diff --git a/Cargo.toml b/Cargo.toml index c4872f423..2bb2b8d93 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -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"] diff --git a/ci.sh b/ci.sh index d41b3aa81..916838200 100755 --- a/ci.sh +++ b/ci.sh @@ -1,7 +1,9 @@ #!/bin/bash set -euxo pipefail +cd $(dirname $0) +export CARGO_TARGET_DIR=$(pwd)/target export DEFMT_LOG=trace # build examples @@ -18,3 +20,6 @@ cargo build --target thumbv6m-none-eabi --features 'log' cargo build --target thumbv6m-none-eabi --features 'defmt' cargo build --target thumbv6m-none-eabi --features 'log,firmware-logs' cargo build --target thumbv6m-none-eabi --features 'defmt,firmware-logs' + +(cd cyw43-pio; cargo build --target thumbv6m-none-eabi --features '') +(cd cyw43-pio; cargo build --target thumbv6m-none-eabi --features 'overclock') diff --git a/cyw43-pio/Cargo.toml b/cyw43-pio/Cargo.toml index 8272903c3..2238f7617 100644 --- a/cyw43-pio/Cargo.toml +++ b/cyw43-pio/Cargo.toml @@ -3,9 +3,15 @@ name = "cyw43-pio" version = "0.1.0" edition = "2021" +[features] +# If disabled, SPI runs at 31.25MHz +# If enabled, SPI runs at 62.5MHz, which is 25% higher than 50Mhz which is the maximum according to the CYW43439 datasheet. +overclock = [] + [dependencies] 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 } \ No newline at end of file diff --git a/cyw43-pio/src/lib.rs b/cyw43-pio/src/lib.rs index c468435f1..dca30c74d 100644 --- a/cyw43-pio/src/lib.rs +++ b/cyw43-pio/src/lib.rs @@ -6,49 +6,80 @@ 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: 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 PioSpi +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(mut sm: SM, cs: Output<'static, CS>, dio: DIO, clk: CLK, dma: DMA) -> Self + pub fn new( + 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

+ 'd, + ) -> Self where - DIO: Pin, - CLK: Pin, + DIO: PioPin, + CLK: PioPin, { + #[cfg(feature = "overclock")] let program = pio_asm!( ".side_set 1" ".wrap_target" // write out x-1 bits - "lp:", + "lp:" "out pins, 1 side 0" "jmp x-- lp side 1" // switch directions "set pindirs, 0 side 0" - // these nops seem to be necessary for fast clkdiv - "nop side 1" + "nop side 1" // necessary for clkdiv=1. "nop side 0" - "nop side 1" // read in y-1 bits "lp2:" - "in pins, 1 side 0" - "jmp y-- lp2 side 1" + "in pins, 1 side 1" + "jmp y-- lp2 side 0" + + // wait for event and irq host + "wait 1 pin 0 side 0" + "irq 0 side 0" + + ".wrap" + ); + #[cfg(not(feature = "overclock"))] + let program = pio_asm!( + ".side_set 1" + + ".wrap_target" + // write out x-1 bits + "lp:" + "out pins, 1 side 0" + "jmp x-- lp side 1" + // switch directions + "set pindirs, 0 side 0" + "nop side 0" + // read in y-1 bits + "lp2:" + "in pins, 1 side 1" + "jmp y-- lp2 side 0" // wait for event and irq host "wait 1 pin 0 side 0" @@ -59,68 +90,59 @@ 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 = 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); + #[cfg(feature = "overclock")] + { + // 125mhz Pio => 62.5Mhz SPI Freq. 25% higher than theoretical maximum according to + // data sheet, but seems to work fine. + cfg.clock_divider = FixedU32::from_bits(0x0100); + } - // same speed as pico-sdk, 62.5Mhz - // sm.set_clkdiv(0x0200); + #[cfg(not(feature = "overclock"))] + { + // same speed as pico-sdk, 62.5Mhz + // This is actually the fastest we can go without overclocking. + // According to data sheet, the theoretical maximum is 100Mhz Pio => 50Mhz SPI Freq. + // However, the PIO uses a fractional divider, which works by introducing jitter when + // the divider is not an integer. It does some clocks at 125mhz and others at 62.5mhz + // so that it averages out to the desired frequency of 100mhz. The 125mhz clock cycles + // violate the maximum from the data sheet. + cfg.clock_divider = FixedU32::from_bits(0x0200); + } - // 32 Mhz - // sm.set_clkdiv(0x03E8); + sm.set_config(&cfg); - // 16 Mhz - // sm.set_clkdiv(0x07d0); - - // 8Mhz - // sm.set_clkdiv(0x0a_00); - - // 1Mhz - // sm.set_clkdiv(0x7d_00); - - // slowest possible - // sm.set_clkdiv(0xffff_00); - - sm.set_autopull(true); - // sm.set_pull_threshold(32); - sm.set_autopush(true); - // sm.set_push_threshold(32); - - 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 +154,22 @@ 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 +181,32 @@ 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 SpiBusCyw43 for PioSpi +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 +224,6 @@ where } async fn wait_for_event(&mut self) { - self.sm.wait_irq(0).await; - self.sm.clear_irq(0); + self.irq.wait().await; } } diff --git a/examples/rpi-pico-w/Cargo.toml b/examples/rpi-pico-w/Cargo.toml index 5b46726d2..525e934f4 100644 --- a/examples/rpi-pico-w/Cargo.toml +++ b/examples/rpi-pico-w/Cargo.toml @@ -6,8 +6,8 @@ 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"] } +cyw43-pio = { path = "../../cyw43-pio", features = ["defmt", "overclock"] } +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 @@ -48,7 +48,7 @@ debug = 1 debug-assertions = false incremental = false lto = 'fat' -opt-level = 'z' +opt-level = 's' overflow-checks = false # do not optimize proc-macro crates = faster builds from scratch diff --git a/examples/rpi-pico-w/src/bin/tcp_server.rs b/examples/rpi-pico-w/src/bin/tcp_server.rs index 9581602a7..8accc469f 100644 --- a/examples/rpi-pico-w/src/bin/tcp_server.rs +++ b/examples/rpi-pico-w/src/bin/tcp_server.rs @@ -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, 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; diff --git a/examples/rpi-pico-w/src/bin/tcp_server_ap.rs b/examples/rpi-pico-w/src/bin/tcp_server_ap.rs index e43412625..ee2c32379 100644 --- a/examples/rpi-pico-w/src/bin/tcp_server_ap.rs +++ b/examples/rpi-pico-w/src/bin/tcp_server_ap.rs @@ -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, 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; diff --git a/examples/rpi-pico-w/src/bin/wifi_scan.rs b/examples/rpi-pico-w/src/bin/wifi_scan.rs index da8fadfd8..a2a44f99d 100644 --- a/examples/rpi-pico-w/src/bin/wifi_scan.rs +++ b/examples/rpi-pico-w/src/bin/wifi_scan.rs @@ -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, 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;