| /* |
| * 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, irq_ctrl[0].inte, 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); |
| check_hw_layout(pio_hw_t, irq_ctrl[1].ints, PIO_IRQ1_INTS_OFFSET); |
| |
| static uint8_t claimed[(NUM_PIO_STATE_MACHINES * NUM_PIOS + 7) >> 3]; |
| |
| void pio_sm_claim(PIO pio, uint sm) { |
| check_sm_param(sm); |
| uint which = pio_get_index(pio); |
| const char *msg = |
| #if PICO_PIO_VERSION > 0 |
| which == 2 ? "PIO 2 SM (%d - 8) already claimed" : |
| #endif |
| which == 1 ? "PIO 1 SM (%d - 4) already claimed" : |
| "PIO 0 SM %d already claimed"; |
| hw_claim_or_assert(&claimed[0], which * NUM_PIO_STATE_MACHINES + sm, msg); |
| } |
| |
| 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[0], which * NUM_PIO_STATE_MACHINES + sm); |
| } |
| |
| int pio_claim_unused_sm(PIO pio, bool required) { |
| // PIO index ranges from 0 to NUM_PIOS - 1. |
| uint which = pio_get_index(pio); |
| uint base = which * NUM_PIO_STATE_MACHINES; |
| int index = hw_claim_unused_from_range((uint8_t*)&claimed[0], 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[0], which * NUM_PIO_STATE_MACHINES + sm); |
| } |
| |
| static_assert(PIO_INSTRUCTION_COUNT <= 32, ""); |
| static uint32_t _used_instruction_space[NUM_PIOS]; |
| |
| static int 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 PICO_ERROR_GENERIC; |
| 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 PICO_ERROR_INSUFFICIENT_RESOURCES; |
| } |
| } |
| |
| static int pio_set_gpio_base_unsafe(PIO pio, uint gpio_base) { |
| invalid_params_if_and_return(PIO, gpio_base != 0 && (!PICO_PIO_VERSION || gpio_base != 16), PICO_ERROR_BAD_ALIGNMENT); |
| #if PICO_PIO_VERSION > 0 |
| uint32_t used_mask = _used_instruction_space[pio_get_index(pio)]; |
| invalid_params_if_and_return(PIO, used_mask, PICO_ERROR_INVALID_STATE); |
| pio->gpiobase = gpio_base; |
| #else |
| ((void)pio); |
| ((void)gpio_base); |
| #endif |
| return PICO_OK; |
| } |
| |
| int pio_set_gpio_base(PIO pio, uint gpio_base) { |
| int rc = PICO_OK; |
| #if PICO_PIO_VERSION > 0 |
| uint32_t save = hw_claim_lock(); |
| rc = pio_set_gpio_base_unsafe(pio, gpio_base); |
| hw_claim_unlock(save); |
| #else |
| ((void)pio); |
| ((void)gpio_base); |
| #endif |
| return rc; |
| } |
| |
| static bool is_gpio_compatible(PIO pio, uint32_t used_gpio_ranges) { |
| #if PICO_PIO_VERSION > 0 |
| bool gpio_base = pio_get_gpio_base(pio); |
| return !((gpio_base && (used_gpio_ranges & 1)) || |
| (!gpio_base && (used_gpio_ranges & 4))); |
| #else |
| ((void)pio); |
| ((void)used_gpio_ranges); |
| return true; |
| #endif |
| } |
| |
| static bool is_program_gpio_compatible(PIO pio, const pio_program_t *program) { |
| #if PICO_PIO_VERSION > 0 |
| return is_gpio_compatible(pio, program->used_gpio_ranges); |
| #else |
| ((void)pio); |
| ((void)program); |
| return true; |
| #endif |
| } |
| |
| static int add_program_at_offset_check(PIO pio, const pio_program_t *program, uint offset) { |
| valid_params_if(HARDWARE_PIO, offset < PIO_INSTRUCTION_COUNT); |
| valid_params_if(HARDWARE_PIO, offset + program->length <= PIO_INSTRUCTION_COUNT); |
| #if PICO_PIO_VERSION == 0 |
| if (program->pio_version) return PICO_ERROR_VERSION_MISMATCH; |
| #endif |
| if (!is_program_gpio_compatible(pio, program)) return PICO_ERROR_BAD_ALIGNMENT; // todo better error? |
| if (program->origin >= 0 && (uint)program->origin != offset) return PICO_ERROR_BAD_ALIGNMENT; // todo better error? |
| 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)) ? PICO_ERROR_INSUFFICIENT_RESOURCES : PICO_OK; |
| } |
| |
| bool pio_can_add_program(PIO pio, const pio_program_t *program) { |
| uint32_t save = hw_claim_lock(); |
| int rc = find_offset_for_program(pio, program); |
| if (rc >= 0) rc = add_program_at_offset_check(pio, program, (uint)rc); |
| hw_claim_unlock(save); |
| return rc == 0; |
| } |
| |
| bool pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| uint32_t save = hw_claim_lock(); |
| bool rc = add_program_at_offset_check(pio, program, offset) == 0; |
| hw_claim_unlock(save); |
| return rc; |
| } |
| |
| static int add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| int rc = add_program_at_offset_check(pio, program, offset); |
| if (rc != 0) return rc; |
| 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; |
| return (int)offset; |
| } |
| |
