| /* |
| * Copyright (c) 2020 Raspberry Pi (Trading) Ltd. |
| * |
| * SPDX-License-Identifier: BSD-3-Clause |
| */ |
| |
| #include "hardware/claim.h" |
| #include "hardware/pio.h" |
| #include "hardware/pio_instructions.h" |
| |
| // sanity check |
| check_hw_layout(pio_hw_t, sm[0].clkdiv, PIO_SM0_CLKDIV_OFFSET); |
| check_hw_layout(pio_hw_t, sm[1].clkdiv, PIO_SM1_CLKDIV_OFFSET); |
| check_hw_layout(pio_hw_t, instr_mem[0], PIO_INSTR_MEM0_OFFSET); |
| check_hw_layout(pio_hw_t, inte0, PIO_IRQ0_INTE_OFFSET); |
| check_hw_layout(pio_hw_t, txf[1], PIO_TXF1_OFFSET); |
| check_hw_layout(pio_hw_t, rxf[3], PIO_RXF3_OFFSET); |
| check_hw_layout(pio_hw_t, ints1, PIO_IRQ1_INTS_OFFSET); |
| |
| static_assert(NUM_PIO_STATE_MACHINES * NUM_PIOS <= 8, ""); |
| static uint8_t claimed; |
| |
| void pio_sm_claim(PIO pio, uint sm) { |
| check_sm_param(sm); |
| uint which = pio_get_index(pio); |
| if (which) { |
| hw_claim_or_assert(&claimed, NUM_PIO_STATE_MACHINES + sm, "PIO 1 SM (%d - 4) already claimed"); |
| } else { |
| hw_claim_or_assert(&claimed, sm, "PIO 0 SM %d already claimed"); |
| } |
| } |
| |
| void pio_claim_sm_mask(PIO pio, uint sm_mask) { |
| for(uint i = 0; sm_mask; i++, sm_mask >>= 1u) { |
| if (sm_mask & 1u) pio_sm_claim(pio, i); |
| } |
| } |
| |
| void pio_sm_unclaim(PIO pio, uint sm) { |
| check_sm_param(sm); |
| uint which = pio_get_index(pio); |
| hw_claim_clear(&claimed, which * NUM_PIO_STATE_MACHINES + sm); |
| } |
| |
| int pio_claim_unused_sm(PIO pio, bool required) { |
| // PIO index is 0 or 1. |
| uint which = pio_get_index(pio); |
| uint base = which * NUM_PIO_STATE_MACHINES; |
| int index = hw_claim_unused_from_range((uint8_t*)&claimed, required, base, |
| base + NUM_PIO_STATE_MACHINES - 1, "No PIO state machines are available"); |
| return index >= (int)base ? index - (int)base : -1; |
| } |
| |
| bool pio_sm_is_claimed(PIO pio, uint sm) { |
| check_sm_param(sm); |
| uint which = pio_get_index(pio); |
| return hw_is_claimed(&claimed, which * NUM_PIO_STATE_MACHINES + sm); |
| } |
| |
| static_assert(PIO_INSTRUCTION_COUNT <= 32, ""); |
| static uint32_t _used_instruction_space[2]; |
| |
| static int _pio_find_offset_for_program(PIO pio, const pio_program_t *program) { |
| assert(program->length <= PIO_INSTRUCTION_COUNT); |
| uint32_t used_mask = _used_instruction_space[pio_get_index(pio)]; |
| uint32_t program_mask = (1u << program->length) - 1; |
| if (program->origin >= 0) { |
| if (program->origin > 32 - program->length) return -1; |
| return used_mask & (program_mask << program->origin) ? -1 : program->origin; |
| } else { |
| // work down from the top always |
| for (int i = 32 - program->length; i >= 0; i--) { |
| if (!(used_mask & (program_mask << (uint) i))) { |
| return i; |
| } |
| } |
| return -1; |
| } |
| } |
| |
| bool pio_can_add_program(PIO pio, const pio_program_t *program) { |
| uint32_t save = hw_claim_lock(); |
| bool rc = -1 != _pio_find_offset_for_program(pio, program); |
| hw_claim_unlock(save); |
| return rc; |
| } |
| |
| static bool _pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| valid_params_if(PIO, offset < PIO_INSTRUCTION_COUNT); |
| valid_params_if(PIO, offset + program->length <= PIO_INSTRUCTION_COUNT); |
| if (program->origin >= 0 && (uint)program->origin != offset) return false; |
| uint32_t used_mask = _used_instruction_space[pio_get_index(pio)]; |
