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Update Embassy, to new PIO API.

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This commit is contained in:
Dario Nieuwenhuis 2023-05-13 02:20:46 +02:00
parent 6b5d9642d5
commit 8800caa216
7 changed files with 112 additions and 118 deletions
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12
Cargo.toml
View File

@ -12,7 +12,7 @@ firmware-logs = []
[dependencies]
embassy-time = { version = "0.1.0" }
embassy-sync = { version = "0.1.0" }
embassy-sync = { version = "0.2.0" }
embassy-futures = { version = "0.1.0" }
embassy-net-driver-channel = { version = "0.1.0" }
atomic-polyfill = "0.1.5"
@ -28,11 +28,11 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
num_enum = { version = "0.5.7", default-features = false }
[patch.crates-io]
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
[workspace]
members = ["cyw43-pio"]

1
cyw43-pio/Cargo.toml
View File

@ -8,4 +8,5 @@ cyw43 = { path = "../" }
embassy-rp = { version = "0.1.0", features = ["unstable-traits", "nightly", "unstable-pac", "time-driver"] }
pio-proc = "0.2"
pio = "0.2.1"
fixed = "1.23.1"
defmt = { version = "0.3", optional = true }

151
cyw43-pio/src/lib.rs
View File

@ -6,30 +6,39 @@ use core::slice;
use cyw43::SpiBusCyw43;
use embassy_rp::dma::Channel;
use embassy_rp::gpio::{Drive, Output, Pin, Pull, SlewRate};
use embassy_rp::pio::{PioStateMachine, ShiftDirection};
use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{pio_instr_util, Peripheral};
use pio::Wrap;
use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
use fixed::FixedU32;
use pio_proc::pio_asm;
pub struct PioSpi<CS: Pin, SM, DMA> {
cs: Output<'static, CS>,
sm: SM,
dma: DMA,
pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
cs: Output<'d, CS>,
sm: StateMachine<'d, PIO, SM>,
irq: Irq<'d, PIO, 0>,
dma: PeripheralRef<'d, DMA>,
wrap_target: u8,
}
impl<CS, SM, DMA> PioSpi<CS, SM, DMA>
impl<'d, CS, PIO, const SM: usize, DMA> PioSpi<'d, CS, PIO, SM, DMA>
where
SM: PioStateMachine,
DMA: Channel,
CS: Pin,
PIO: Instance,
{
pub fn new<DIO, CLK>(mut sm: SM, cs: Output<'static, CS>, dio: DIO, clk: CLK, dma: DMA) -> Self
pub fn new<DIO, CLK>(
common: &mut Common<'d, PIO>,
mut sm: StateMachine<'d, PIO, SM>,
irq: Irq<'d, PIO, 0>,
cs: Output<'d, CS>,
dio: DIO,
clk: CLK,
dma: impl Peripheral<P = DMA> + 'd,
) -> Self
where
DIO: Pin,
CLK: Pin,
DIO: PioPin,
CLK: PioPin,
{
let program = pio_asm!(
".side_set 1"
@ -42,8 +51,8 @@ where
// switch directions
"set pindirs, 0 side 0"
// these nops seem to be necessary for fast clkdiv
"nop side 1"
"nop side 0"
//"nop side 1"
//"nop side 0"
"nop side 1"
// read in y-1 bits
"lp2:"
@ -59,68 +68,62 @@ where
let relocated = RelocatedProgram::new(&program.program);
let mut pin_io = sm.make_pio_pin(dio);
pin_io.set_pull(Pull::Down);
let mut pin_io: embassy_rp::pio::Pin<PIO> = common.make_pio_pin(dio);
pin_io.set_pull(Pull::None);
pin_io.set_schmitt(true);
pin_io.set_input_sync_bypass(true);
//pin_io.set_drive_strength(Drive::_12mA);
//pin_io.set_slew_rate(SlewRate::Fast);
let mut pin_clk = sm.make_pio_pin(clk);
let mut pin_clk = common.make_pio_pin(clk);
pin_clk.set_drive_strength(Drive::_12mA);
pin_clk.set_slew_rate(SlewRate::Fast);
sm.write_instr(relocated.origin() as usize, relocated.code());
let mut cfg = Config::default();
cfg.use_program(&common.load_program(&relocated), &[&pin_clk]);
cfg.set_out_pins(&[&pin_io]);
cfg.set_in_pins(&[&pin_io]);
cfg.set_set_pins(&[&pin_io]);
cfg.shift_out.direction = ShiftDirection::Left;
cfg.shift_out.auto_fill = true;
//cfg.shift_out.threshold = 32;
cfg.shift_in.direction = ShiftDirection::Left;
cfg.shift_in.auto_fill = true;
//cfg.shift_in.threshold = 32;
// theoretical maximum according to data sheet, 100Mhz Pio => 50Mhz SPI Freq
sm.set_clkdiv(0x0140);
// seems to cause random corruption, probably due to jitter due to the fractional divider.
