7 files changed, 172 insertions, 10 deletions

diff --git a/cyw43-pio/Cargo.toml b/cyw43-pio/Cargo.toml
index 292cccf66..f52788ba3 100644
--- a/cyw43-pio/Cargo.toml
+++ b/cyw43-pio/Cargo.toml
@@ -12,8 +12,8 @@ documentation = "https://docs.embassy.dev/cyw43-pio"
 [dependencies]
 cyw43 = { version = "0.3.0", path = "../cyw43" }
 embassy-rp = { version = "0.3.0", path = "../embassy-rp" }
-pio-proc = "0.2"
-pio = "0.2.1"
+pio-proc = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
+pio = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
 fixed = "1.23.1"
 defmt = { version = "0.3", optional = true }
 
diff --git a/embassy-rp/Cargo.toml b/embassy-rp/Cargo.toml
index 56cc39bbf..120e058ed 100644
--- a/embassy-rp/Cargo.toml
+++ b/embassy-rp/Cargo.toml
@@ -139,8 +139,8 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0" }
 embedded-hal-async = { version = "1.0" }
 embedded-hal-nb = { version = "1.0" }
 
-pio-proc = { version= "0.2" }
-pio = { version= "0.2.1" }
+pio-proc = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
+pio = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
 rp2040-boot2 = "0.3"
 document-features = "0.2.10"
 sha2-const-stable = "0.1"
diff --git a/embassy-rp/src/pio/mod.rs b/embassy-rp/src/pio/mod.rs
index 8916cbef0..7632d3168 100644
--- a/embassy-rp/src/pio/mod.rs
+++ b/embassy-rp/src/pio/mod.rs
@@ -50,6 +50,18 @@ pub enum FifoJoin {
     RxOnly,
     /// Tx fifo twice as deep. RX fifo disabled
     TxOnly,
+    /// Enable random writes (`FJOIN_RX_PUT`) from the state machine (through ISR),
+    /// and random reads from the system (using [`StateMachine::get_rxf_entry`]).
+    #[cfg(feature = "_rp235x")]
+    RxAsStatus,
+    /// Enable random reads (`FJOIN_RX_GET`) from the state machine (through OSR),
+    /// and random writes from the system (using [`StateMachine::set_rxf_entry`]).
+    #[cfg(feature = "_rp235x")]
+    RxAsControl,
+    /// FJOIN_RX_PUT | FJOIN_RX_GET: RX can be used as a scratch register,
+    /// not accesible from the CPU
+    #[cfg(feature = "_rp235x")]
+    PioScratch,
 }
 
 /// Shift direction.
@@ -730,6 +742,17 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
             w.set_in_shiftdir(config.shift_in.direction == ShiftDirection::Right);
             w.set_autopull(config.shift_out.auto_fill);
             w.set_autopush(config.shift_in.auto_fill);
+
+            #[cfg(feature = "_rp235x")]
+            {
+                w.set_fjoin_rx_get(
+                    config.fifo_join == FifoJoin::RxAsControl || config.fifo_join == FifoJoin::PioScratch,
+                );
+                w.set_fjoin_rx_put(
+                    config.fifo_join == FifoJoin::RxAsStatus || config.fifo_join == FifoJoin::PioScratch,
+                );
+                w.set_in_count(config.in_count);
+            }
         });
 
         #[cfg(feature = "rp2040")]
@@ -907,6 +930,20 @@ impl<'d, PIO: Instance + 'd, const SM: usize> StateMachine<'d, PIO, SM> {
     pub fn rx_tx(&mut self) -> (&mut StateMachineRx<'d, PIO, SM>, &mut StateMachineTx<'d, PIO, SM>) {
         (&mut self.rx, &mut self.tx)
     }
+
+    /// Return the contents of the nth entry of the RX FIFO
+    /// (should be used only when the FIFO config is set to [`FifoJoin::RxAsStatus`])
+    #[cfg(feature = "_rp235x")]
+    pub fn get_rxf_entry(&self, n: usize) -> u32 {
+        PIO::PIO.rxf_putget(SM).putget(n).read()
+    }
+
+    /// Set the contents of the nth entry of the RX FIFO
+    /// (should be used only when the FIFO config is set to [`FifoJoin::RxAsControl`])
+    #[cfg(feature = "_rp235x")]
+    pub fn set_rxf_entry(&self, n: usize, val: u32) {
+        PIO::PIO.rxf_putget(SM).putget(n).write_value(val)
+    }
 }
 
 /// PIO handle.
@@ -993,6 +1030,9 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
         prog: &Program<SIZE>,
         origin: u8,
     ) -> Result<LoadedProgram<'d, PIO>, usize> {
+        #[cfg(not(feature = "_rp235x"))]
+        assert!(prog.version == pio::PioVersion::V0);
+
         let prog = RelocatedProgram::new_with_origin(prog, origin);
         let used_memory = self.try_write_instr(prog.origin() as _, prog.code())?;
         Ok(LoadedProgram {
@@ -1053,6 +1093,12 @@ impl<'d, PIO: Instance> Common<'d, PIO> {
     /// 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);
+
+        // enable the outputs
+        pin.pad_ctrl().write(|w| w.set_od(false));
+        // especially important on the 235x, where IE defaults to 0
+        pin.pad_ctrl().write(|w| w.set_ie(true));
+
         pin.gpio().ctrl().write(|w| w.set_funcsel(PIO::FUNCSEL as _));
         pin.pad_ctrl().write(|w| {
             #[cfg(feature = "_rp235x")]
diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml
index d9decc2b0..5294ec477 100644
--- a/examples/rp/Cargo.toml
+++ b/examples/rp/Cargo.toml
@@ -55,8 +55,8 @@ embedded-storage = { version = "0.3" }
 static_cell = "2.1"
 portable-atomic = { version = "1.5", features = ["critical-section"] }
 log = "0.4"
-pio-proc = "0.2"
-pio = "0.2.1"
+pio-proc = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
+pio = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
 rand = { version = "0.8.5", default-features = false }
 embedded-sdmmc = "0.7.0"
 
