diff --git a/embassy-rp/src/pio.rs b/embassy-rp/src/pio.rs
index 6827e5119..5433d3f21 100644
--- a/embassy-rp/src/pio.rs
+++ b/embassy-rp/src/pio.rs
@@ -12,7 +12,7 @@ use crate::dma::{Channel, Transfer, Word};
use crate::gpio::sealed::Pin as SealedPin;
use crate::gpio::{Drive, Pin, Pull, SlewRate};
use crate::pac::dma::vals::TreqSel;
-use crate::pio::sealed::{PioInstance as _, SmInstance as _};
+use crate::pio::sealed::PioInstance as _;
use crate::{interrupt, pac, peripherals, RegExt};
struct Wakers([AtomicWaker; 12]);
@@ -119,10 +119,10 @@ impl<'d, PIO: PioInstance, SM: PioStateMachine + Unpin> Future for FifoOutFuture
if self.get_mut().sm.try_push_tx(value) {
Poll::Ready(())
} else {
- WAKERS[PIO::PIO_NO as usize].fifo_out()[SM::Sm::SM_NO as usize].register(cx.waker());
+ WAKERS[PIO::PIO_NO as usize].fifo_out()[SM::SM as usize].register(cx.waker());
unsafe {
PIO::PIO.irqs(0).inte().write_set(|m| {
- m.0 = TXNFULL_MASK << SM::Sm::SM_NO;
+ m.0 = TXNFULL_MASK << SM::SM;
});
}
// debug!("Pending");
@@ -135,7 +135,7 @@ impl<'d, PIO: PioInstance, SM: PioStateMachine + Unpin> Drop for FifoOutFuture<'
fn drop(&mut self) {
unsafe {
PIO::PIO.irqs(0).inte().write_clear(|m| {
- m.0 = TXNFULL_MASK << SM::Sm::SM_NO;
+ m.0 = TXNFULL_MASK << SM::SM;
});
}
}
@@ -164,10 +164,10 @@ impl<'d, PIO: PioInstance, SM: PioStateMachine> Future for FifoInFuture<'d, PIO,
if let Some(v) = self.sm.try_pull_rx() {
Poll::Ready(v)
} else {
- WAKERS[PIO::PIO_NO as usize].fifo_in()[SM::Sm::SM_NO as usize].register(cx.waker());
+ WAKERS[PIO::PIO_NO as usize].fifo_in()[SM::SM].register(cx.waker());
unsafe {
PIO::PIO.irqs(0).inte().write_set(|m| {
- m.0 = RXNEMPTY_MASK << SM::Sm::SM_NO;
+ m.0 = RXNEMPTY_MASK << SM::SM;
});
}
//debug!("Pending");
@@ -180,7 +180,7 @@ impl<'d, PIO: PioInstance, SM: PioStateMachine> Drop for FifoInFuture<'d, PIO, S
fn drop(&mut self) {
unsafe {
PIO::PIO.irqs(0).inte().write_clear(|m| {
- m.0 = RXNEMPTY_MASK << SM::Sm::SM_NO;
+ m.0 = RXNEMPTY_MASK << SM::SM;
});
}
}
@@ -316,16 +316,15 @@ impl<PIO: PioInstance> SealedPin for PioPin<PIO> {
}
}
-pub struct PioStateMachineInstance<'d, PIO: PioInstance, SM: SmInstance> {
+pub struct PioStateMachineInstance<'d, PIO: PioInstance, const SM: usize> {
pio: PhantomData<&'d PIO>,
- sm: PhantomData<SM>,
}
-impl<'d, PIO: PioInstance, SM: SmInstance> sealed::PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {
+impl<'d, PIO: PioInstance, const SM: usize> sealed::PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {
type Pio = PIO;
- type Sm = SM;
+ const SM: usize = SM;
}
-impl<'d, PIO: PioInstance, SM: SmInstance> PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {}
+impl<'d, PIO: PioInstance, const SM: usize> PioStateMachine for PioStateMachineInstance<'d, PIO, SM> {}
pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn pio_no(&self) -> u8 {
@@ -333,17 +332,17 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
}
fn sm_no(&self) -> u8 {
- Self::Sm::SM_NO
+ Self::SM as u8
}
fn restart(&mut self) {
- let mask = 1u8 << Self::Sm::SM_NO;
+ let mask = 1u8 << Self::SM;
unsafe {
Self::Pio::PIO.ctrl().write_set(|w| w.set_sm_restart(mask));