| uint32_t program_mask = (1u << program->length) - 1; |
| return !(used_mask & (program_mask << offset)); |
| } |
| |
| bool pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| uint32_t save = hw_claim_lock(); |
| bool rc = _pio_can_add_program_at_offset(pio, program, offset); |
| hw_claim_unlock(save); |
| return rc; |
| } |
| |
| static void _pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| if (!_pio_can_add_program_at_offset(pio, program, offset)) { |
| panic("No program space"); |
| } |
| for (uint i = 0; i < program->length; ++i) { |
| uint16_t instr = program->instructions[i]; |
| pio->instr_mem[offset + i] = pio_instr_bits_jmp != _pio_major_instr_bits(instr) ? instr : instr + offset; |
| } |
| uint32_t program_mask = (1u << program->length) - 1; |
| _used_instruction_space[pio_get_index(pio)] |= program_mask << offset; |
| } |
| |
| // these assert if unable |
| uint pio_add_program(PIO pio, const pio_program_t *program) { |
| uint32_t save = hw_claim_lock(); |
| int offset = _pio_find_offset_for_program(pio, program); |
| if (offset < 0) { |
| panic("No program space"); |
| } |
| _pio_add_program_at_offset(pio, program, (uint)offset); |
| hw_claim_unlock(save); |
| return (uint)offset; |
| } |
| |
| void pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| uint32_t save = hw_claim_lock(); |
| _pio_add_program_at_offset(pio, program, offset); |
| hw_claim_unlock(save); |
| } |
| |
| void pio_remove_program(PIO pio, const pio_program_t *program, uint loaded_offset) { |
| uint32_t program_mask = (1u << program->length) - 1; |
| program_mask <<= loaded_offset; |
| uint32_t save = hw_claim_lock(); |
| assert(program_mask == (_used_instruction_space[pio_get_index(pio)] & program_mask)); |
| _used_instruction_space[pio_get_index(pio)] &= ~program_mask; |
| hw_claim_unlock(save); |
| } |
| |
| void pio_clear_instruction_memory(PIO pio) { |
| uint32_t save = hw_claim_lock(); |
| _used_instruction_space[pio_get_index(pio)] = 0; |
| for(uint i=0;i<PIO_INSTRUCTION_COUNT;i++) { |
| pio->instr_mem[i] = pio_encode_jmp(i); |
| } |
| hw_claim_unlock(save); |
| } |
| |
| // Set the value of all PIO pins. This is done by forcibly executing |
| // instructions on a "victim" state machine, sm. Ideally you should choose one |
| // which is not currently running a program. This is intended for one-time |
| // setup of initial pin states. |
| void pio_sm_set_pins(PIO pio, uint sm, uint32_t pins) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| uint32_t pinctrl_saved = pio->sm[sm].pinctrl; |
| uint32_t execctrl_saved = pio->sm[sm].execctrl; |
| hw_clear_bits(&pio->sm[sm].execctrl, 1u << PIO_SM0_EXECCTRL_OUT_STICKY_LSB); |
| uint remaining = 32; |
| uint base = 0; |
| while (remaining) { |
| uint decrement = remaining > 5 ? 5 : remaining; |
| pio->sm[sm].pinctrl = |
| (decrement << PIO_SM0_PINCTRL_SET_COUNT_LSB) | |
| (base << PIO_SM0_PINCTRL_SET_BASE_LSB); |
| pio_sm_exec(pio, sm, pio_encode_set(pio_pins, pins & 0x1fu)); |
| remaining -= decrement; |
| base += decrement; |
| pins >>= 5; |
| } |
| pio->sm[sm].pinctrl = pinctrl_saved; |
| pio->sm[sm].execctrl = execctrl_saved; |
| } |
| |
| void pio_sm_set_pins_with_mask(PIO pio, uint sm, uint32_t pinvals, uint32_t pin_mask) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| uint32_t pinctrl_saved = pio->sm[sm].pinctrl; |
