rp/pio: split irqs from state machines

we can only have one active waiter for any given irq at any given time.
allowing waits for irqs on state machines bypasses this limitation and
causes lost events for all but the latest waiter for a given irq.
splitting this out also allows us to signal from state machines to other
parts of the application without monopolizing state machine access for
the irq wait, as would be necessary to make irq waiting sound.

3 files changed, 37 insertions, 24 deletions

diff --git a/embassy-rp/src/pio.rs b/embassy-rp/src/pio.rs
index 52ef89a16..769641ac9 100644
--- a/embassy-rp/src/pio.rs
+++ b/embassy-rp/src/pio.rs
@@ -180,21 +180,12 @@ impl<'a, 'd, PIO: PioInstance, const SM: usize> Drop for FifoInFuture<'a, 'd, PI
 
 /// Future that waits for IRQ
 #[must_use = "futures do nothing unless you `.await` or poll them"]
-pub struct IrqFuture<PIO: PioInstance> {
-    pio: PhantomData<PIO>,
+pub struct IrqFuture<'a, 'd, PIO: PioInstance> {
+    pio: PhantomData<&'a PioIrq<'d, PIO, 0>>,
     irq_no: u8,
 }
 
-impl<'a, PIO: PioInstance> IrqFuture<PIO> {
-    pub fn new(irq_no: u8) -> Self {
-        IrqFuture {
-            pio: PhantomData::default(),
-            irq_no,
-        }
-    }
-}
-
-impl<'d, PIO: PioInstance> Future for IrqFuture<PIO> {
+impl<'a, 'd, PIO: PioInstance> Future for IrqFuture<'a, 'd, PIO> {
     type Output = ();
     fn poll(self: FuturePin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
         //debug!("Poll {},{}", PIO::PIO_NO, SM);
@@ -224,7 +215,7 @@ impl<'d, PIO: PioInstance> Future for IrqFuture<PIO> {
     }
 }
 
-impl<'d, PIO: PioInstance> Drop for IrqFuture<PIO> {
+impl<'a, 'd, PIO: PioInstance> Drop for IrqFuture<'a, 'd, PIO> {
     fn drop(&mut self) {
         unsafe {
             PIO::PIO.irqs(0).inte().write_clear(|m| {
@@ -688,10 +679,6 @@ impl<'d, PIO: PioInstance + 'd, const SM: usize> PioStateMachine<'d, PIO, SM> {
         FifoInFuture::new(self)
     }
 
-    pub fn wait_irq(&self, irq_no: u8) -> IrqFuture<PIO> {
-        IrqFuture::new(irq_no)
-    }
-
     pub fn has_tx_stalled(&self) -> bool {
         unsafe {
             let fdebug = PIO::PIO.fdebug();
@@ -862,7 +849,8 @@ impl<'d, PIO: PioInstance> PioCommon<'d, PIO> {
 
     /// Register a pin for PIO usage. Pins will be released from the PIO block
     /// (i.e., have their `FUNCSEL` reset to `NULL`) when the [`PioCommon`] *and*
-    /// all [`PioStateMachine`]s for this block have been dropped.
+    /// all [`PioStateMachine`]s for this block have been dropped. **Other members
+    /// of [`Pio`] do not keep pin registrations alive.**
     pub fn make_pio_pin(&mut self, pin: impl Peripheral<P = impl PioPin + 'd> + 'd) -> Pin<'d, PIO> {
         into_ref!(pin);
         unsafe {
@@ -877,8 +865,25 @@ impl<'d, PIO: PioInstance> PioCommon<'d, PIO> {
     }
 }
 
+pub struct PioIrq<'d, PIO: PioInstance, const N: usize> {
+    pio: PhantomData<&'d PIO>,
+}
+
+impl<'d, PIO: PioInstance, const N: usize> PioIrq<'d, PIO, N> {
+    pub fn wait<'a>(&'a mut self) -> IrqFuture<'a, 'd, PIO> {
+        IrqFuture {
+            pio: PhantomData,
+            irq_no: N as u8,
+        }
+    }
+}
+
 pub struct Pio<'d, PIO: PioInstance> {
     pub common: PioCommon<'d, PIO>,
+    pub irq0: PioIrq<'d, PIO, 0>,
+    pub irq1: PioIrq<'d, PIO, 1>,
+    pub irq2: PioIrq<'d, PIO, 2>,
+    pub irq3: PioIrq<'d, PIO, 3>,
     pub sm0: PioStateMachine<'d, PIO, 0>,
     pub sm1: PioStateMachine<'d, PIO, 1>,
     pub sm2: PioStateMachine<'d, PIO, 2>,
@@ -894,6 +899,10 @@ impl<'d, PIO: PioInstance> Pio<'d, PIO> {
                 instructions_used: 0,
                 pio: PhantomData,
             },
+            irq0: PioIrq { pio: PhantomData },
+            irq1: PioIrq { pio: PhantomData },
+            irq2: PioIrq { pio: PhantomData },
+            irq3: PioIrq { pio: PhantomData },
             sm0: PioStateMachine { pio: PhantomData },
             sm1: PioStateMachine { pio: PhantomData },
             sm2: PioStateMachine { pio: PhantomData },
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 11b290869..3d76a7d7b 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -4,7 +4,7 @@
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_rp::peripherals::PIO0;
-use embassy_rp::pio::{Pio, PioCommon, PioPin, PioStateMachine, ShiftDirection};
+use embassy_rp::pio::{Pio, PioCommon, PioIrq, PioPin, PioStateMachine, ShiftDirection};
 use embassy_rp::pio_instr_util;
 use embassy_rp::relocate::RelocatedProgram;
 use {defmt_rtt as _, panic_probe as _};
@@ -99,10 +99,10 @@ fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachine<PIO0,
 }
 
 #[embassy_executor::task]
-async fn pio_task_sm2(mut sm: PioStateMachine<'static, PIO0, 2>) {
+async fn pio_task_sm2(mut irq: PioIrq<'static, PIO0, 3>, mut sm: PioStateMachine<'static, PIO0, 2>) {
     sm.set_enable(true);
     loop {
-        sm.wait_irq(3).await;
+        irq.wait().await;
         info!("IRQ trigged");
     }
 }
@@ -114,6 +114,7 @@ async fn main(spawner: Spawner) {
 
     let Pio {
         mut common,
+        irq3,
         mut sm0,
         mut sm1,
         mut sm2,
@@ -125,5 +126,5 @@ async fn main(spawner: Spawner) {
     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();
+    spawner.spawn(pio_task_sm2(irq3, sm2)).unwrap();
 }
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index bc51d43c4..7c1d7acfe 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -85,7 +85,10 @@ impl<'l> HD44780<'l> {
 
         let db7pin = db7.pin();
         let Pio {
-            mut common, mut sm0, ..
+            mut common,
+            mut irq0,
+            mut sm0,
+            ..
         } = Pio::new(pio);
 
         // takes command words (<wait:24> <command:4> <0:4>)
@@ -145,7 +148,7 @@ impl<'l> HD44780<'l> {
         sm0.push_tx((50 << 8) | 0x20);
         sm0.push_tx(0b1100_0000);
 
-        sm0.wait_irq(0).await;
+        irq0.wait().await;
         sm0.set_enable(false);
 
         // takes command sequences (<rs:1> <count:7>, data...)