}
}
fn set_enable(&mut self, enable: bool) {
- let mask = 1u8 << Self::Sm::SM_NO;
+ let mask = 1u8 << Self::SM;
unsafe {
if enable {
Self::Pio::PIO.ctrl().write_set(|w| w.set_sm_enable(mask));
@@ -354,40 +353,40 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
}
fn is_enabled(&self) -> bool {
- unsafe { Self::Pio::PIO.ctrl().read().sm_enable() & (1u8 << Self::Sm::SM_NO) != 0 }
+ unsafe { Self::Pio::PIO.ctrl().read().sm_enable() & (1u8 << Self::SM) != 0 }
}
fn is_tx_empty(&self) -> bool {
- unsafe { Self::Pio::PIO.fstat().read().txempty() & (1u8 << Self::Sm::SM_NO) != 0 }
+ unsafe { Self::Pio::PIO.fstat().read().txempty() & (1u8 << Self::SM) != 0 }
}
fn is_tx_full(&self) -> bool {
- unsafe { Self::Pio::PIO.fstat().read().txfull() & (1u8 << Self::Sm::SM_NO) != 0 }
+ unsafe { Self::Pio::PIO.fstat().read().txfull() & (1u8 << Self::SM) != 0 }
}
fn is_rx_empty(&self) -> bool {
- unsafe { Self::Pio::PIO.fstat().read().rxempty() & (1u8 << Self::Sm::SM_NO) != 0 }
+ unsafe { Self::Pio::PIO.fstat().read().rxempty() & (1u8 << Self::SM) != 0 }
}
fn is_rx_full(&self) -> bool {
- unsafe { Self::Pio::PIO.fstat().read().rxfull() & (1u8 << Self::Sm::SM_NO) != 0 }
+ unsafe { Self::Pio::PIO.fstat().read().rxfull() & (1u8 << Self::SM) != 0 }
}
fn tx_level(&self) -> u8 {
unsafe {
let flevel = Self::Pio::PIO.flevel().read().0;
- (flevel >> (Self::Sm::SM_NO * 8)) as u8 & 0x0f
+ (flevel >> (Self::SM * 8)) as u8 & 0x0f
}
}
fn rx_level(&self) -> u8 {
unsafe {
let flevel = Self::Pio::PIO.flevel().read().0;
- (flevel >> (Self::Sm::SM_NO * 8 + 4)) as u8 & 0x0f
+ (flevel >> (Self::SM * 8 + 4)) as u8 & 0x0f
}
}
fn push_tx(&mut self, v: u32) {
unsafe {
- Self::Pio::PIO.txf(Self::Sm::SM_NO as usize).write_value(v);
+ Self::Pio::PIO.txf(Self::SM).write_value(v);
}
}
@@ -400,7 +399,7 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
}
fn pull_rx(&mut self) -> u32 {
- unsafe { Self::Pio::PIO.rxf(Self::Sm::SM_NO as usize).read() }
+ unsafe { Self::Pio::PIO.rxf(Self::SM).read() }
}
fn try_pull_rx(&mut self) -> Option<u32> {
@@ -421,7 +420,7 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
}
fn clkdiv_restart(&mut self) {
- let mask = 1u8 << Self::Sm::SM_NO;
+ let mask = 1u8 << Self::SM;
unsafe {
Self::Pio::PIO.ctrl().write_set(|w| w.set_clkdiv_restart(mask));
}
@@ -710,8 +709,8 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn has_tx_stalled(&self) -> bool {
unsafe {
let fdebug = Self::Pio::PIO.fdebug();
- let ret = fdebug.read().txstall() & (1 << Self::Sm::SM_NO) != 0;
- fdebug.write(|w| w.set_txstall(1 << Self::Sm::SM_NO));
+ let ret = fdebug.read().txstall() & (1 << Self::SM) != 0;
+ fdebug.write(|w| w.set_txstall(1 << Self::SM));
ret
}
}
@@ -719,8 +718,8 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn has_tx_overflowed(&self) -> bool {
unsafe {
let fdebug = Self::Pio::PIO.fdebug();
- let ret = fdebug.read().txover() & (1 << Self::Sm::SM_NO) != 0;
- fdebug.write(|w| w.set_txover(1 << Self::Sm::SM_NO));
+ let ret = fdebug.read().txover() & (1 << Self::SM) != 0;
+ fdebug.write(|w| w.set_txover(1 << Self::SM));
ret
}
}
