Merge #1425

1425: rp pio, round 2 r=Dirbaio a=pennae

another round of bugfixes for pio, and some refactoring. in the end we'd like to make pio look like all the other modules and not expose traits that provide all the methods of a type, but put them onto the type itself. traits only make much sense, even if we added an AnyPio and merged the types for the member state machines (at the cost of at least a u8 per member of Pio).

Co-authored-by: pennae <[email protected]>

4 files changed, 276 insertions, 26 deletions

diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 1b075b8fd..5fea7034b 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -4,15 +4,13 @@
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{AnyPin, Pin};
-use embassy_rp::pio::{
-    Pio0, PioCommon, PioCommonInstance, PioPeripheral, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0,
-    Sm1, Sm2,
-};
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Pio, PioCommon, PioStateMachine, PioStateMachineInstance, ShiftDirection};
 use embassy_rp::pio_instr_util;
 use embassy_rp::relocate::RelocatedProgram;
 use {defmt_rtt as _, panic_probe as _};
 
-fn setup_pio_task_sm0(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm0>, pin: AnyPin) {
+fn setup_pio_task_sm0(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 0>, pin: AnyPin) {
     // Setup sm0
 
     // Send data serially to pin
@@ -40,7 +38,7 @@ 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, 0>) {
     sm.set_enable(true);
 
     let mut v = 0x0f0caffa;
@@ -51,7 +49,7 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<Pio0, Sm0>) {
     }
 }
 
-fn setup_pio_task_sm1(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm1>) {
+fn setup_pio_task_sm1(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 1>) {
     // Setupm sm1
 
     // Read 0b10101 repeatedly until ISR is full
@@ -70,7 +68,7 @@ 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, 1>) {
     sm.set_enable(true);
     loop {
         let rx = sm.wait_pull().await;
@@ -78,7 +76,7 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<Pio0, Sm1>) {
     }
 }
 
-fn setup_pio_task_sm2(pio: &mut PioCommonInstance<Pio0>, sm: &mut PioStateMachineInstance<Pio0, Sm2>) {
+fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 2>) {
     // Setup sm2
 