diff --git a/examples/rp23/Cargo.toml b/examples/rp23/Cargo.toml
index 4d99ecc72..8f9c14c5c 100644
--- a/examples/rp23/Cargo.toml
+++ b/examples/rp23/Cargo.toml
@@ -55,8 +55,8 @@ embedded-storage = { version = "0.3" }
 static_cell = "2.1"
 portable-atomic = { version = "1.5", features = ["critical-section"] }
 log = "0.4"
-pio-proc = "0.2"
-pio = "0.2.1"
+pio-proc = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
+pio = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
 rand = { version = "0.8.5", default-features = false }
 embedded-sdmmc = "0.7.0"
 
diff --git a/examples/rp23/src/bin/pio_rotary_encoder_rxf.rs b/examples/rp23/src/bin/pio_rotary_encoder_rxf.rs
new file mode 100644
index 000000000..7a1046610
--- /dev/null
+++ b/examples/rp23/src/bin/pio_rotary_encoder_rxf.rs
@@ -0,0 +1,116 @@
+//! This example shows how to use the PIO module in the RP235x to read a quadrature rotary encoder.
+//! It differs from the other example in that it uses the RX FIFO as a status register
+
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::block::ImageDef;
+use embassy_rp::gpio::Pull;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::{bind_interrupts, pio};
+use embassy_time::Timer;
+use fixed::traits::ToFixed;
+use pio::{Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftDirection, StateMachine};
+use {defmt_rtt as _, panic_probe as _};
+
+#[link_section = ".start_block"]
+#[used]
+pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe();
+
+// Program metadata for `picotool info`
+#[link_section = ".bi_entries"]
+#[used]
+pub static PICOTOOL_ENTRIES: [embassy_rp::binary_info::EntryAddr; 4] = [
+    embassy_rp::binary_info::rp_program_name!(c"example_pio_rotary_encoder_rxf"),
+    embassy_rp::binary_info::rp_cargo_version!(),
+    embassy_rp::binary_info::rp_program_description!(c"Rotary encoder (RXF)"),
+    embassy_rp::binary_info::rp_program_build_attribute!(),
+];
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+pub struct PioEncoder<'d, T: Instance, const SM: usize> {
+    sm: StateMachine<'d, T, SM>,
+}
+
+impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> {
+    pub fn new(
+        pio: &mut Common<'d, T>,
+        mut sm: StateMachine<'d, T, SM>,
+        pin_a: impl PioPin,
+        pin_b: impl PioPin,
+    ) -> Self {
+        let mut pin_a = pio.make_pio_pin(pin_a);
+        let mut pin_b = pio.make_pio_pin(pin_b);
+        pin_a.set_pull(Pull::Up);
+        pin_b.set_pull(Pull::Up);
+
+        sm.set_pin_dirs(pio::Direction::In, &[&pin_a, &pin_b]);
+
+        let prg = pio_proc::pio_asm!(
+            "start:"
+            // encoder count is stored in X
+            "mov isr, x"
+            // and then moved to the RX FIFO register
+            "mov rxfifo[0], isr"
+
+            // wait for encoder transition
+            "wait 1 pin 1"
+            "wait 0 pin 1"
+
+            "set y, 0"
+            "mov y, pins[1]"
+
+            // update X depending on pin 1
+            "jmp !y decr"
+
+            // this is just a clever way of doing x++
+            "mov x, ~x"
+            "jmp x--, incr"
+            "incr:"
+            "mov x, ~x"
+            "jmp start"
+
+            // and this is x--
+            "decr:"
+            "jmp x--, start"
+        );
+
+        let mut cfg = Config::default();
+        cfg.set_in_pins(&[&pin_a, &pin_b]);
+        cfg.fifo_join = FifoJoin::RxAsStatus;
+        cfg.shift_in.direction = ShiftDirection::Left;
+        cfg.clock_divider = 10_000.to_fixed();
+        cfg.use_program(&pio.load_program(&prg.program), &[]);
+        sm.set_config(&cfg);
+
+        sm.set_enable(true);
+        Self { sm }
+    }
+
+    pub async fn read(&mut self) -> u32 {
+        self.sm.get_rxf_entry(0)
+    }
+}
+
+pub enum Direction {
+    Clockwise,
+    CounterClockwise,
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs);
+
+    let mut encoder = PioEncoder::new(&mut common, sm0, p.PIN_4, p.PIN_5);
+
+    loop {
+        info!("Count: {}", encoder.read().await);
+        Timer::after_millis(1000).await;
+    }
+}
diff --git a/tests/rp/Cargo.toml b/tests/rp/Cargo.toml
index 4278f7b2c..26f3f21f6 100644
--- a/tests/rp/Cargo.toml
+++ b/tests/rp/Cargo.toml
@@ -33,8 +33,8 @@ embedded-io-async = { version = "0.6.1" }
 embedded-storage = { version = "0.3" }
 static_cell = "2"
 portable-atomic = { version = "1.5", features = ["critical-section"] }
-pio = "0.2"
-pio-proc = "0.2"
+pio-proc = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
+pio = { git = "https://github.com/rp-rs/pio-rs", rev = "fa586448b0b223217eec8c92c19fe6823dd04cc4" }
 rand = { version = "0.8.5", default-features = false }
 
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