@@ -728,8 +727,8 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn has_rx_stalled(&self) -> bool {
unsafe {
let fdebug = Self::Pio::PIO.fdebug();
- let ret = fdebug.read().rxstall() & (1 << Self::Sm::SM_NO) != 0;
- fdebug.write(|w| w.set_rxstall(1 << Self::Sm::SM_NO));
+ let ret = fdebug.read().rxstall() & (1 << Self::SM) != 0;
+ fdebug.write(|w| w.set_rxstall(1 << Self::SM));
ret
}
}
@@ -737,8 +736,8 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn has_rx_underflowed(&self) -> bool {
unsafe {
let fdebug = Self::Pio::PIO.fdebug();
- let ret = fdebug.read().rxunder() & (1 << Self::Sm::SM_NO) != 0;
- fdebug.write(|w| w.set_rxunder(1 << Self::Sm::SM_NO));
+ let ret = fdebug.read().rxunder() & (1 << Self::SM) != 0;
+ fdebug.write(|w| w.set_rxunder(1 << Self::SM));
ret
}
}
@@ -746,16 +745,15 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn dma_push<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a [W]) -> Transfer<'a, C> {
unsafe {
let pio_no = Self::Pio::PIO_NO;
- let sm_no = Self::Sm::SM_NO;
+ let sm_no = Self::SM;
let p = ch.regs();
p.read_addr().write_value(data.as_ptr() as u32);
- p.write_addr()
- .write_value(Self::Pio::PIO.txf(sm_no as usize).ptr() as u32);
+ p.write_addr().write_value(Self::Pio::PIO.txf(sm_no).ptr() as u32);
p.trans_count().write_value(data.len() as u32);
compiler_fence(Ordering::SeqCst);
p.ctrl_trig().write(|w| {
// Set TX DREQ for this statemachine
- w.set_treq_sel(TreqSel(pio_no * 8 + sm_no));
+ w.set_treq_sel(TreqSel(pio_no * 8 + sm_no as u8));
w.set_data_size(W::size());
w.set_chain_to(ch.number());
w.set_incr_read(true);
@@ -770,16 +768,15 @@ pub trait PioStateMachine: sealed::PioStateMachine + Sized + Unpin {
fn dma_pull<'a, C: Channel, W: Word>(&'a self, ch: PeripheralRef<'a, C>, data: &'a mut [W]) -> Transfer<'a, C> {
unsafe {
let pio_no = Self::Pio::PIO_NO;
- let sm_no = Self::Sm::SM_NO;
+ let sm_no = Self::SM;
let p = ch.regs();
p.write_addr().write_value(data.as_ptr() as u32);
- p.read_addr()
- .write_value(Self::Pio::PIO.rxf(sm_no as usize).ptr() as u32);
+ p.read_addr().write_value(Self::Pio::PIO.rxf(sm_no).ptr() as u32);
p.trans_count().write_value(data.len() as u32);
compiler_fence(Ordering::SeqCst);
p.ctrl_trig().write(|w| {
// Set RX DREQ for this statemachine
- w.set_treq_sel(TreqSel(pio_no * 8 + sm_no + 4));
+ w.set_treq_sel(TreqSel(pio_no * 8 + sm_no as u8 + 4));
w.set_data_size(W::size());
w.set_chain_to(ch.number());
w.set_incr_read(false);
@@ -882,22 +879,12 @@ impl<'d, PIO: PioInstance> PioCommon<'d, PIO> {
}
}
-// Identifies a specific state machine inside a PIO device
-pub struct SmInstanceBase<const SM_NO: u8> {}
-
-pub trait SmInstance: sealed::SmInstance + Unpin {}
-
-impl<const SM_NO: u8> sealed::SmInstance for SmInstanceBase<SM_NO> {
- const SM_NO: u8 = SM_NO;
-}
-impl<const SM_NO: u8> SmInstance for SmInstanceBase<SM_NO> {}
-
pub struct Pio<'d, PIO: PioInstance> {
pub common: PioCommon<'d, PIO>,
- pub sm0: PioStateMachineInstance<'d, PIO, SmInstanceBase<0>>,
- pub sm1: PioStateMachineInstance<'d, PIO, SmInstanceBase<1>>,
- pub sm2: PioStateMachineInstance<'d, PIO, SmInstanceBase<2>>,
