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

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.

5 files changed, 82 insertions, 64 deletions

diff --git a/embassy-rp/src/pio.rs b/embassy-rp/src/pio.rs
index 27a6068f9..97e97b749 100644
--- a/embassy-rp/src/pio.rs
+++ b/embassy-rp/src/pio.rs
@@ -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>,
     {
@@ -903,42 +903,44 @@ impl<const SM_NO: u8> sealed::SmInstance for SmInstanceBase<SM_NO> {
 }
 impl<const SM_NO: u8> SmInstance for SmInstanceBase<SM_NO> {}
 
-pub trait PioInstance: sealed::PioInstance + Sized + Unpin {
-    fn pio(&self) -> u8 {
-        Self::PIO_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>>,
+}
 
-    fn split(
-        self,
-    ) -> (
-        PioCommonInstance<Self>,
-        PioStateMachineInstance<Self, SmInstanceBase<0>>,
-        PioStateMachineInstance<Self, SmInstanceBase<1>>,
-        PioStateMachineInstance<Self, SmInstanceBase<2>>,
-        PioStateMachineInstance<Self, SmInstanceBase<3>>,
-    ) {
-        (
-            PioCommonInstance {
+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::default(),
+                pio: PhantomData,
             },
-            PioStateMachineInstance {
-                sm: PhantomData::default(),
-                pio: PhantomData::default(),
+            sm0: PioStateMachineInstance {
+                sm: PhantomData,
+                pio: PhantomData,
             },
-            PioStateMachineInstance {
-                sm: PhantomData::default(),
-                pio: PhantomData::default(),
+            sm1: PioStateMachineInstance {
+                sm: PhantomData,
+                pio: PhantomData,
             },
-            PioStateMachineInstance {
-                sm: PhantomData::default(),
-                pio: PhantomData::default(),
+            sm2: PioStateMachineInstance {
+                sm: PhantomData,
+                pio: PhantomData,
             },
-            PioStateMachineInstance {
-                sm: PhantomData::default(),
-                pio: PhantomData::default(),
+            sm3: PioStateMachineInstance {
+                sm: PhantomData,
+                pio: PhantomData,
             },
-        )
+        }
+    }
+}
+
+pub trait PioInstance: sealed::PioInstance + Sized + Unpin {
+    fn pio(&self) -> u8 {
+        Self::PIO_NO
     }
 }
 
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 16a09327f..69a22f238 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -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();
-
-    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);
+    let Pio {
+        mut common,
+        mut sm0,
+        mut sm1,
+        mut sm2,
+        ..
+    } = Pio::new(pio);
+
+    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();
diff --git a/examples/rp/src/bin/pio_dma.rs b/examples/rp/src/bin/pio_dma.rs
index ccbc70fe2..33c320b8f 100644
--- a/examples/rp/src/bin/pio_dma.rs
+++ b/examples/rp/src/bin/pio_dma.rs
@@ -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();
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 1b24897b0..994d4600a 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -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!(
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 592caf244..42c731bd7 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -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 {