diff --git a/examples/rp/Cargo.toml b/examples/rp/Cargo.toml index c812cb3e..2a018ad0 100644 --- a/examples/rp/Cargo.toml +++ b/examples/rp/Cargo.toml @@ -7,6 +7,7 @@ license = "MIT OR Apache-2.0" [dependencies] embassy-embedded-hal = { version = "0.1.0", path = "../../embassy-embedded-hal", features = ["defmt"] } +embassy-hal-common = { version = "0.1.0", path = "../../embassy-hal-common", features = ["defmt"] } embassy-sync = { version = "0.2.0", path = "../../embassy-sync", features = ["defmt"] } embassy-executor = { version = "0.2.0", path = "../../embassy-executor", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] } embassy-time = { version = "0.1.2", path = "../../embassy-time", features = ["nightly", "unstable-traits", "defmt", "defmt-timestamp-uptime"] } diff --git a/examples/rp/src/bin/pio_uart.rs b/examples/rp/src/bin/pio_uart.rs index 14d05f4d..eeb213e1 100644 --- a/examples/rp/src/bin/pio_uart.rs +++ b/examples/rp/src/bin/pio_uart.rs @@ -1,23 +1,35 @@ -//! This example shows how to use USB (Universal Serial Bus) in the RP2040 chip. +//! This example shows how to use the PIO module in the RP2040 chip to implement a duplex UART. +//! The PIO module is a very powerful peripheral that can be used to implement many different +//! protocols. It is a very flexible state machine that can be programmed to do almost anything. //! -//! This creates a USB serial port that echos. +//! This example opens up a USB device that implements a CDC ACM serial port. It then uses the +//! PIO module to implement a UART that is connected to the USB serial port. This allows you to +//! communicate with a device connected to the RP2040 over USB serial. #![no_std] #![no_main] #![feature(type_alias_impl_trait)] +#![feature(async_fn_in_trait)] -use defmt::{info, panic}; +use defmt::{info, panic, trace}; use embassy_executor::Spawner; -use embassy_futures::join::join; +use embassy_futures::join::{join, join3}; use embassy_rp::bind_interrupts; use embassy_rp::peripherals::{PIO0, USB}; +use embassy_rp::pio::InterruptHandler as PioInterruptHandler; use embassy_rp::usb::{Driver, Instance, InterruptHandler}; -use embassy_usb::class::cdc_acm::{CdcAcmClass, State}; +use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex; +use embassy_sync::channel::Channel; +use embassy_usb::class::cdc_acm::{CdcAcmClass, Receiver, Sender, State}; use embassy_usb::driver::EndpointError; use embassy_usb::{Builder, Config}; -use embassy_rp::pio::{InterruptHandler as PioInterruptHandler}; +use embedded_io::asynch::{Read, Write}; use {defmt_rtt as _, panic_probe as _}; +use crate::uart::PioUart; +use crate::uart_rx::PioUartRx; +use crate::uart_tx::PioUartTx; + bind_interrupts!(struct UsbIrqs { USBCTRL_IRQ => InterruptHandler; }); @@ -69,7 +81,7 @@ async fn main(_spawner: Spawner) { ); // Create classes on the builder. - let mut class = CdcAcmClass::new(&mut builder, &mut state, 64); + let class = CdcAcmClass::new(&mut builder, &mut state, 64); // Build the builder. let mut usb = builder.build(); @@ -77,19 +89,50 @@ async fn main(_spawner: Spawner) { // Run the USB device. let usb_fut = usb.run(); - // Do stuff with the class! - let echo_fut = async { + // PIO UART setup + let uart = PioUart::new(9600, p.PIO0, p.PIN_4, p.PIN_5).await; + let (mut uart_tx, mut uart_rx) = uart.split(); + + // Channels setup + static USB_CHANNEL_TX: Channel = Channel::::new(); + let mut usb_channel_tx_send = USB_CHANNEL_TX.sender(); + let mut usb_channel_tx_recv = USB_CHANNEL_TX.receiver(); + + static UART_CHANNEL_TX: Channel = Channel::::new(); + let mut uart_channel_tx_send = UART_CHANNEL_TX.sender(); + let mut uart_channel_tx_recv = UART_CHANNEL_TX.receiver(); + + let (mut usb_tx, mut usb_rx) = class.split(); + + // Read + write from USB + let usb_future = async { loop { - class.wait_connection().await; + info!