From 35db6e639bf5de017551164e9cbfaa2e5e46fca3 Mon Sep 17 00:00:00 2001 From: Simon Berg Date: Wed, 27 Jul 2022 22:45:46 +0200 Subject: PIO support for RPi Pico --- examples/rp/Cargo.toml | 7 ++- examples/rp/src/bin/pio_async.rs | 105 +++++++++++++++++++++++++++++++++++++++ examples/rp/src/bin/pio_dma.rs | 67 +++++++++++++++++++++++++ 3 files changed, 178 insertions(+), 1 deletion(-) create mode 100644 examples/rp/src/bin/pio_async.rs create mode 100644 examples/rp/src/bin/pio_dma.rs (limited to 'examples') diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml index 60a8ba94d..b07c471af 100644 --- a/examples/rp/Cargo.toml +++ b/examples/rp/Cargo.toml @@ -9,7 +9,7 @@ license = "MIT OR Apache-2.0" embassy-sync = { version = "0.1.0", path = "../../embassy-sync", features = ["defmt"] } embassy-executor = { version = "0.1.0", path = "../../embassy-executor", features = ["defmt", "integrated-timers"] } embassy-time = { version = "0.1.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] } -embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] } +embassy-rp = { version = "0.1.0", path = "../../embassy-rp", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "pio"] } embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] } embassy-net = { version = "0.1.0", path = "../../embassy-net", features = ["defmt", "nightly", "tcp", "dhcpv4", "medium-ethernet", "pool-16"] } embassy-futures = { version = "0.1.0", path = "../../embassy-futures" } @@ -34,6 +34,11 @@ embedded-io = { version = "0.4.0", features = ["async", "defmt"] } embedded-storage = { version = "0.3" } static_cell = "1.0.0" log = "0.4" +pio-proc = "0.2" +pio = "0.2" [profile.release] debug = true + +[patch.crates-io] +pio = {git = "https://github.com/rp-rs/pio-rs.git"} \ No newline at end of file diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs new file mode 100644 index 000000000..e9211db3b --- /dev/null +++ b/examples/rp/src/bin/pio_async.rs @@ -0,0 +1,105 @@ +#![no_std] +#![no_main] +#![feature(type_alias_impl_trait)] +use defmt::info; +use embassy_executor::Spawner; +use embassy_rp::gpio::{AnyPin, Pin}; +use embassy_rp::pio::{Pio0, PioPeripherial, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2}; +use embassy_rp::pio_instr_util; +use {defmt_rtt as _, panic_probe as _}; + +#[embassy_executor::task] +async fn pio_task_sm0(mut sm: PioStateMachineInstance, pin: AnyPin) { + // Setup sm0 + + // Send data serially to pin + let prg = pio_proc::pio_asm!( + ".origin 16", + "set pindirs, 1", + ".wrap_target", + "out pins,1 [19]", + ".wrap", + ); + + let origin = prg.program.origin.unwrap_or(0); + let out_pin = sm.make_pio_pin(pin); + let pio_pins = [&out_pin]; + sm.set_out_pins(&pio_pins); + sm.write_instr(origin as usize, &prg.program.code); + pio_instr_util::exec_jmp(&mut sm, origin); + sm.set_clkdiv((125e6 / 20.0 / 2e2 * 256.0) as u32); + sm.set_set_range(0, 1); + sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin); + sm.set_autopull(true); + sm.set_out_shift_dir(ShiftDirection::Left); + + sm.set_enable(true); + + let mut v = 0x0f0caffa; + loop { + sm.wait_push(v).await; + v ^= 0xffff; + info!("Pushed {:032b} to FIFO", v); + } +} + +#[embassy_executor::task] +async fn pio_task_sm1(mut sm: PioStateMachineInstance) { + // Setupm sm1 + + // Read 0b10101 repeatedly until ISR is full + let prg = pio_proc::pio_asm!