setupm sm1
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// Read 0b10101 repeatedly until ISR is full
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let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",);
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let relocated = RelocatedProgram::new(&prg.program);
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pio.write_instr(relocated.origin() as usize, relocated.code());
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pio_instr_util::exec_jmp(sm, relocated.origin());
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sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
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sm.set_set_range(0, 0);
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let pio::Wrap { source, target } = relocated.wrap();
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sm.set_wrap(source, target);
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sm.set_autopush(true);
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sm.set_in_shift_dir(ShiftDirection::Right);
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}
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#[embassy_executor::task]
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async fn pio_task_sm1(mut sm: PioStateMachine<'static, PIO0, 1>) {
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sm.set_enable(true);
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loop {
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let rx = sm.rx().wait_pull().await;
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info!("Pulled {:032b} from FIFO", rx);
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}
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}
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fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachine<PIO0, 2>) {
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// Setup sm2
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// Repeatedly trigger IRQ 3
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let prg = pio_proc::pio_asm!(
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".origin 0",
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".wrap_target",
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"set x,10",
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"delay:",
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"jmp x-- delay [15]",
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"irq 3 [15]",
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".wrap",
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);
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let relocated = RelocatedProgram::new(&prg.program);
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pio.write_instr(relocated.origin() as usize, relocated.code());
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let pio::Wrap { source, target } = relocated.wrap();
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sm.set_wrap(source, target);
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pio_instr_util::exec_jmp(sm, relocated.origin());
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sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32);
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}
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#[embassy_executor::task]
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async fn pio_task_sm2(mut irq: PioIrq<'static, PIO0, 3>, mut sm: PioStateMachine<'static, PIO0, 2>) {
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sm.set_enable(true);
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loop {
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irq.wait().await;
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info!("IRQ trigged");
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}
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}
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#[embassy_executor::main]
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async fn main(spawner: Spawner) {
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let p = embassy_rp::init(Default::default());
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let pio = p.PIO0;
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let Pio {
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mut common,
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irq3,
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mut sm0,
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mut sm1,
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mut sm2,
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..
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} = Pio::new(pio);
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setup_pio_task_sm0(&mut common, &mut sm0, p.PIN_0);
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setup_pio_task_sm1(&mut common, &mut sm1);
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setup_pio_task_sm2(&mut common, &mut sm2);
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spawner.spawn(pio_task_sm0(sm0)).unwrap();
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spawner.spawn(pio_task_sm1(sm1)).unwrap();
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spawner.spawn(pio_task_sm2(irq3, sm2)).unwrap();
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}
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