Merge branch 'main' into main

9 files changed, 146 insertions, 43 deletions

diff --git a/embassy-rp/src/pio_programs/hd44780.rs b/embassy-rp/src/pio_programs/hd44780.rs
index 546c85a89..78281ddd4 100644
--- a/embassy-rp/src/pio_programs/hd44780.rs
+++ b/embassy-rp/src/pio_programs/hd44780.rs
@@ -1,12 +1,12 @@
 //! [HD44780 display driver](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf)
 
+use crate::Peri;
 use crate::dma::{AnyChannel, Channel};
 use crate::pio::{
     Common, Config, Direction, FifoJoin, Instance, Irq, LoadedProgram, PioPin, ShiftConfig, ShiftDirection,
     StateMachine,
 };
 use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
-use crate::Peri;
 
 /// This struct represents a HD44780 program that takes command words (<wait:24> <command:4> <0:4>)
 pub struct PioHD44780CommandWordProgram<'a, PIO: Instance> {
diff --git a/embassy-rp/src/pio_programs/i2s.rs b/embassy-rp/src/pio_programs/i2s.rs
index 2382a3f9f..5c49beecb 100644
--- a/embassy-rp/src/pio_programs/i2s.rs
+++ b/embassy-rp/src/pio_programs/i2s.rs
@@ -1,15 +1,15 @@
-//! Pio backed I2s output and output drivers
+//! Pio backed I2S output and output drivers
 
 use fixed::traits::ToFixed;
 
+use crate::Peri;
 use crate::dma::{AnyChannel, Channel, Transfer};
 use crate::gpio::Pull;
 use crate::pio::{
     Common, Config, Direction, FifoJoin, Instance, LoadedProgram, PioPin, ShiftConfig, ShiftDirection, StateMachine,
 };
-use crate::Peri;
 
-/// This struct represents an i2s receiver & controller driver program
+/// This struct represents an I2S receiver & controller driver program
 pub struct PioI2sInProgram<'d, PIO: Instance> {
     prg: LoadedProgram<'d, PIO>,
 }
@@ -35,7 +35,7 @@ impl<'d, PIO: Instance> PioI2sInProgram<'d, PIO> {
     }
 }
 
-/// Pio backed I2s input driver
+/// Pio backed I2S input driver
 pub struct PioI2sIn<'d, P: Instance, const S: usize> {
     dma: Peri<'d, AnyChannel>,
     sm: StateMachine<'d, P, S>,
@@ -50,7 +50,7 @@ impl<'d, P: Instance, const S: usize> PioI2sIn<'d, P, S> {
         // Whether or not to use the MCU's internal pull-down resistor, as the
         // Pico 2 is known to have problems with the inbuilt pulldowns, many
         // opt to just use an external pull down resistor to meet requirements of common
-        // i2s microphones such as the INMP441
+        // I2S microphones such as the INMP441
         data_pulldown: bool,
         data_pin: Peri<'d, impl PioPin>,
         bit_clock_pin: Peri<'d, impl PioPin>,
@@ -90,13 +90,13 @@ impl<'d, P: Instance, const S: usize> PioI2sIn<'d, P, S> {
         Self { dma: dma.into(), sm }
     }
 
-    /// Return an in-prograss dma transfer future. Awaiting it will guarentee a complete transfer.
+    /// Return an in-progress dma transfer future. Awaiting it will guarantee a complete transfer.
     pub fn read<'b>(&'b mut self, buff: &'b mut [u32]) -> Transfer<'b, AnyChannel> {
         self.sm.rx().dma_pull(self.dma.reborrow(), buff, false)
     }
 }
 
-/// This struct represents an i2s output driver program
+/// This struct represents an I2S output driver program
 ///
 /// The sample bit-depth is set through scratch register `Y`.
 /// `Y` has to be set to sample bit-depth - 2.
@@ -128,14 +128,14 @@ impl<'d, PIO: Instance> PioI2sOutProgram<'d, PIO> {
     }
 }
 
-/// Pio backed I2s output driver
+/// Pio backed I2S output driver
 pub struct PioI2sOut<'d, P: Instance, const S: usize> {
     dma: Peri<'d, AnyChannel>,
     sm: StateMachine<'d, P, S>,
 }
 
 impl<'d, P: Instance, const S: usize> PioI2sOut<'d, P, S> {
-    /// Configure a state machine to output I2s
+    /// Configure a state machine to output I2S
     pub fn new(
         common: &mut Common<'d, P>,
         mut sm: StateMachine<'d, P, S>,
@@ -179,7 +179,7 @@ impl<'d, P: Instance, const S: usize> PioI2sOut<'d, P, S> {
         Self { dma: dma.into(), sm }
     }
 