- pub sm3: PioStateMachineInstance<'d, PIO, SmInstanceBase<3>>,
+ pub sm0: PioStateMachineInstance<'d, PIO, 0>,
+ pub sm1: PioStateMachineInstance<'d, PIO, 1>,
+ pub sm2: PioStateMachineInstance<'d, PIO, 2>,
+ pub sm3: PioStateMachineInstance<'d, PIO, 3>,
}
impl<'d, PIO: PioInstance> Pio<'d, PIO> {
@@ -907,22 +894,10 @@ impl<'d, PIO: PioInstance> Pio<'d, PIO> {
instructions_used: 0,
pio: PhantomData,
},
- sm0: PioStateMachineInstance {
- sm: PhantomData,
- pio: PhantomData,
- },
- sm1: PioStateMachineInstance {
- sm: PhantomData,
- pio: PhantomData,
- },
- sm2: PioStateMachineInstance {
- sm: PhantomData,
- pio: PhantomData,
- },
- sm3: PioStateMachineInstance {
- sm: PhantomData,
- pio: PhantomData,
- },
+ sm0: PioStateMachineInstance { pio: PhantomData },
+ sm1: PioStateMachineInstance { pio: PhantomData },
+ sm2: PioStateMachineInstance { pio: PhantomData },
+ sm3: PioStateMachineInstance { pio: PhantomData },
}
}
}
@@ -936,18 +911,14 @@ pub trait PioInstance: sealed::PioInstance + Sized + Unpin {
mod sealed {
pub trait PioStateMachine {
type Pio: super::PioInstance;
- type Sm: super::SmInstance;
+ const SM: usize;
#[inline(always)]
fn this_sm() -> crate::pac::pio::StateMachine {
- Self::Pio::PIO.sm(Self::Sm::SM_NO as usize)
+ Self::Pio::PIO.sm(Self::SM as usize)
}
}
- pub trait SmInstance {
- const SM_NO: u8;
- }
-
pub trait PioInstance {
const PIO_NO: u8;
const PIO: &'static crate::pac::pio::Pio;
@@ -955,11 +926,6 @@ mod sealed {
}
}
-pub type Sm0 = SmInstanceBase<0>;
-pub type Sm1 = SmInstanceBase<1>;
-pub type Sm2 = SmInstanceBase<2>;
-pub type Sm3 = SmInstanceBase<3>;
-
macro_rules! impl_pio {
($name:ident, $pio:expr, $pac:ident, $funcsel:ident) => {
impl sealed::PioInstance for peripherals::$name {
diff --git a/examples/rp/src/bin/pio_async.rs b/examples/rp/src/bin/pio_async.rs
index 50b001b69..5fea7034b 100644
--- a/examples/rp/src/bin/pio_async.rs
+++ b/examples/rp/src/bin/pio_async.rs
@@ -5,12 +5,12 @@ use defmt::info;
use embassy_executor::Spawner;
use embassy_rp::gpio::{AnyPin, Pin};
use embassy_rp::peripherals::PIO0;
-use embassy_rp::pio::{Pio, PioCommon, PioStateMachine, PioStateMachineInstance, ShiftDirection, Sm0, Sm1, Sm2};
+use embassy_rp::pio::{Pio, PioCommon, PioStateMachine, PioStateMachineInstance, ShiftDirection};
use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram;
use {defmt_rtt as _, panic_probe as _};
-fn setup_pio_task_sm0(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, Sm0>, pin: AnyPin) {
+fn setup_pio_task_sm0(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 0>, pin: AnyPin) {
// Setup sm0
// Send data serially to pin
@@ -38,7 +38,7 @@ fn setup_pio_task_sm0(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstanc
}
#[embassy_executor::task]
-async fn pio_task_sm0(mut sm: PioStateMachineInstance<'static, PIO0, Sm0>) {
+async fn pio_task_sm0(mut sm: PioStateMachineInstance<'static, PIO0, 0>) {
sm.set_enable(true);
let mut v = 0x0f0caffa;
@@ -49,7 +49,7 @@ async fn pio_task_sm0(mut sm: PioStateMachineInstance<'static, PIO0, Sm0>) {
}
}
-fn setup_pio_task_sm1(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, Sm1>) {