(".origin 8", "set x, 0x15", ".wrap_target", "in x, 5 [31]", ".wrap",); + + let origin = prg.program.origin.unwrap_or(0); + sm.write_instr(origin as usize, &prg.program.code); + pio_instr_util::exec_jmp(&mut sm, origin); + sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32); + sm.set_set_range(0, 0); + sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin); + sm.set_autopush(true); + sm.set_in_shift_dir(ShiftDirection::Right); + sm.set_enable(true); + loop { + let rx = sm.wait_pull().await; + info!("Pulled {:032b} from FIFO", rx); + } +} + +#[embassy_executor::task] +async fn pio_task_sm2(mut sm: PioStateMachineInstance) { + // Setup sm2 + + // Repeatedly trigger IRQ 3 + let prg = pio_proc::pio_asm!( + ".origin 0", + ".wrap_target", + "set x,10", + "delay:", + "jmp x-- delay [15]", + "irq 3 [15]", + ".wrap", + ); + let origin = prg.program.origin.unwrap_or(0); + + sm.write_instr(origin as usize, &prg.program.code); + sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin); + pio_instr_util::exec_jmp(&mut sm, origin); + sm.set_clkdiv((125e6 / 2e3 * 256.0) as u32); + sm.set_enable(true); + loop { + sm.wait_irq(3).await; + info!("IRQ trigged"); + } +} + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + let p = embassy_rp::init(Default::default()); + let pio = p.PIO0; + + let (_, sm0, sm1, sm2, ..) = pio.split(); + + spawner.spawn(pio_task_sm0(sm0, p.PIN_0.degrade())).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 new file mode 100644 index 000000000..bdcdf200c --- /dev/null +++ b/examples/rp/src/bin/pio_dma.rs @@ -0,0 +1,67 @@ +#![no_std] +#![no_main] +#![feature(type_alias_impl_trait)] +use defmt::info; +use embassy_executor::Spawner; +use embassy_futures::join::join; +use embassy_rp::pio::{PioPeripherial, PioStateMachine, ShiftDirection}; +use embassy_rp::{pio_instr_util, Peripheral}; +use {defmt_rtt as _, panic_probe as _}; + +fn swap_nibbles(v: u32) -> u32 { + let v = (v & 0x0f0f_0f0f) << 4 | (v & 0xf0f0_f0f0) >> 4; + let v = (v & 0x00ff_00ff) << 8 | (v & 0xff00_ff00) >> 8; + (v & 0x0000_ffff) << 16 | (v & 0xffff_0000) >> 16 +} + +#[embassy_executor::main] +async fn main(_spawner: Spawner) { + let p = embassy_rp::init(Default::default()); + let pio = p.PIO0; + let (_, mut sm, ..) = pio.split(); + + let prg = pio_proc::pio_asm!( + ".origin 0", + "set pindirs,1", + ".wrap_target", + "set y,7", + "loop:", + "out x,4", + "in x,4", + "jmp y--, loop", + ".wrap", + ); + + let origin = prg.program.origin.unwrap_or(0); + sm.write_instr(origin as usize, &prg.program.code); + pio_instr_util::exec_jmp(&mut sm, origin); + sm.set_clkdiv((125e6 / 10e3 * 256.0) as u32); + sm.set_wrap(prg.program.wrap.source + origin, prg.program.wrap.target + origin); + sm.set_autopull(true); + sm.set_autopush(true); + sm.set_pull_threshold(32); + sm.set_push_threshold(32); + sm.set_out_shift_dir(ShiftDirection::Right); + sm.set_in_shift_dir(ShiftDirection::Left); + + sm.set_enable(true); + + let mut dma_out_ref = p.DMA_CH0.into_ref(); + let mut dma_in_ref = p.DMA_CH1.into_ref(); + let mut dout = [0x12345678u32; 29]; + for i in 1..dout.len() { + dout[i] = (dout[i - 1] & 0x0fff_ffff) * 13 + 7; + } + let mut din = [0u32; 29]; + loop { + join( + sm.dma_push(dma_out_ref.reborrow(), &dout), + sm.dma_pull(dma_in_ref.reborrow(), &mut din), + ) + .await; + for i in 0..din.len() { + assert_eq!(din[i], swap_nibbles(dout[i])); + } + info!("Swapped {} words", dout.len()); + } +} -- cgit