-    /// Return an in-prograss dma transfer future. Awaiting it will guarentee a complete transfer.
+    /// Return an in-progress dma transfer future. Awaiting it will guarantee a complete transfer.
     pub fn write<'b>(&'b mut self, buff: &'b [u32]) -> Transfer<'b, AnyChannel> {
         self.sm.tx().dma_push(self.dma.reborrow(), buff, false)
     }
diff --git a/embassy-rp/src/pio_programs/onewire.rs b/embassy-rp/src/pio_programs/onewire.rs
index 980d0fe5f..3adab3b79 100644
--- a/embassy-rp/src/pio_programs/onewire.rs
+++ b/embassy-rp/src/pio_programs/onewire.rs
@@ -1,11 +1,11 @@
 //! OneWire pio driver
 
+use crate::Peri;
 use crate::clocks::clk_sys_freq;
 use crate::gpio::Level;
 use crate::pio::{
     Common, Config, Direction, Instance, LoadedProgram, PioPin, ShiftConfig, ShiftDirection, StateMachine,
 };
-use crate::Peri;
 
 /// This struct represents a onewire driver program
 pub struct PioOneWireProgram<'a, PIO: Instance> {
@@ -163,7 +163,11 @@ impl<'d, PIO: Instance, const SM: usize> PioOneWire<'d, PIO, SM> {
 
     /// Write bytes to the onewire bus
     pub async fn write_bytes(&mut self, data: &[u8]) {
-        unsafe { self.sm.set_y(u32::MAX as u32) };
+        unsafe {
+            self.sm.set_enable(false);
+            self.sm.set_y(u32::MAX as u32);
+            self.sm.set_enable(true);
+        }
         let (rx, tx) = self.sm.rx_tx();
         for b in data {
             tx.wait_push(*b as u32).await;
@@ -175,7 +179,11 @@ impl<'d, PIO: Instance, const SM: usize> PioOneWire<'d, PIO, SM> {
 
     /// Write bytes to the onewire bus, then apply a strong pullup
     pub async fn write_bytes_pullup(&mut self, data: &[u8], pullup_time: embassy_time::Duration) {
-        unsafe { self.sm.set_y(data.len() as u32 * 8 - 1) };
+        unsafe {
+            self.sm.set_enable(false);
+            self.sm.set_y(data.len() as u32 * 8 - 1);
+            self.sm.set_enable(true);
+        };
         let (rx, tx) = self.sm.rx_tx();
         for b in data {
             tx.wait_push(*b as u32).await;
@@ -195,7 +203,11 @@ impl<'d, PIO: Instance, const SM: usize> PioOneWire<'d, PIO, SM> {
 
     /// Read bytes from the onewire bus
     pub async fn read_bytes(&mut self, data: &mut [u8]) {
-        unsafe { self.sm.set_y(u32::MAX as u32) };
+        unsafe {
+            self.sm.set_enable(false);
+            self.sm.set_y(u32::MAX as u32);
+            self.sm.set_enable(true);
+        };
         let (rx, tx) = self.sm.rx_tx();
         for b in data {
             // Write all 1's so that we can read what the device responds
@@ -321,11 +333,7 @@ impl PioOneWireSearch {
 
     /// Search for the next address on the bus
     pub async fn next<PIO: Instance, const SM: usize>(&mut self, pio: &mut PioOneWire<'_, PIO, SM>) -> Option<u64> {
-        if self.finished {
-            None
-        } else {
-            pio.search(self).await
-        }
+        if self.finished { None } else { pio.search(self).await }
     }
 
     /// Is finished when all devices have been found
diff --git a/embassy-rp/src/pio_programs/pwm.rs b/embassy-rp/src/pio_programs/pwm.rs
index f0f837bc5..e4ad4a6f0 100644
--- a/embassy-rp/src/pio_programs/pwm.rs
+++ b/embassy-rp/src/pio_programs/pwm.rs
@@ -6,7 +6,7 @@ use pio::InstructionOperands;
 
 use crate::gpio::Level;
 use crate::pio::{Common, Config, Direction, Instance, LoadedProgram, Pin, PioPin, StateMachine};
-use crate::{clocks, Peri};
+use crate::{Peri, clocks};
 