| // these assert if unable |
| int pio_add_program(PIO pio, const pio_program_t *program) { |
| uint32_t save = hw_claim_lock(); |
| int offset = find_offset_for_program(pio, program); |
| if (offset >= 0) { |
| offset = add_program_at_offset(pio, program, (uint) offset); |
| } |
| hw_claim_unlock(save); |
| return offset; |
| } |
| |
| int pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) { |
| uint32_t save = hw_claim_lock(); |
| int rc = add_program_at_offset(pio, program, offset); |
| hw_claim_unlock(save); |
| return rc; |
| } |
| |
| 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; |
| } |
| |
| int pio_sm_set_consecutive_pindirs(PIO pio, uint sm, uint pin, uint count, bool is_out) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| pin -= pio_get_gpio_base(pio); |
| invalid_params_if_and_return(PIO, pin >= 32u, PICO_ERROR_INVALID_ARG); |
| 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; |
| return PICO_OK; |
| } |
| |
| int pio_sm_init(PIO pio, uint sm, uint initial_pc, const pio_sm_config *config) { |
| valid_params_if(HARDWARE_PIO, initial_pc < PIO_INSTRUCTION_COUNT); |
| // Halt the machine, set some sensible defaults |
| pio_sm_set_enabled(pio, sm, false); |
| |
| int rc; |
| if (config) { |
| rc = pio_sm_set_config(pio, sm, config); |
| } else { |
| pio_sm_config c = pio_get_default_sm_config(); |
| rc = pio_sm_set_config(pio, sm, &c); |
| } |
| if (rc) return rc; |
| |
| 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)); |
| return PICO_OK; |
| } |
| |
| 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); |
| } |
| } |
| |
| bool pio_claim_free_sm_and_add_program(const pio_program_t *program, PIO *pio, uint *sm, uint *offset) { |
| return pio_claim_free_sm_and_add_program_for_gpio_range(program, pio, sm, offset, 0, 0, false); |
| } |
| |
| bool pio_claim_free_sm_and_add_program_for_gpio_range(const pio_program_t *program, PIO *pio, uint *sm, uint *offset, uint gpio_base, uint gpio_count, bool set_gpio_base) { |
| invalid_params_if(HARDWARE_PIO, (gpio_base + gpio_count) > NUM_BANK0_GPIOS); |
| |
| #if !PICO_PIO_USE_GPIO_BASE |
| // short-circuit some logic when not using GIO_BASE |
| set_gpio_base = 0; |
| gpio_count = 0; |
| #endif |
| |
| // note if we gpio_count == 0, we don't care about GPIOs so use a zero mask for what we require |
| // if gpio_count > 0, then we just set used mask for the ends, since that is all that is checked at the moment |
| uint32_t required_gpio_ranges; |
| if (gpio_count) required_gpio_ranges = (1u << (gpio_base >> 4)) | (1u << ((gpio_base + gpio_count - 1) >> 4)); |
| else required_gpio_ranges = 0; |
| int passes = set_gpio_base ? 2 : 1; |
| |
| for(int pass = 0; pass < passes; pass++) { |
| int pio_num = NUM_PIOS; |
| while (pio_num--) { |
| *pio = pio_get_instance((uint)pio_num); |
| // We need to claim an SM on the PIO |
| int8_t sm_index[NUM_PIO_STATE_MACHINES]; |
| // on second pass, if there is one, we try and claim all the state machines so that we can change the GPIO base |
| uint num_claimed; |
| for(num_claimed = 0; num_claimed < (pass ? NUM_PIO_STATE_MACHINES : 1u) ; num_claimed++) { |
| sm_index[num_claimed] = (int8_t)pio_claim_unused_sm(*pio, false); |
| if (sm_index[num_claimed] < 0) break; |
| } |
| if (num_claimed && (!pass || num_claimed == NUM_PIO_STATE_MACHINES)) { |
| uint32_t save = hw_claim_lock(); |
| if (pass) { |
| pio_set_gpio_base_unsafe(*pio, required_gpio_ranges & 4 ? 16 : 0); |
| } |
| int rc = is_gpio_compatible(*pio, required_gpio_ranges) ? PICO_OK : PICO_ERROR_BAD_ALIGNMENT; |
| if (rc == PICO_OK) rc = find_offset_for_program(*pio, program); |
| if (rc >= 0) rc = add_program_at_offset(*pio, program, (uint)rc); |
| if (rc >= 0) { |
| *sm = (uint) sm_index[0]; |
| *offset = (uint) rc; |
| } |
| hw_claim_unlock(save); |
| // always un-claim all SMs other than the one we need (array index 0), |
| // or all of them if we had an error |
| for (uint i = (rc >= 0); i < num_claimed; i++) { |
| pio_sm_unclaim(*pio, (uint) sm_index[i]); |
| } |
| if (rc >= 0) { |
| return true; |
| } |
| } |
| } |
| } |
| *pio = NULL; |
| return false; |
| } |
| |
| void pio_remove_program_and_unclaim_sm(const pio_program_t *program, PIO pio, uint sm, uint offset) { |
| check_pio_param(pio); |
| check_sm_param(sm); |
| pio_remove_program(pio, program, offset); |
| pio_sm_unclaim(pio, sm); |
| } |