("Wait for USB connection"); + usb_rx.wait_connection().await; info!("Connected"); - let _ = echo(&mut class).await; + let _ = join( + usb_read(&mut usb_rx, &mut uart_channel_tx_send), + usb_write(&mut usb_tx, &mut usb_channel_tx_recv), + ) + .await; info!("Disconnected"); } }; + // Read + write from UART + let uart_future = async { + loop { + let _ = join( + uart_read(&mut uart_rx, &mut usb_channel_tx_send), + uart_write(&mut uart_tx, &mut uart_channel_tx_recv), + ) + .await; + } + }; + // Run everything concurrently. // If we had made everything `'static` above instead, we could do this using separate tasks instead. - join(usb_fut, echo_fut).await; + join3(usb_fut, usb_future, uart_future).await; } struct Disconnected {} @@ -103,28 +146,79 @@ impl From for Disconnected { } } -async fn echo<'d, T: Instance + 'd>(class: &mut CdcAcmClass<'d, Driver<'d, T>>) -> Result<(), Disconnected> { +/// Read from the USB and write it to the UART TX send channel +async fn usb_read<'d, T: Instance + 'd>( + usb_rx: &mut Receiver<'d, Driver<'d, T>>, + uart_tx_send: &mut embassy_sync::channel::Sender<'d, ThreadModeRawMutex, u8, 20>, +) -> Result<(), Disconnected> { let mut buf = [0; 64]; loop { - let n = class.read_packet(&mut buf).await?; + let n = usb_rx.read_packet(&mut buf).await?; let data = &buf[..n]; - info!("data: {:x}", data); - class.write_packet(data).await?; + trace!("USB IN: {:x}", data); + for byte in data { + uart_tx_send.send(*byte).await; + } + } +} + +/// Read from the USB TX receive channel and write it to the USB +async fn usb_write<'d, T: Instance + 'd>( + usb_tx: &mut Sender<'d, Driver<'d, T>>, + usb_tx_recv: &mut embassy_sync::channel::Receiver<'d, ThreadModeRawMutex, u8, 20>, +) -> Result<(), Disconnected> { + loop { + let n = usb_tx_recv.recv().await; + let data = [n]; + trace!("USB OUT: {:x}", data); + usb_tx.write_packet(&data).await?; + } +} + +/// Read from the UART and write it to the USB TX send channel +async fn uart_read<'a>( + uart_rx: &mut PioUartRx<'a>, + usb_tx_send: &mut embassy_sync::channel::Sender<'a, ThreadModeRawMutex, u8, 20>, +) -> Result<(), Disconnected> { + let mut buf = [0; 1]; + loop { + let n = uart_rx.read(&mut buf).await.expect("UART read error"); + if n == 0 { + continue; + } + trace!("UART IN: {:x}", buf); + usb_tx_send.send(buf[0]).await; + } +} + +/// Read from the UART TX receive channel and write it to the UART +async fn uart_write<'a>( + uart_tx: &mut PioUartTx<'a>, + uart_rx_recv: &mut embassy_sync::channel::Receiver<'a, ThreadModeRawMutex, u8, 20>, +) -> Result<(), Disconnected> { + loop { + let n = uart_rx_recv.recv().await; + let data = [n]; + trace!("UART OUT: {:x}", data); + let _ = uart_tx.write(&data).await; } } mod uart { - use embassy_rp::peripherals::PIO0; - use embassy_rp::pio::{Common, Pio, PioPin, StateMachine}; - use embassy_rp::Peripheral; + use core::fmt::Debug; + use embassy_rp::peripherals::PIO0; + use embassy_rp::pio::{Pio, PioPin}; + use embassy_rp::Peripheral; + use embedded_io::ErrorKind; + + use crate::uart_rx::PioUartRx; + use crate::uart_tx::PioUartTx; use crate::PioIrqs; pub struct PioUart<'a> { - baud: u64, - pio: Common<'a, PIO0>, - sm0: StateMachine<'a, PIO0, 0>, - sm1: StateMachine<'a, PIO0, 1>, + tx: PioUartTx<'a>, + rx: PioUartRx<'a>, } impl<'a> PioUart<'a> { @@ -135,21 +229,25 @@ mod uart { rx_pin: impl PioPin, ) -> PioUart<'a> { let Pio { - mut common, - mut sm0, - mut sm1, - .. + mut common, sm0, sm1, .. } = Pio::new(pio, PioIrqs); - crate::uart_tx::setup_uart_tx_on_sm0(&mut common, &mut sm0, tx_pin, baud); - crate::uart_rx::setup_uart_rx_on_sm1(&mut