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//! This example shows powerful PIO module in the RP2040 chip.
#![no_std]
#![no_main]
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::program::pio_asm;
use embassy_rp::pio::{Common, Config, InterruptHandler, Irq, Pio, PioPin, ShiftDirection, StateMachine};
use embassy_rp::{bind_interrupts, Peri};
use fixed::traits::ToFixed;
use fixed_macro::types::U56F8;
use {defmt_rtt as _, panic_probe as _};
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
});
fn setup_pio_task_sm0<'d>(pio: &mut Common<'d, PIO0>, sm: &mut StateMachine<'d, PIO0, 0>, pin: Peri<'d, impl PioPin>) {
// Setup sm0
// Send data serially to pin
let prg = pio_asm!(
".origin 16",
"set pindirs, 1",
".wrap_target",
"out pins,1 [19]",
".wrap",
);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&prg.program), &[]);
let out_pin = pio.make_pio_pin(pin);
cfg.set_out_pins(&[&out_pin]);
cfg.set_set_pins(&[&out_pin]);
cfg.clock_divider = (U56F8!(125_000_000) / 20 / 200).to_fixed();
cfg.shift_out.auto_fill = true;
sm.set_config(&cfg);
}
#[embassy_executor::task]
async fn pio_task_sm0(mut sm: StateMachine<'static, PIO0, 0>) {
sm.set_enable(true);
let mut v = 0x0f0caffa;
loop {
sm.tx().wait_push(v).await;
v ^= 0xffff;
info!("Pushed {:032b} to FIFO", v);
}
}
fn setup_pio_task_sm1<'d>(pio: &mut Common<'d, PIO0>, sm: &mut StateMachine<'d, PIO0, 1>) {
// Setupm sm1
// Read 0b10101 repeatedly until ISR is full
let prg = pio_asm!(
//
".origin 8",
"set x, 0x15",
".wrap_target",
"in x, 5 [31]",
".wrap",
);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&prg.program), &[]);
cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
cfg.shift_in.auto_fill = true;
cfg.shift_in.direction = ShiftDirection::Right;
sm.set_config(&cfg);
}
#[embassy_executor::task]
async fn pio_task_sm1(mut sm: StateMachine<'static, PIO0, 1>) {
sm.set_enable(true);
loop {
let rx = sm.rx().wait_pull().await;
info!("Pulled {:032b} from FIFO", rx);
}
}
fn setup_pio_task_sm2<'d>(pio: &mut Common<'d, PIO0>, sm: &mut StateMachine<'d, PIO0, 2>) {
// Setup sm2
// Repeatedly trigger IRQ 3
let prg = pio_asm!(
".origin 0",
".wrap_target",
"set x,10",
"delay:",
"jmp x-- delay [15]",
"irq 3 [15]",
".wrap",
);
let mut cfg = Config::default();
cfg.use_program(&pio.load_program(&prg.program), &[]);
cfg.clock_divider = (U56F8!(125_000_000) / 2000).to_fixed();
sm.set_config(&cfg);
}
#[embassy_executor::task]
async fn pio_task_sm2(mut irq: Irq<'static, PIO0, 3>, mut sm: StateMachine<'static, PIO0, 2>) {
sm.set_enable(true);
loop {
irq.wait().await;
info!("IRQ trigged");
}
}
#[embassy_executor::main]
async fn main(spawner: Spawner) {
let p = embassy_rp::init(Default::default());
let pio = p.PIO0;
let Pio {
mut common,
irq3,
mut sm0,
mut sm1,
mut sm2,
..
} = Pio::new(pio, Irqs);
setup_pio_task_sm0(&mut common, &mut sm0, p.PIN_0);
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(irq3, sm2)).unwrap();
}
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