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|
#![no_std]
#![no_main]
#[cfg(feature = "rp2040")]
teleprobe_meta::target!(b"rpi-pico");
#[cfg(feature = "rp235xb")]
teleprobe_meta::target!(b"pimoroni-pico-plus-2");
use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::program::pio_asm;
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_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_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_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_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_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_asm!(".origin 0", "nop");
match common.try_load_program(&prg.program) {
Ok(_) => (),
_ => panic!("program didn't loaded when it shouldn"),
};
let prg = 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();
}
|