common, &mut sm1, rx_pin, baud); + let (tx, origin) = PioUartTx::new(&mut common, sm0, tx_pin, baud, None); + let (rx, _) = PioUartRx::new(&mut common, sm1, rx_pin, baud, Some(origin)); - PioUart { - baud, - pio: common, - sm0, - sm1, - } + PioUart { tx, rx } + } + + pub fn split(self) -> (PioUartTx<'a>, PioUartRx<'a>) { + (self.tx, self.rx) + } + } + #[derive(defmt::Format, Debug)] + pub struct PioUartError {} + + impl embedded_io::Error for PioUartError { + fn kind(&self) -> ErrorKind { + ErrorKind::Other } } } @@ -159,18 +257,27 @@ mod uart_tx { use embassy_rp::peripherals::PIO0; use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine}; use embassy_rp::relocate::RelocatedProgram; + use embedded_io::asynch::Write; + use embedded_io::Io; use fixed::traits::ToFixed; use fixed_macro::types::U56F8; - pub fn setup_uart_tx_on_sm0<'a>( - common: &mut Common<'a, PIO0>, - sm_tx: &mut StateMachine<'a, PIO0, 0>, - tx_pin: impl PioPin, - baud: u64, - ) { - let prg = pio_proc::pio_asm!( - r#" - ;.program uart_tx + use crate::uart::PioUartError; + + pub struct PioUartTx<'a> { + sm_tx: StateMachine<'a, PIO0, 0>, + } + + impl<'a> PioUartTx<'a> { + pub fn new( + common: &mut Common<'a, PIO0>, + mut sm_tx: StateMachine<'a, PIO0, 0>, + tx_pin: impl PioPin, + baud: u64, + origin: Option, + ) -> (Self, u8) { + let mut prg = pio_proc::pio_asm!( + r#" .side_set 1 opt ; An 8n1 UART transmit program. @@ -182,23 +289,55 @@ mod uart_tx { out pins, 1 ; Shift 1 bit from OSR to the first OUT pin jmp x-- bitloop [6] ; Each loop iteration is 8 cycles. "# - ); - let tx_pin = common.make_pio_pin(tx_pin); - sm_tx.set_pins(Level::High, &[&tx_pin]); - sm_tx.set_pin_dirs(Direction::Out, &[&tx_pin]); + ); + prg.program.origin = origin; + let tx_pin = common.make_pio_pin(tx_pin); + sm_tx.set_pins(Level::High, &[&tx_pin]); + sm_tx.set_pin_dirs(Direction::Out, &[&tx_pin]); - let relocated = RelocatedProgram::new(&prg.program); - let mut cfg = Config::default(); + let relocated = RelocatedProgram::new(&prg.program); - cfg.use_program(&common.load_program(&relocated), &[&tx_pin]); - cfg.clock_divider = (U56F8!(125_000_000) / (8 * baud)).to_fixed(); - cfg.shift_out.auto_fill = false; - cfg.shift_out.direction = ShiftDirection::Right; - cfg.fifo_join = FifoJoin::TxOnly; - cfg.set_out_pins(&[&tx_pin]); - cfg.set_set_pins(&[&tx_pin]); - sm_tx.set_config(&cfg); - sm_tx.set_enable(true) + let mut cfg = Config::default(); + + cfg.set_out_pins(&[&tx_pin]); + cfg.use_program(&common.load_program(&relocated), &[&tx_pin]); + cfg.shift_out.auto_fill = false; + cfg.shift_out.direction = ShiftDirection::Right; + cfg.fifo_join = FifoJoin::TxOnly; + cfg.clock_divider = (U56F8!(125_000_000) / (8 * baud)).to_fixed(); + sm_tx.set_config(&cfg); + sm_tx.set_enable(true); + + // The 4 state machines of the PIO each have their own program counter that starts taking + // instructions at an offset (origin) of the 32 instruction "space" the PIO device has. + // It is up to the programmer to sort out where to place these instructions. + // From the pio_asm! macro you get a ProgramWithDefines which has a field .program.origin + // which takes an Option. + // + // When you load more than one RelocatedProgram into the PIO, + // you load your first program at origin = 0. + // The RelocatedProgram has .code().count() which returns a usize, + // for which you can then use as your next program's origin. + let offset = relocated.code().count() as u8 + origin.unwrap_or_default(); + (Self { sm_tx }, offset) + } + + pub async fn write_u8(&mut self, data: u8) { + self.sm_tx.tx().wait_push(data as u32).await; + } + } + + impl Io for PioUartTx<'_> { + type Error = PioUartError; + } + + impl Write