     // Repeatedly trigger IRQ 3
@@ -102,7 +100,7 @@ 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, 2>) {
     sm.set_enable(true);
     loop {
         sm.wait_irq(3).await;
@@ -115,11 +113,17 @@ 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 7d4919f75..0f1f6df12 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, PioPeripheral, PioStateMachine, ShiftDirection};
+use embassy_rp::pio::{Pio, 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
new file mode 100644
index 000000000..59b4c1f52
--- /dev/null
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -0,0 +1,243 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+
+use core::fmt::Write;
+
+use embassy_executor::Spawner;
+use embassy_rp::dma::{AnyChannel, Channel};
+use embassy_rp::gpio::Pin;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{FifoJoin, Pio, PioStateMachine, PioStateMachineInstance, ShiftDirection};
+use embassy_rp::pwm::{Config, Pwm};
+use embassy_rp::relocate::RelocatedProgram;
+use embassy_rp::{into_ref, Peripheral, PeripheralRef};
+use embassy_time::{Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    // this test assumes a 2x16 HD44780 display attached as follow:
+    //   rs  = PIN0
+    //   rw  = PIN1
+    //   e   = PIN2
+    //   db4 = PIN3
+    //   db5 = PIN4
+    //   db6 = PIN5
+    //   db7 = PIN6
+    // additionally a pwm signal for a bias voltage charge pump is provided on pin 15,
+    // allowing direct connection of the display to the RP2040 without level shifters.
+    let p = embassy_rp::init(Default::default());
+
+    let _pwm = Pwm::new_output_b(p.PWM_CH7, p.PIN_15, {
+        let mut c = Config::default();
+        c.divider = 125.into();
+        c.top = 100;
+        c.compare_b = 50;
+        c
+    });
+
+    let mut hd = HD44780::new(
+        p.PIO0, p.DMA_CH3, p.PIN_0, p.PIN_1, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5, p.PIN_6,
+    )
+    .await;
+
+    loop {
+        struct Buf<const N: usize>([u8; N], usize);
+        impl<const N: usize> Write for Buf<N> {
+            fn write_str(&mut self, s: &str) -> Result<(), core::fmt::Error> {
+                for b in s.as_bytes() {
+                    if self.1 >= N {
+                        return Err(core::fmt::Error);
+                    }
+                    self.0[self.1] = *b;
+                    self.1 += 1;
+                }
+                Ok(())
+            }
+        }
+        let mut buf = Buf([0; 16], 0);
+        write!(buf, "up {}s", Instant::now().as_micros() as f32 / 1e6).unwrap();
+        hd.add_line(&buf.0[0..buf.1]).await;
+        Timer::after(Duration::from_secs(1)).await;
+    }
+}
+
+pub struct HD44780<'l> {
+    dma: PeripheralRef<'l, AnyChannel>,
+    sm: PioStateMachineInstance<'l, PIO0, 0>,
+
+    buf: [u8; 40],
+}
+
+impl<'l> HD44780<'l> {
+    pub async fn new(
+        pio: impl Peripheral<P = PIO0> + 'l,
+        dma: impl Peripheral<P = impl Channel> + 'l,
+        rs: impl Pin,
+        rw: impl Pin,
+        e: impl Pin,
+        db4: impl Pin,
+        db5: impl Pin,
+        db6: impl Pin,
+        db7: impl Pin,
+    ) -> HD44780<'l> {
+        into_ref!(dma);
+
+        let db7pin = db7.pin();
+        let Pio {
+            mut common, mut sm0, ..
+        } = Pio::new(pio);
+
+        // takes command words (<wait:24> <command:4> <0:4>)
+        let prg = pio_proc::pio_asm!(
+            r#"
+                .side_set 1 opt
+
+                loop:
+                    out x,     24
+                delay:
+                    jmp x--,   delay
+                    out pins,  4     side 1
+                    out null,  4     side 0
+                    jmp !osre, loop
+                irq 0
+            "#,
+        );
+
+        let rs = common.make_pio_pin(rs);
+        let rw = common.make_pio_pin(rw);
+        let e = common.make_pio_pin(e);
+        let db4 = common.make_pio_pin(db4);
+        let db5 = common.make_pio_pin(db5);
+        let db6 = common.make_pio_pin(db6);
+        let db7 = common.make_pio_pin(db7);
+
+        sm0.set_set_pins(&[&rs, &rw]);
+        embassy_rp::pio_instr_util::set_pindir(&mut sm0, 0b11);
+        sm0.set_set_pins(&[&e]);
+        embassy_rp::pio_instr_util::set_pindir(&mut sm0, 0b1);
+        sm0.set_set_pins(&[&db4, &db5, &db6, &db7]);
+        embassy_rp::pio_instr_util::set_pindir(&mut sm0, 0b11111);
+
+        let relocated = RelocatedProgram::new(&prg.program);
+        common.write_instr(relocated.origin() as usize, relocated.code());
+        embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin());
+        sm0.set_clkdiv(125 * 256);
+        let pio::Wrap { source, target } = relocated.wrap();
+        sm0.set_wrap(source, target);
+        sm0.set_side_enable(true);
+        sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
+        sm0.set_sideset_base_pin(&e);
+        sm0.set_sideset_count(2);
+        sm0.set_out_shift_dir(ShiftDirection::Left);
+        sm0.set_fifo_join(FifoJoin::TxOnly);