 /// This converts the duration provided into the number of cycles the PIO needs to run to make it take the same time
 fn to_pio_cycles(duration: Duration) -> u32 {
@@ -67,7 +67,7 @@ impl<'d, T: Instance, const SM: usize> PioPwm<'d, T, SM> {
         Self { sm, pin }
     }
 
-    /// Enable's the PIO program, continuing the wave generation from the PIO program.
+    /// Enables the PIO program, continuing the wave generation from the PIO program.
     pub fn start(&mut self) {
         self.sm.set_enable(true);
     }
diff --git a/embassy-rp/src/pio_programs/rotary_encoder.rs b/embassy-rp/src/pio_programs/rotary_encoder.rs
index 70b3795e9..6347527e6 100644
--- a/embassy-rp/src/pio_programs/rotary_encoder.rs
+++ b/embassy-rp/src/pio_programs/rotary_encoder.rs
@@ -1,11 +1,11 @@
 //! PIO backed quadrature encoder
 
+use crate::Peri;
 use crate::gpio::Pull;
 use crate::pio::{
     Common, Config, Direction as PioDirection, FifoJoin, Instance, LoadedProgram, PioPin, ShiftDirection, StateMachine,
 };
 use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
-use crate::Peri;
 
 /// This struct represents an Encoder program loaded into pio instruction memory.
 pub struct PioEncoderProgram<'a, PIO: Instance> {
diff --git a/embassy-rp/src/pio_programs/spi.rs b/embassy-rp/src/pio_programs/spi.rs
index b10fc6628..765ffaa06 100644
--- a/embassy-rp/src/pio_programs/spi.rs
+++ b/embassy-rp/src/pio_programs/spi.rs
@@ -1,4 +1,4 @@
-//! PIO backed SPi drivers
+//! PIO backed SPI drivers
 
 use core::marker::PhantomData;
 
@@ -83,7 +83,7 @@ pub enum Error {
     // No errors for now
 }
 
-/// PIO based Spi driver.
+/// PIO based SPI driver.
 /// Unlike other PIO programs, the PIO SPI driver owns and holds a reference to
 /// the PIO memory it uses. This is so that it can be reconfigured at runtime if
 /// desired.
diff --git a/embassy-rp/src/pio_programs/stepper.rs b/embassy-rp/src/pio_programs/stepper.rs
index 0e9a8daf9..5762ee189 100644
--- a/embassy-rp/src/pio_programs/stepper.rs
+++ b/embassy-rp/src/pio_programs/stepper.rs
@@ -2,9 +2,9 @@
 
 use core::mem::{self, MaybeUninit};
 
+use crate::Peri;
 use crate::pio::{Common, Config, Direction, Instance, Irq, LoadedProgram, PioPin, StateMachine};
 use crate::pio_programs::clock_divider::calculate_pio_clock_divider;
-use crate::Peri;
 
 /// This struct represents a Stepper driver program loaded into pio instruction memory.
 pub struct PioStepperProgram<'a, PIO: Instance> {
diff --git a/embassy-rp/src/pio_programs/uart.rs b/embassy-rp/src/pio_programs/uart.rs
index 04e39a571..d59596dd1 100644
--- a/embassy-rp/src/pio_programs/uart.rs
+++ b/embassy-rp/src/pio_programs/uart.rs
@@ -5,12 +5,12 @@ use core::convert::Infallible;
 use embedded_io_async::{ErrorType, Read, Write};
 use fixed::traits::ToFixed;
 
+use crate::Peri;
 use crate::clocks::clk_sys_freq;
 use crate::gpio::Level;
 use crate::pio::{
     Common, Config, Direction as PioDirection, FifoJoin, Instance, LoadedProgram, PioPin, ShiftDirection, StateMachine,
 };
-use crate::Peri;
 
 /// This struct represents a uart tx program loaded into pio instruction memory.
 pub struct PioUartTxProgram<'d, PIO: Instance> {
@@ -130,7 +130,7 @@ impl<'d, PIO: Instance> PioUartRxProgram<'d, PIO> {
     }
 }
 
-/// PIO backed Uart reciever
+/// PIO backed Uart receiver
 pub struct PioUartRx<'d, PIO: Instance, const SM: usize> {
     sm_rx: StateMachine<'d, PIO, SM>,
 }
diff --git a/embassy-rp/src/pio_programs/ws2812.rs b/embassy-rp/src/pio_programs/ws2812.rs
index 37dd1c4e0..0b6035316 100644
--- a/embassy-rp/src/pio_programs/ws2812.rs
+++ b/embassy-rp/src/pio_programs/ws2812.rs
@@ -1,21 +1,69 @@
-//! [ws2812](https://www.sparkfun.com/datasheets/LCD/HD44780.pdf)
+//! [ws2812](https://www.sparkfun.com/categories/tags/ws2812)
 
 use embassy_time::Timer;
 use fixed::types::U24F8;
 use smart_leds::{RGB8, RGBW};
 
