Update Embassy, to new PIO API.
This commit is contained in:
Dario Nieuwenhuis
parent
6b5d9642d5
commit
8800caa216
7 changed files with 112 additions and 118 deletions
12
Cargo.toml
12
Cargo.toml
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@ -12,7 +12,7 @@ firmware-logs = []
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[dependencies]
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embassy-time = { version = "0.1.0" }
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embassy-sync = { version = "0.1.0" }
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embassy-sync = { version = "0.2.0" }
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embassy-futures = { version = "0.1.0" }
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embassy-net-driver-channel = { version = "0.1.0" }
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atomic-polyfill = "0.1.5"
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@ -28,11 +28,11 @@ embedded-hal-1 = { package = "embedded-hal", version = "1.0.0-alpha.10" }
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num_enum = { version = "0.5.7", default-features = false }
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[patch.crates-io]
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embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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[workspace]
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members = ["cyw43-pio"]
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@ -8,4 +8,5 @@ cyw43 = { path = "../" }
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embassy-rp = { version = "0.1.0", features = ["unstable-traits", "nightly", "unstable-pac", "time-driver"] }
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pio-proc = "0.2"
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pio = "0.2.1"
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fixed = "1.23.1"
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defmt = { version = "0.3", optional = true }
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@ -6,30 +6,39 @@ use core::slice;
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use cyw43::SpiBusCyw43;
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use embassy_rp::dma::Channel;
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use embassy_rp::gpio::{Drive, Output, Pin, Pull, SlewRate};
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use embassy_rp::pio::{PioStateMachine, ShiftDirection};
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use embassy_rp::gpio::{Drive, Level, Output, Pin, Pull, SlewRate};
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use embassy_rp::pio::{Common, Config, Direction, Instance, Irq, PioPin, ShiftDirection, StateMachine};
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use embassy_rp::relocate::RelocatedProgram;
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use embassy_rp::{pio_instr_util, Peripheral};
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use pio::Wrap;
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use embassy_rp::{pio_instr_util, Peripheral, PeripheralRef};
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use fixed::FixedU32;
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use pio_proc::pio_asm;
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pub struct PioSpi<CS: Pin, SM, DMA> {
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cs: Output<'static, CS>,
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sm: SM,
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dma: DMA,
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pub struct PioSpi<'d, CS: Pin, PIO: Instance, const SM: usize, DMA> {
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cs: Output<'d, CS>,
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sm: StateMachine<'d, PIO, SM>,
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irq: Irq<'d, PIO, 0>,
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dma: PeripheralRef<'d, DMA>,
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wrap_target: u8,
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}
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impl<CS, SM, DMA> PioSpi<CS, SM, DMA>
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impl<'d, CS, PIO, const SM: usize, DMA> PioSpi<'d, CS, PIO, SM, DMA>
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where
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SM: PioStateMachine,
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DMA: Channel,
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CS: Pin,
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PIO: Instance,
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{
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pub fn new<DIO, CLK>(mut sm: SM, cs: Output<'static, CS>, dio: DIO, clk: CLK, dma: DMA) -> Self
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pub fn new<DIO, CLK>(
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common: &mut Common<'d, PIO>,
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mut sm: StateMachine<'d, PIO, SM>,
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irq: Irq<'d, PIO, 0>,
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cs: Output<'d, CS>,
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dio: DIO,
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clk: CLK,
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dma: impl Peripheral<P = DMA> + 'd,
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) -> Self
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where
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DIO: Pin,
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CLK: Pin,
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DIO: PioPin,
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CLK: PioPin,
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{
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let program = pio_asm!(
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".side_set 1"
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@ -42,8 +51,8 @@ where
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// switch directions
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"set pindirs, 0 side 0"
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// these nops seem to be necessary for fast clkdiv
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"nop side 1"
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"nop side 0"
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//"nop side 1"
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//"nop side 0"
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"nop side 1"
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// read in y-1 bits
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"lp2:"
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@ -59,68 +68,62 @@ where
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let relocated = RelocatedProgram::new(&program.program);
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let mut pin_io = sm.make_pio_pin(dio);
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pin_io.set_pull(Pull::Down);
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let mut pin_io: embassy_rp::pio::Pin<PIO> = common.make_pio_pin(dio);
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pin_io.set_pull(Pull::None);
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pin_io.set_schmitt(true);
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pin_io.set_input_sync_bypass(true);
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//pin_io.set_drive_strength(Drive::_12mA);
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//pin_io.set_slew_rate(SlewRate::Fast);
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let mut pin_clk = sm.make_pio_pin(clk);
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let mut pin_clk = common.make_pio_pin(clk);
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pin_clk.set_drive_strength(Drive::_12mA);
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pin_clk.set_slew_rate(SlewRate::Fast);
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sm.write_instr(relocated.origin() as usize, relocated.code());
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let mut cfg = Config::default();
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cfg.use_program(&common.load_program(&relocated), &[&pin_clk]);
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cfg.set_out_pins(&[&pin_io]);
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cfg.set_in_pins(&[&pin_io]);
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cfg.set_set_pins(&[&pin_io]);
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cfg.shift_out.direction = ShiftDirection::Left;
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cfg.shift_out.auto_fill = true;
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//cfg.shift_out.threshold = 32;
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cfg.shift_in.direction = ShiftDirection::Left;
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cfg.shift_in.auto_fill = true;
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//cfg.shift_in.threshold = 32;
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// theoretical maximum according to data sheet, 100Mhz Pio => 50Mhz SPI Freq
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sm.set_clkdiv(0x0140);
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// seems to cause random corruption, probably due to jitter due to the fractional divider.