+        sm0.set_autopull(true);
+        sm0.set_pull_threshold(32);
+
+        sm0.set_enable(true);
+        // init to 8 bit thrice
+        sm0.push_tx((50000 << 8) | 0x30);
+        sm0.push_tx((5000 << 8) | 0x30);
+        sm0.push_tx((200 << 8) | 0x30);
+        // init 4 bit
+        sm0.push_tx((200 << 8) | 0x20);
+        // set font and lines
+        sm0.push_tx((50 << 8) | 0x20);
+        sm0.push_tx(0b1100_0000);
+
+        sm0.wait_irq(0).await;
+        sm0.set_enable(false);
+
+        // takes command sequences (<rs:1> <count:7>, data...)
+        // many side sets are only there to free up a delay bit!
+        let prg = pio_proc::pio_asm!(
+            r#"
+                .origin 7
+                .side_set 1
+
+                .wrap_target
+                pull     side 0
+                out  x 1 side 0 ; !rs
+                out  y 7 side 0 ; #data - 1
+
+                ; rs/rw to e: >= 60ns
+                ; e high time: >= 500ns
+                ; e low time: >= 500ns
+                ; read data valid after e falling: ~5ns
+                ; write data hold after e falling: ~10ns
+
+                loop:
+                    pull                 side 0
+                    jmp  !x       data   side 0
+                command:
+                    set  pins     0b00   side 0
+                    jmp  shift           side 0
+                data:
+                    set  pins     0b01   side 0
+                shift:
+                    out  pins     4      side 1 [9]
+                    nop                  side 0 [9]
+                    out  pins     4      side 1 [9]
+                    mov  osr      null   side 0 [7]
+                    out  pindirs  4      side 0
+                    set  pins     0b10   side 0
+                busy:
+                    nop                  side 1 [9]
+                    jmp  pin      more   side 0 [9]
+                    mov  osr      ~osr   side 1 [9]
+                    nop                  side 0 [4]
+                    out  pindirs  4      side 0
+                    jmp  y--      loop   side 0
+                .wrap
+                more:
+                    nop                  side 1 [9]
+                    jmp busy             side 0 [9]
+            "#
+        );
+
+        let relocated = RelocatedProgram::new(&prg.program);
+        common.write_instr(relocated.origin() as usize, relocated.code());
+        embassy_rp::pio_instr_util::exec_jmp(&mut sm0, relocated.origin());
+        let pio::Wrap { source, target } = relocated.wrap();
+        sm0.set_clkdiv(8 * 256); // ~64ns/insn
+        sm0.set_side_enable(false);
+        sm0.set_jmp_pin(db7pin);
+        sm0.set_wrap(source, target);
+        sm0.set_set_pins(&[&rs, &rw]);
+        sm0.set_out_pins(&[&db4, &db5, &db6, &db7]);
+        sm0.set_sideset_base_pin(&e);
+        sm0.set_sideset_count(1);
+        sm0.set_out_shift_dir(ShiftDirection::Left);
+        sm0.set_fifo_join(FifoJoin::TxOnly);
+
+        sm0.set_enable(true);
+
+        // display on and cursor on and blinking, reset display
+        sm0.dma_push(dma.reborrow(), &[0x81u8, 0x0f, 1]).await;
+
+        Self {
+            dma: dma.map_into(),
+            sm: sm0,
+            buf: [0x20; 40],
+        }
+    }
+
+    pub async fn add_line(&mut self, s: &[u8]) {
+        // move cursor to 0:0, prepare 16 characters
+        self.buf[..3].copy_from_slice(&[0x80, 0x80, 15]);
+        // move line 2 up
+        self.buf.copy_within(22..38, 3);
+        // move cursor to 1:0, prepare 16 characters
+        self.buf[19..22].copy_from_slice(&[0x80, 0xc0, 15]);
+        // file line 2 with spaces
+        self.buf[22..38].fill(0x20);
+        // copy input line
+        let len = s.len().min(16);
+        self.buf[22..22 + len].copy_from_slice(&s[0..len]);
+        // set cursor to 1:15
+        self.buf[38..].copy_from_slice(&[0x80, 0xcf]);
+
+        self.sm.dma_push(self.dma.reborrow(), &self.buf).await;
+    }
+}
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index 041e8ae11..0975559d7 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -6,20 +6,19 @@ use defmt::*;
 use embassy_executor::Spawner;
 use embassy_rp::gpio::{self, Pin};
 use embassy_rp::pio::{
-    FifoJoin, PioCommon, PioCommonInstance, PioInstance, PioPeripheral, PioStateMachine, PioStateMachineInstance,
-    ShiftDirection, SmInstance,
+    FifoJoin, Pio, PioCommon, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection,
 };
 use embassy_rp::pio_instr_util;
 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, const S: usize> {
+    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, const S: usize> Ws2812<'d, P, S> {
+    pub fn new(mut pio: PioCommon<'d, P>, mut sm: PioStateMachineInstance<'d, P, S>, pin: gpio::AnyPin) -> Self {
         // Setup sm0
 
         // prepare the PIO program
@@ -116,7 +115,7 @@ 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 +124,7 @@ 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 {