+fn setup_pio_task_sm1(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 1>) {
// Setupm sm1
// Read 0b10101 repeatedly until ISR is full
@@ -68,7 +68,7 @@ fn setup_pio_task_sm1(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstanc
}
#[embassy_executor::task]
-async fn pio_task_sm1(mut sm: PioStateMachineInstance<'static, PIO0, Sm1>) {
+async fn pio_task_sm1(mut sm: PioStateMachineInstance<'static, PIO0, 1>) {
sm.set_enable(true);
loop {
let rx = sm.wait_pull().await;
@@ -76,7 +76,7 @@ async fn pio_task_sm1(mut sm: PioStateMachineInstance<'static, PIO0, Sm1>) {
}
}
-fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, Sm2>) {
+fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstance<PIO0, 2>) {
// Setup sm2
// Repeatedly trigger IRQ 3
@@ -100,7 +100,7 @@ fn setup_pio_task_sm2(pio: &mut PioCommon<PIO0>, sm: &mut PioStateMachineInstanc
}
#[embassy_executor::task]
-async fn pio_task_sm2(mut sm: PioStateMachineInstance<'static, PIO0, Sm2>) {
+async fn pio_task_sm2(mut sm: PioStateMachineInstance<'static, PIO0, 2>) {
sm.set_enable(true);
loop {
sm.wait_irq(3).await;
diff --git a/examples/rp/src/bin/pio_hd44780.rs b/examples/rp/src/bin/pio_hd44780.rs
index 20c6a0565..59b4c1f52 100644
--- a/examples/rp/src/bin/pio_hd44780.rs
+++ b/examples/rp/src/bin/pio_hd44780.rs
@@ -8,7 +8,7 @@ use embassy_executor::Spawner;
use embassy_rp::dma::{AnyChannel, Channel};
use embassy_rp::gpio::Pin;
use embassy_rp::peripherals::PIO0;
-use embassy_rp::pio::{FifoJoin, Pio, PioStateMachine, PioStateMachineInstance, ShiftDirection, SmInstanceBase};
+use embassy_rp::pio::{FifoJoin, Pio, PioStateMachine, PioStateMachineInstance, ShiftDirection};
use embassy_rp::pwm::{Config, Pwm};
use embassy_rp::relocate::RelocatedProgram;
use embassy_rp::{into_ref, Peripheral, PeripheralRef};
@@ -65,7 +65,7 @@ async fn main(_spawner: Spawner) {
pub struct HD44780<'l> {
dma: PeripheralRef<'l, AnyChannel>,
- sm: PioStateMachineInstance<'l, PIO0, SmInstanceBase<0>>,
+ sm: PioStateMachineInstance<'l, PIO0, 0>,
buf: [u8; 40],
}
diff --git a/examples/rp/src/bin/ws2812-pio.rs b/examples/rp/src/bin/ws2812-pio.rs
index a2121df42..0975559d7 100644
--- a/examples/rp/src/bin/ws2812-pio.rs
+++ b/examples/rp/src/bin/ws2812-pio.rs
@@ -6,18 +6,18 @@ use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::gpio::{self, Pin};
use embassy_rp::pio::{
- FifoJoin, Pio, PioCommon, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection, SmInstance,
+ FifoJoin, Pio, PioCommon, PioInstance, PioStateMachine, PioStateMachineInstance, ShiftDirection,
};
use embassy_rp::pio_instr_util;
use embassy_rp::relocate::RelocatedProgram;
use embassy_time::{Duration, Timer};
use smart_leds::RGB8;
use {defmt_rtt as _, panic_probe as _};
-pub struct Ws2812<'d, P: PioInstance, S: SmInstance> {
+pub struct Ws2812<'d, P: PioInstance, const S: usize> {
sm: PioStateMachineInstance<'d, P, S>,
}
-impl<'d, P: PioInstance, S: SmInstance> Ws2812<'d, P, S> {
+impl<'d, P: PioInstance, const S: usize> Ws2812<'d, P, S> {
pub fn new(mut pio: PioCommon<'d, P>, mut sm: PioStateMachineInstance<'d, P, S>, pin: gpio::AnyPin) -> Self {
// Setup sm0