rp/pio: use bind_interrupts for irqs

closes #1338

tests/rp/Cargo.toml

@@ -29,6 +29,8 @@ futures = { version = "0.3.17", default-features = false, features = ["async-awa
 embedded-io = { version = "0.4.0", features = ["async"] }
 embedded-storage = { version = "0.3" }
 static_cell = { version = "1.1", features = ["nightly"]}
+pio = "0.2"
+pio-proc = "0.2"
 
 [profile.dev]
 debug = 2

tests/rp/src/bin/cyw43-perf.rs

@@ -12,12 +12,16 @@ use embassy_net::tcp::TcpSocket;
 use embassy_net::{Config, Ipv4Address, Stack, StackResources};
 use embassy_rp::gpio::{Level, Output};
 use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
-use embassy_rp::pio::Pio;
-use embassy_rp::rom_data;
+use embassy_rp::pio::{InterruptHandler, Pio};
+use embassy_rp::{bind_interrupts, rom_data};
 use embassy_time::{with_timeout, Duration, Timer};
 use static_cell::make_static;
 use {defmt_rtt as _, panic_probe as _};
 
+bind_interrupts!(struct Irqs {
+    PIO0_IRQ_0 => InterruptHandler<PIO0>;
+});
+
 teleprobe_meta::timeout!(120);
 
 #[embassy_executor::task]
@@ -51,7 +55,7 @@ async fn main(spawner: Spawner) {
 
     let pwr = Output::new(p.PIN_23, Level::Low);
     let cs = Output::new(p.PIN_25, Level::High);
-    let mut pio = Pio::new(p.PIO0);
+    let mut pio = Pio::new(p.PIO0, Irqs);
     let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
 
     let state = make_static!(cyw43::State::new());

tests/rp/src/bin/pio_irq.rs

@@ -0,0 +1,55 @@
+#![no_std]
+#![no_main]
+#![feature(type_alias_impl_trait)]
+#[path = "../common.rs"]
+mod common;
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::bind_interrupts;
+use embassy_rp::peripherals::PIO0;
+use embassy_rp::pio::{Config, InterruptHandler, Pio};
+use embassy_rp::relocate::RelocatedProgram;
+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,
+        sm0: mut sm,
+        irq_flags,
+        ..
+    } = Pio::new(pio, Irqs);
+
+    let prg = pio_proc::pio_asm!(
+        "irq set 0",
+        "irq wait 0",
+        "irq set 1",
+        // pause execution here
+        "irq wait 1",
+    );
+
+    let relocated = RelocatedProgram::new(&prg.program);
+    let mut cfg = Config::default();
+    cfg.use_program(&common.load_program(&relocated), &[]);
+    sm.set_config(&cfg);
+    sm.set_enable(true);
+
+    // not using the wait futures on purpose because they clear the irq bits,
+    // and we want to see in which order they are set.
+    while !irq_flags.check(0) {}
+    cortex_m::asm::nop();
+    assert!(!irq_flags.check(1));
+    irq_flags.clear(0);
+    cortex_m::asm::nop();
+    assert!(irq_flags.check(1));
+
+    info!("Test OK");
+    cortex_m::asm::bkpt();
+}