2 files changed, 127 insertions, 3 deletions

diff --git a/tests/rp/src/bin/pio_irq.rs b/tests/rp/src/bin/pio_irq.rs
index 45004424a..bdea63eaa 100644
--- a/tests/rp/src/bin/pio_irq.rs
+++ b/tests/rp/src/bin/pio_irq.rs
@@ -9,7 +9,6 @@ use embassy_executor::Spawner;
 use embassy_rp::bind_interrupts;
 use embassy_rp::peripherals::PIO0;
 use embassy_rp::pio::{Config, InterruptHandler, Pio};
-use embassy_rp::relocate::RelocatedProgram;
 use {defmt_rtt as _, panic_probe as _};
 
 bind_interrupts!(struct Irqs {
@@ -35,9 +34,8 @@ async fn main(_spawner: Spawner) {
         "irq wait 1",
     );
 
-    let relocated = RelocatedProgram::new(&prg.program);
     let mut cfg = Config::default();
-    cfg.use_program(&common.load_program(&relocated), &[]);
+    cfg.use_program(&common.load_program(&prg.program), &[]);
     sm.set_config(&cfg);
     sm.set_enable(true);
 
diff --git a/tests/rp/src/bin/pio_multi_load.rs b/tests/rp/src/bin/pio_multi_load.rs
new file mode 100644
index 000000000..356f16795
--- /dev/null
+++ b/tests/rp/src/bin/pio_multi_load.rs
@@ -0,0 +1,126 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Config, InterruptHandler, LoadError, Pio};
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let pio = p.PIO0;
+    let Pio {
+        mut common,
+        mut sm0,
+        mut sm1,
+        mut sm2,
+        irq_flags,
+        ..
+    } = Pio::new(pio, Irqs);
+
+    // load with explicit origin works
+    let prg1 = pio_proc::pio_asm!(
+        ".origin 4"
+        "nop",
+        "nop",
+        "nop",
+        "nop",
+        "nop",
+        "nop",
+        "nop",
+        "irq 0",
+        "nop",
+        "nop",
+    );
+    let loaded1 = common.load_program(&prg1.program);
+    assert_eq!(loaded1.origin, 4);
+    assert_eq!(loaded1.wrap.source, 13);
+    assert_eq!(loaded1.wrap.target, 4);
+
+    // load without origin chooses a free space
+    let prg2 = pio_proc::pio_asm!("nop", "nop", "nop", "nop", "nop", "nop", "nop", "irq 1", "nop", "nop",);
+    let loaded2 = common.load_program(&prg2.program);
+    assert_eq!(loaded2.origin, 14);
+    assert_eq!(loaded2.wrap.source, 23);
+    assert_eq!(loaded2.wrap.target, 14);
+
+    // wrapping around the end of program space automatically works
+    let prg3 =
+        pio_proc::pio_asm!("nop", "nop", "nop", "nop", "nop", "nop", "nop", "nop", "nop", "nop", "nop", "irq 2",);
+    let loaded3 = common.load_program(&prg3.program);
+    assert_eq!(loaded3.origin, 24);
+    assert_eq!(loaded3.wrap.source, 3);
+    assert_eq!(loaded3.wrap.target, 24);
+
+    // check that the programs actually work
+    {
+        let mut cfg = Config::default();
+        cfg.use_program(&loaded1, &[]);
+        sm0.set_config(&cfg);
+        sm0.set_enable(true);
+        while !irq_flags.check(0) {}
+        sm0.set_enable(false);
+    }
+    {
+        let mut cfg = Config::default();
+        cfg.use_program(&loaded2, &[]);
+        sm1.set_config(&cfg);
+        sm1.set_enable(true);
+        while !irq_flags.check(1) {}
+        sm1.set_enable(false);
+    }
+    {
+        let mut cfg = Config::default();
+        cfg.use_program(&loaded3, &[]);
+        sm2.set_config(&cfg);
+        sm2.set_enable(true);
+        while !irq_flags.check(2) {}
+        sm2.set_enable(false);
+    }
+
+    // instruction memory is full now. all loads should fail.
+    {
+        let prg = pio_proc::pio_asm!(".origin 0", "nop");
+        match common.try_load_program(&prg.program) {
+            Err(LoadError::AddressInUse(0)) => (),
+            _ => panic!("program loaded when it shouldn't"),
+        };
+
+        let prg = pio_proc::pio_asm!("nop");
+        match common.try_load_program(&prg.program) {
+            Err(LoadError::InsufficientSpace) => (),
+            _ => panic!("program loaded when it shouldn't"),
+        };
+    }
+
+    // freeing some memory should allow further loads though.
+    unsafe {
+        common.free_instr(loaded3.used_memory);
+    }
+    {
+        let prg = pio_proc::pio_asm!(".origin 0", "nop");
+        match common.try_load_program(&prg.program) {
+            Ok(_) => (),
+            _ => panic!("program didn't loaded when it shouldn"),
+        };
+
+        let prg = pio_proc::pio_asm!("nop");
+        match common.try_load_program(&prg.program) {
+            Ok(_) => (),
+            _ => panic!("program didn't loaded when it shouldn"),
+        };
+    }
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}