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// cfg.clock_divider = FixedU32::from_bits(0x0140);
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// same speed as pico-sdk, 62.5Mhz
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// sm.set_clkdiv(0x0200);
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cfg.clock_divider = FixedU32::from_bits(0x0200);
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// 32 Mhz
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// sm.set_clkdiv(0x03E8);
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// cfg.clock_divider = FixedU32::from_bits(0x03E8);
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// 16 Mhz
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// sm.set_clkdiv(0x07d0);
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// cfg.clock_divider = FixedU32::from_bits(0x07d0);
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// 8Mhz
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// sm.set_clkdiv(0x0a_00);
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// cfg.clock_divider = FixedU32::from_bits(0x0a_00);
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// 1Mhz
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// sm.set_clkdiv(0x7d_00);
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// cfg.clock_divider = FixedU32::from_bits(0x7d_00);
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// slowest possible
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// sm.set_clkdiv(0xffff_00);
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// cfg.clock_divider = FixedU32::from_bits(0xffff_00);
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sm.set_autopull(true);
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// sm.set_pull_threshold(32);
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sm.set_autopush(true);
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// sm.set_push_threshold(32);
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sm.set_config(&cfg);
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sm.set_out_pins(&[&pin_io]);
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sm.set_in_base_pin(&pin_io);
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sm.set_set_pins(&[&pin_clk]);
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pio_instr_util::set_pindir(&mut sm, 0b1);
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sm.set_set_pins(&[&pin_io]);
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pio_instr_util::set_pindir(&mut sm, 0b1);
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sm.set_sideset_base_pin(&pin_clk);
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sm.set_sideset_count(1);
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sm.set_out_shift_dir(ShiftDirection::Left);
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sm.set_in_shift_dir(ShiftDirection::Left);
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let Wrap { source, target } = relocated.wrap();
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sm.set_wrap(source, target);
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// pull low for startup
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pio_instr_util::set_pin(&mut sm, 0);
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sm.set_pin_dirs(Direction::Out, &[&pin_clk, &pin_io]);
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sm.set_pins(Level::Low, &[&pin_clk, &pin_io]);
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Self {
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cs,
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sm,
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dma,
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wrap_target: target,
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irq,
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dma: dma.into_ref(),
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wrap_target: relocated.wrap().target,
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}
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}
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@ -132,18 +135,22 @@ where
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#[cfg(feature = "defmt")]
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defmt::trace!("write={} read={}", write_bits, read_bits);
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let mut dma = Peripheral::into_ref(&mut self.dma);
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unsafe {
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pio_instr_util::set_x(&mut self.sm, write_bits as u32);
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pio_instr_util::set_y(&mut self.sm, read_bits as u32);
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pio_instr_util::set_pindir(&mut self.sm, 0b1);
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pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
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}
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self.sm.set_enable(true);
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self.sm.dma_push(dma.reborrow(), write).await;
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self.sm.tx().dma_push(self.dma.reborrow(), write).await;
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let mut status = 0;
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self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
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self.sm
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.rx()
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.dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
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.await;
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status
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}
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@ -155,27 +162,32 @@ where
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#[cfg(feature = "defmt")]
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defmt::trace!("write={} read={}", write_bits, read_bits);
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let mut dma = Peripheral::into_ref(&mut self.dma);
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unsafe {
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pio_instr_util::set_y(&mut self.sm, read_bits as u32);
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pio_instr_util::set_x(&mut self.sm, write_bits as u32);
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pio_instr_util::set_pindir(&mut self.sm, 0b1);
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pio_instr_util::exec_jmp(&mut self.sm, self.wrap_target);
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}
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// self.cs.set_low();
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self.sm.set_enable(true);
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self.sm.dma_push(dma.reborrow(), slice::from_ref(&cmd)).await;
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self.sm.dma_pull(dma.reborrow(), read).await;
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self.sm.tx().dma_push(self.dma.reborrow(), slice::from_ref(&cmd)).await;