+use crate::Peri;
 use crate::clocks::clk_sys_freq;
 use crate::dma::{AnyChannel, Channel};
 use crate::pio::{
     Common, Config, FifoJoin, Instance, LoadedProgram, PioPin, ShiftConfig, ShiftDirection, StateMachine,
 };
-use crate::Peri;
 
 const T1: u8 = 2; // start bit
 const T2: u8 = 5; // data bit
 const T3: u8 = 3; // stop bit
 const CYCLES_PER_BIT: u32 = (T1 + T2 + T3) as u32;
 
+/// Color orders for WS2812B, type RGB8
+pub trait RgbColorOrder {
+    /// Pack an 8-bit RGB color into a u32
+    fn pack(color: RGB8) -> u32;
+}
+
+/// Green, Red, Blue order is the common default for WS2812B
+pub struct Grb;
+impl RgbColorOrder for Grb {
+    /// Pack an 8-bit RGB color into a u32 in GRB order
+    fn pack(color: RGB8) -> u32 {
+        (u32::from(color.g) << 24) | (u32::from(color.r) << 16) | (u32::from(color.b) << 8)
+    }
+}
+
+/// Red, Green, Blue is used by some WS2812B implementations
+pub struct Rgb;
+impl RgbColorOrder for Rgb {
+    /// Pack an 8-bit RGB color into a u32 in RGB order
+    fn pack(color: RGB8) -> u32 {
+        (u32::from(color.r) << 24) | (u32::from(color.g) << 16) | (u32::from(color.b) << 8)
+    }
+}
+
+/// Color orders RGBW strips
+pub trait RgbwColorOrder {
+    /// Pack an RGB+W color into a u32
+    fn pack(color: RGBW<u8>) -> u32;
+}
+
+/// Green, Red, Blue, White order is the common default for RGBW strips
+pub struct Grbw;
+impl RgbwColorOrder for Grbw {
+    /// Pack an RGB+W color into a u32 in GRBW order
+    fn pack(color: RGBW<u8>) -> u32 {
+        (u32::from(color.g) << 24) | (u32::from(color.r) << 16) | (u32::from(color.b) << 8) | u32::from(color.a.0)
+    }
+}
+
+/// Red, Green, Blue, White order
+pub struct Rgbw;
+impl RgbwColorOrder for Rgbw {
+    /// Pack an RGB+W color into a u32 in RGBW order
+    fn pack(color: RGBW<u8>) -> u32 {
+        (u32::from(color.r) << 24) | (u32::from(color.g) << 16) | (u32::from(color.b) << 8) | u32::from(color.a.0)
+    }
+}
+
 /// This struct represents a ws2812 program loaded into pio instruction memory.
 pub struct PioWs2812Program<'a, PIO: Instance> {
     prg: LoadedProgram<'a, PIO>,
@@ -52,15 +100,37 @@ impl<'a, PIO: Instance> PioWs2812Program<'a, PIO> {
 
 /// Pio backed RGB ws2812 driver
 /// Const N is the number of ws2812 leds attached to this pin
-pub struct PioWs2812<'d, P: Instance, const S: usize, const N: usize> {
+pub struct PioWs2812<'d, P: Instance, const S: usize, const N: usize, ORDER>
+where
+    ORDER: RgbColorOrder,
+{
     dma: Peri<'d, AnyChannel>,
     sm: StateMachine<'d, P, S>,
+    _order: core::marker::PhantomData<ORDER>,
 }
 
-impl<'d, P: Instance, const S: usize, const N: usize> PioWs2812<'d, P, S, N> {
+impl<'d, P: Instance, const S: usize, const N: usize> PioWs2812<'d, P, S, N, Grb> {
     /// Configure a pio state machine to use the loaded ws2812 program.
+    /// Uses the default GRB order.
     pub fn new(
         pio: &mut Common<'d, P>,
+        sm: StateMachine<'d, P, S>,
+        dma: Peri<'d, impl Channel>,
+        pin: Peri<'d, impl PioPin>,
+        program: &PioWs2812Program<'d, P>,
+    ) -> Self {
+        Self::with_color_order(pio, sm, dma, pin, program)
+    }
+}
+
+impl<'d, P: Instance, const S: usize, const N: usize, ORDER> PioWs2812<'d, P, S, N, ORDER>
+where
+    ORDER: RgbColorOrder,
+{
+    /// Configure a pio state machine to use the loaded ws2812 program.
+    /// Uses the specified color order.
+    pub fn with_color_order(
+        pio: &mut Common<'d, P>,
         mut sm: StateMachine<'d, P, S>,
         dma: Peri<'d, impl Channel>,
         pin: Peri<'d, impl PioPin>,
@@ -93,7 +163,11 @@ impl<'d, P: Instance, const S: usize, const N: usize> PioWs2812<'d, P, S, N> {
         sm.set_config(&cfg);
         sm.set_enable(true);
 