// cfg.clock_divider = FixedU32::from_bits(0x0140);
// same speed as pico-sdk, 62.5Mhz
// sm.set_clkdiv(0x0200);
cfg.clock_divider = FixedU32::from_bits(0x0200);
// 32 Mhz
// sm.set_clkdiv(0x03E8);
// cfg.clock_divider = FixedU32::from_bits(0x03E8);
// 16 Mhz
// sm.set_clkdiv(0x07d0);
// cfg.clock_divider = FixedU32::from_bits(0x07d0);
// 8Mhz
// sm.set_clkdiv(0x0a_00);
// cfg.clock_divider = FixedU32::from_bits(0x0a_00);
// 1Mhz
// sm.set_clkdiv(0x7d_00);
// cfg.clock_divider = FixedU32::from_bits(0x7d_00);
// slowest possible
// sm.set_clkdiv(0xffff_00);
// cfg.clock_divider = FixedU32::from_bits(0xffff_00);
sm.set_autopull(true);
// sm.set_pull_threshold(32);
sm.set_autopush(true);
// sm.set_push_threshold(32);
sm.set_config(&cfg);
sm.set_out_pins(&[&pin_io]);
sm.set_in_base_pin(&pin_io);
sm.set_set_pins(&[&pin_clk]);
pio_instr_util::set_pindir(&mut sm, 0b1);
sm.set_set_pins(&[&pin_io]);
pio_instr_util::set_pindir(&mut sm, 0b1);
sm.set_sideset_base_pin(&pin_clk);
sm.set_sideset_count(1);
sm.set_out_shift_dir(ShiftDirection::Left);
sm.set_in_shift_dir(ShiftDirection::Left);
let Wrap { source, target } = relocated.wrap();
sm.set_wrap(source, target);
// pull low for startup
pio_instr_util::set_pin(&mut sm, 0);
sm.set_pin_dirs(Direction::Out, &[&pin_clk, &pin_io]);
sm.set_pins(Level::Low, &[&pin_clk, &pin_io]);
Self {
cs,
sm,
dma,
wrap_target: target,
irq,
dma: dma.into_ref(),
wrap_target: relocated.wrap().target,
}
}
@ -132,18 +135,22 @@ where
#[cfg(feature = "defmt")]
defmt::trace!("write={} read={}", write_bits, read_bits);
let mut dma = Peripheral::into_ref(&mut self.dma);
pio_instr_util::set_x(&mut self.sm, write_bits as u32);
pio_instr_util::set_y(&mut self.sm, read_bits as u32);
pio_instr_util::set_pindir(&mut self.sm, 0b1);
pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
unsafe {
pio_instr_util::set_x(&mut self.sm, write_bits as u32);
pio_instr_util::set_y(&mut self.sm, read_bits as u32);
pio_instr_util::set_pindir(&mut self.sm, 0b1);
pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
}
self.sm.set_enable(true);
self.sm.dma_push(dma.reborrow(), write).await;
self.sm.tx().dma_push(self.dma.reborrow(), write).await;
let mut status = 0;
self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
self.sm
.rx()
.dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
.await;
status
}
@ -155,27 +162,32 @@ where
#[cfg(feature = "defmt")]
defmt::trace!("write={} read={}", write_bits, read_bits);
let mut dma = Peripheral::into_ref(&mut self.dma);
pio_instr_util::set_y(&mut self.sm, read_bits as u32);
pio_instr_util::set_x(&mut self.sm, write_bits as u32);
pio_instr_util::set_pindir(&mut self.sm, 0b1);
pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
unsafe {
pio_instr_util::set_y(&mut self.sm, read_bits as u32);
pio_instr_util::set_x(&mut self.sm, write_bits as u32);
pio_instr_util::set_pindir(&mut self.sm, 0b1);
pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
}
// self.cs.set_low();
self.sm.set_enable(true);
self.sm.dma_push(dma.reborrow(), slice::from_ref(&cmd)).await;
self.sm.dma_pull(dma.reborrow(), read).await;
self.sm.tx().dma_push(self.dma.reborrow(), slice::from_ref(&cmd)).await;
self.sm.rx().dma_pull(self.dma.reborrow(), read).await;
let mut status = 0;
self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
self.sm
.rx()
.dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
.await;
status
}
}
impl<CS, SM, DMA> SpiBusCyw43 for PioSpi<CS, SM, DMA>
impl<'d, CS, PIO, const SM: usize, DMA> SpiBusCyw43 for PioSpi<'d, CS, PIO, SM, DMA>
where
CS: Pin,
SM: PioStateMachine,
PIO: Instance,
DMA: Channel,
{
async fn cmd_write(&mut self, write: &[u32]) -> u32 {
@ -193,7 +205,6 @@ where
}
async fn wait_for_event(&mut self) {
self.sm.wait_irq(0).await;
self.sm.clear_irq(0);
self.irq.wait().await;
}
}