| uint32_t execctrl_saved = pio->sm[sm].execctrl; |
| hw_clear_bits(&pio->sm[sm].execctrl, 1u << PIO_SM0_EXECCTRL_OUT_STICKY_LSB); |
| while (pin_mask) { |
| uint base = (uint)__builtin_ctz(pin_mask); |
| pio->sm[sm].pinctrl = |
| (1u << PIO_SM0_PINCTRL_SET_COUNT_LSB) | |
| (base << PIO_SM0_PINCTRL_SET_BASE_LSB); |
| pio_sm_exec(pio, sm, pio_encode_set(pio_pins, (pinvals >> base) & 0x1u)); |
| pin_mask &= pin_mask - 1; |
| } |
| pio->sm[sm].pinctrl = pinctrl_saved; |
| pio->sm[sm].execctrl = execctrl_saved; |
| } |
| |
| void pio_sm_set_pindirs_with_mask(PIO pio, uint sm, uint32_t pindirs, uint32_t pin_mask) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| uint32_t pinctrl_saved = pio->sm[sm].pinctrl; |
| uint32_t execctrl_saved = pio->sm[sm].execctrl; |
| hw_clear_bits(&pio->sm[sm].execctrl, 1u << PIO_SM0_EXECCTRL_OUT_STICKY_LSB); |
| while (pin_mask) { |
| uint base = (uint)__builtin_ctz(pin_mask); |
| pio->sm[sm].pinctrl = |
| (1u << PIO_SM0_PINCTRL_SET_COUNT_LSB) | |
| (base << PIO_SM0_PINCTRL_SET_BASE_LSB); |
| pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, (pindirs >> base) & 0x1u)); |
| pin_mask &= pin_mask - 1; |
| } |
| pio->sm[sm].pinctrl = pinctrl_saved; |
| pio->sm[sm].execctrl = execctrl_saved; |
| } |
| |
| void pio_sm_set_consecutive_pindirs(PIO pio, uint sm, uint pin, uint count, bool is_out) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| valid_params_if(PIO, pin < 32u); |
| uint32_t pinctrl_saved = pio->sm[sm].pinctrl; |
| uint32_t execctrl_saved = pio->sm[sm].execctrl; |
| hw_clear_bits(&pio->sm[sm].execctrl, 1u << PIO_SM0_EXECCTRL_OUT_STICKY_LSB); |
| uint pindir_val = is_out ? 0x1f : 0; |
| while (count > 5) { |
| pio->sm[sm].pinctrl = (5u << PIO_SM0_PINCTRL_SET_COUNT_LSB) | (pin << PIO_SM0_PINCTRL_SET_BASE_LSB); |
| pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, pindir_val)); |
| count -= 5; |
| pin = (pin + 5) & 0x1f; |
| } |
| pio->sm[sm].pinctrl = (count << PIO_SM0_PINCTRL_SET_COUNT_LSB) | (pin << PIO_SM0_PINCTRL_SET_BASE_LSB); |
| pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, pindir_val)); |
| pio->sm[sm].pinctrl = pinctrl_saved; |
| pio->sm[sm].execctrl = execctrl_saved; |
| } |
| |
| void pio_sm_init(PIO pio, uint sm, uint initial_pc, const pio_sm_config *config) { |
| valid_params_if(PIO, initial_pc < PIO_INSTRUCTION_COUNT); |
| // Halt the machine, set some sensible defaults |
| pio_sm_set_enabled(pio, sm, false); |
| |
| if (config) { |
| pio_sm_set_config(pio, sm, config); |
| } else { |
| pio_sm_config c = pio_get_default_sm_config(); |
| pio_sm_set_config(pio, sm, &c); |
| } |
| |
| pio_sm_clear_fifos(pio, sm); |
| |
| // Clear FIFO debug flags |
| const uint32_t fdebug_sm_mask = |
| (1u << PIO_FDEBUG_TXOVER_LSB) | |
| (1u << PIO_FDEBUG_RXUNDER_LSB) | |
| (1u << PIO_FDEBUG_TXSTALL_LSB) | |
| (1u << PIO_FDEBUG_RXSTALL_LSB); |
| pio->fdebug = fdebug_sm_mask << sm; |
| |
| // Finally, clear some internal SM state |
| pio_sm_restart(pio, sm); |
| pio_sm_clkdiv_restart(pio, sm); |
| pio_sm_exec(pio, sm, pio_encode_jmp(initial_pc)); |
| } |
| |
| void pio_sm_drain_tx_fifo(PIO pio, uint sm) { |
| uint instr = (pio->sm[sm].shiftctrl & PIO_SM0_SHIFTCTRL_AUTOPULL_BITS) ? pio_encode_out(pio_null, 32) : |
| pio_encode_pull(false, false); |
| while (!pio_sm_is_tx_fifo_empty(pio, sm)) { |
| pio_sm_exec(pio, sm, instr); |
| } |
| } |