-        Self { dma: dma.into(), sm }
+        Self {
+            dma: dma.into(),
+            sm,
+            _order: core::marker::PhantomData,
+        }
     }
 
     /// Write a buffer of [smart_leds::RGB8] to the ws2812 string
@@ -101,8 +175,7 @@ impl<'d, P: Instance, const S: usize, const N: usize> PioWs2812<'d, P, S, N> {
         // Precompute the word bytes from the colors
         let mut words = [0u32; N];
         for i in 0..N {
-            let word = (u32::from(colors[i].g) << 24) | (u32::from(colors[i].r) << 16) | (u32::from(colors[i].b) << 8);
-            words[i] = word;
+            words[i] = ORDER::pack(colors[i]);
         }
 
         // DMA transfer
@@ -115,15 +188,37 @@ impl<'d, P: Instance, const S: usize, const N: usize> PioWs2812<'d, P, S, N> {
 /// Pio backed RGBW ws2812 driver
 /// This version is intended for ws2812 leds with 4 addressable lights
 /// Const N is the number of ws2812 leds attached to this pin
-pub struct RgbwPioWs2812<'d, P: Instance, const S: usize, const N: usize> {
+pub struct RgbwPioWs2812<'d, P: Instance, const S: usize, const N: usize, ORDER>
+where
+    ORDER: RgbwColorOrder,
+{
     dma: Peri<'d, AnyChannel>,
     sm: StateMachine<'d, P, S>,
+    _order: core::marker::PhantomData<ORDER>,
 }
 
-impl<'d, P: Instance, const S: usize, const N: usize> RgbwPioWs2812<'d, P, S, N> {
+impl<'d, P: Instance, const S: usize, const N: usize> RgbwPioWs2812<'d, P, S, N, Grbw> {
     /// Configure a pio state machine to use the loaded ws2812 program.
+    /// Uses the default GRBW color order
     pub fn new(
         pio: &mut Common<'d, P>,
+        sm: StateMachine<'d, P, S>,
+        dma: Peri<'d, impl Channel>,
+        pin: Peri<'d, impl PioPin>,
+        program: &PioWs2812Program<'d, P>,
+    ) -> Self {
+        Self::with_color_order(pio, sm, dma, pin, program)
+    }
+}
+
+impl<'d, P: Instance, const S: usize, const N: usize, ORDER> RgbwPioWs2812<'d, P, S, N, ORDER>
+where
+    ORDER: RgbwColorOrder,
+{
+    /// Configure a pio state machine to use the loaded ws2812 program.
+    /// Uses the specified color order
+    pub fn with_color_order(
+        pio: &mut Common<'d, P>,
         mut sm: StateMachine<'d, P, S>,
         dma: Peri<'d, impl Channel>,
         pin: Peri<'d, impl PioPin>,
@@ -156,7 +251,11 @@ impl<'d, P: Instance, const S: usize, const N: usize> RgbwPioWs2812<'d, P, S, N>
         sm.set_config(&cfg);
         sm.set_enable(true);
 
-        Self { dma: dma.into(), sm }
+        Self {
+            dma: dma.into(),
+            sm,
+            _order: core::marker::PhantomData,
+        }
     }
 
     /// Write a buffer of [smart_leds::RGBW] to the ws2812 string
@@ -164,11 +263,7 @@ impl<'d, P: Instance, const S: usize, const N: usize> RgbwPioWs2812<'d, P, S, N>
         // Precompute the word bytes from the colors
         let mut words = [0u32; N];
         for i in 0..N {
-            let word = (u32::from(colors[i].g) << 24)
-                | (u32::from(colors[i].r) << 16)
-                | (u32::from(colors[i].b) << 8)
-                | u32::from(colors[i].a.0);
-            words[i] = word;
+            words[i] = ORDER::pack(colors[i]);
         }
 
         // DMA transfer