18
examples/rpi-pico-w/Cargo.toml
View File

@ -7,7 +7,7 @@ edition = "2021"
[dependencies]
cyw43 = { path = "../../", features = ["defmt", "firmware-logs"] }
cyw43-pio = { path = "../../cyw43-pio", features = ["defmt"] }
embassy-executor = { version = "0.1.0", features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
embassy-executor = { version = "0.2.0", features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
embassy-time = { version = "0.1.0", features = ["defmt", "defmt-timestamp-uptime"] }
embassy-rp = { version = "0.1.0", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] }
embassy-net = { version = "0.1.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "unstable-traits", "nightly"] }
@ -27,14 +27,14 @@ heapless = "0.7.15"
[patch.crates-io]
embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
[profile.dev]
debug = 2

16
examples/rpi-pico-w/src/bin/tcp_server.rs
View File

@ -12,8 +12,8 @@ use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, Stack, StackResources};
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embedded_io::asynch::Write;
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -28,11 +28,7 @@ macro_rules! singleton {
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<
'static,
Output<'static, PIN_23>,
PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
>,
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
) -> ! {
runner.run().await
}
@ -60,10 +56,8 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let (_, sm, _, _, _) = p.PIO0.split();
let dma = p.DMA_CH0;
let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
let mut pio = Pio::new(p.PIO0);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = singleton!(cyw43::State::new());
let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;

16
examples/rpi-pico-w/src/bin/tcp_server_ap.rs
View File

@ -12,8 +12,8 @@ use embassy_executor::Spawner;
use embassy_net::tcp::TcpSocket;
use embassy_net::{Config, Stack, StackResources};
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use embedded_io::asynch::Write;
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -28,11 +28,7 @@ macro_rules! singleton {
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<
'static,
Output<'static, PIN_23>,
PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
>,
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
) -> ! {
runner.run().await
}
@ -60,10 +56,8 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let (_, sm, _, _, _) = p.PIO0.split();
let dma = p.DMA_CH0;
let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
let mut pio = Pio::new(p.PIO0);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = singleton!(cyw43::State::new());
let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;

16
examples/rpi-pico-w/src/bin/wifi_scan.rs
View File

@ -11,8 +11,8 @@ use defmt::*;
use embassy_executor::Spawner;
use embassy_net::Stack;
use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
use embassy_rp::pio::Pio;
use static_cell::StaticCell;
use {defmt_rtt as _, panic_probe as _};
@ -26,11 +26,7 @@ macro_rules! singleton {
#[embassy_executor::task]
async fn wifi_task(
runner: cyw43::Runner<
'static,
Output<'static, PIN_23>,
PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
>,
runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
) -> ! {
runner.run().await
}
@ -58,10 +54,8 @@ async fn main(spawner: Spawner) {
let pwr = Output::new(p.PIN_23, Level::Low);
let cs = Output::new(p.PIN_25, Level::High);
let (_, sm, _, _, _) = p.PIO0.split();
let dma = p.DMA_CH0;
let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
let mut pio = Pio::new(p.PIO0);
let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
let state = singleton!(cyw43::State::new());
let (_net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;