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self.sm.rx().dma_pull(self.dma.reborrow(), read).await;
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let mut status = 0;
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self.sm.dma_pull(dma.reborrow(), slice::from_mut(&mut status)).await;
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self.sm
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.rx()
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.dma_pull(self.dma.reborrow(), slice::from_mut(&mut status))
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.await;
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status
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}
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}
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impl<CS, SM, DMA> SpiBusCyw43 for PioSpi<CS, SM, DMA>
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impl<'d, CS, PIO, const SM: usize, DMA> SpiBusCyw43 for PioSpi<'d, CS, PIO, SM, DMA>
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where
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CS: Pin,
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SM: PioStateMachine,
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PIO: Instance,
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DMA: Channel,
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{
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async fn cmd_write(&mut self, write: &[u32]) -> u32 {
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@ -193,7 +205,6 @@ where
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}
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async fn wait_for_event(&mut self) {
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self.sm.wait_irq(0).await;
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self.sm.clear_irq(0);
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self.irq.wait().await;
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}
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}
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@ -7,7 +7,7 @@ edition = "2021"
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[dependencies]
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cyw43 = { path = "../../", features = ["defmt", "firmware-logs"] }
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cyw43-pio = { path = "../../cyw43-pio", features = ["defmt"] }
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embassy-executor = { version = "0.1.0", features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
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embassy-executor = { version = "0.2.0", features = ["defmt", "integrated-timers", "executor-thread", "arch-cortex-m"] }
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embassy-time = { version = "0.1.0", features = ["defmt", "defmt-timestamp-uptime"] }
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embassy-rp = { version = "0.1.0", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver"] }
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embassy-net = { version = "0.1.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet", "unstable-traits", "nightly"] }
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@ -27,14 +27,14 @@ heapless = "0.7.15"
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[patch.crates-io]
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embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "03d6363d5af5dcaf21b52734994a466ca593d2b6" }
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embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-futures = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-rp = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-net-driver = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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embassy-net-driver-channel = { git = "https://github.com/embassy-rs/embassy", rev = "82f7e104d90a6628d1873017ea5ef6a7afb3b3f7" }
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[profile.dev]
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debug = 2
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@ -12,8 +12,8 @@ use embassy_executor::Spawner;
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use embassy_net::tcp::TcpSocket;
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use embassy_net::{Config, Stack, StackResources};
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use embassy_rp::gpio::{Level, Output};
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use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25};
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use embassy_rp::pio::{Pio0, PioPeripheral, PioStateMachineInstance, Sm0};
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use embassy_rp::peripherals::{DMA_CH0, PIN_23, PIN_25, PIO0};
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use embassy_rp::pio::Pio;
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use embedded_io::asynch::Write;
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use static_cell::StaticCell;
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use {defmt_rtt as _, panic_probe as _};
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@ -28,11 +28,7 @@ macro_rules! singleton {
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#[embassy_executor::task]
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async fn wifi_task(
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runner: cyw43::Runner<
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'static,
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Output<'static, PIN_23>,
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PioSpi<PIN_25, PioStateMachineInstance<Pio0, Sm0>, DMA_CH0>,
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>,
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runner: cyw43::Runner<'static, Output<'static, PIN_23>, PioSpi<'static, PIN_25, PIO0, 0, DMA_CH0>>,
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) -> ! {
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runner.run().await
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}
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@ -60,10 +56,8 @@ async fn main(spawner: Spawner) {
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let pwr = Output::new(p.PIN_23, Level::Low);
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let cs = Output::new(p.PIN_25, Level::High);
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let (_, sm, _, _, _) = p.PIO0.split();
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let dma = p.DMA_CH0;
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let spi = PioSpi::new(sm, cs, p.PIN_24, p.PIN_29, dma);
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let mut pio = Pio::new(p.PIO0);
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let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
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let state = singleton!(cyw43::State::new());
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let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await;
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@ -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;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
Loading…
Reference in a new issue