for PioUartTx<'_> { + async fn write(&mut self, buf: &[u8]) -> Result { + for byte in buf { + self.write_u8(*byte).await; + } + Ok(buf.len()) + } } } @@ -207,19 +346,27 @@ mod uart_rx { use embassy_rp::peripherals::PIO0; use embassy_rp::pio::{Common, Config, Direction, FifoJoin, PioPin, ShiftDirection, StateMachine}; use embassy_rp::relocate::RelocatedProgram; + use embedded_io::asynch::Read; + use embedded_io::Io; use fixed::traits::ToFixed; use fixed_macro::types::U56F8; - pub fn setup_uart_rx_on_sm1<'a>( - common: &mut Common<'a, PIO0>, - sm_rx: &mut StateMachine<'a, PIO0, 1>, - rx_pin: impl PioPin, - baud: u64, - ) { - let prg = pio_proc::pio_asm!( - r#" - ;.program uart_rx + use crate::uart::PioUartError; + pub struct PioUartRx<'a> { + sm_rx: StateMachine<'a, PIO0, 1>, + } + + impl<'a> PioUartRx<'a> { + pub fn new( + common: &mut Common<'a, PIO0>, + mut sm_rx: StateMachine<'a, PIO0, 1>, + rx_pin: impl PioPin, + baud: u64, + origin: Option, + ) -> (Self, u8) { + let mut prg = pio_proc::pio_asm!( + r#" ; Slightly more fleshed-out 8n1 UART receiver which handles framing errors and ; break conditions more gracefully. ; IN pin 0 and JMP pin are both mapped to the GPIO used as UART RX. @@ -227,36 +374,58 @@ mod uart_rx { start: wait 0 pin 0 ; Stall until start bit is asserted set x, 7 [10] ; Preload bit counter, then delay until halfway through - bitloop: ; the first data bit (12 cycles incl wait, set). + rx_bitloop: ; the first data bit (12 cycles incl wait, set). in pins, 1 ; Shift data bit into ISR - jmp x-- bitloop [6] ; Loop 8 times, each loop iteration is 8 cycles - jmp pin good_stop ; Check stop bit (should be high) + jmp x-- rx_bitloop [6] ; Loop 8 times, each loop iteration is 8 cycles + jmp pin good_rx_stop ; Check stop bit (should be high) irq 4 rel ; Either a framing error or a break. Set a sticky flag, wait 1 pin 0 ; and wait for line to return to idle state. jmp start ; Don't push data if we didn't see good framing. - good_stop: ; No delay before returning to start; a little slack is + good_rx_stop: ; No delay before returning to start; a little slack is push ; important in case the TX clock is slightly too fast. "# - ); + ); + prg.program.origin = origin; + let relocated = RelocatedProgram::new(&prg.program); + let mut cfg = Config::default(); + cfg.use_program(&common.load_program(&relocated), &[]); - let rx_pin = common.make_pio_pin(rx_pin); - sm_rx.set_pins(Level::High, &[&rx_pin]); - sm_rx.set_pin_dirs(Direction::In, &[&rx_pin]); + let rx_pin = common.make_pio_pin(rx_pin); + sm_rx.set_pins(Level::High, &[&rx_pin]); + cfg.set_in_pins(&[&rx_pin]); + cfg.set_jmp_pin(&rx_pin); + sm_rx.set_pin_dirs(Direction::In, &[&rx_pin]); - let relocated = RelocatedProgram::new(&prg.program); - let mut cfg = Config::default(); + cfg.clock_divider = (U56F8!(125_000_000) / (8 * baud)).to_fixed(); + cfg.shift_out.auto_fill = false; + cfg.shift_out.direction = ShiftDirection::Right; + cfg.fifo_join = FifoJoin::RxOnly; + sm_rx.set_config(&cfg); + sm_rx.set_enable(true); - cfg.use_program(&common.load_program(&relocated), &[&rx_pin]); - cfg.clock_divider = (U56F8!(125_000_000) / (8 * baud)).to_fixed(); - cfg.shift_out.auto_fill = false; - cfg.shift_out.direction = ShiftDirection::Right; - cfg.fifo_join = FifoJoin::RxOnly; - cfg.set_in_pins(&[&rx_pin]); - cfg.set_jmp_pin(&rx_pin); - // cfg.set_set_pins(&[&rx_pin]); - sm_rx.set_config(&cfg); - sm_rx.set_enable(true) + let offset = relocated.code().count() as u8 + origin.unwrap_or_default(); + (Self { sm_rx }, offset) + } + + pub async fn read_u8(&mut self) -> u8 { + self.sm_rx.rx().wait_pull().await as u8 + } + } + + impl Io for PioUartRx<'_> { + type Error = PioUartError; + } + + impl Read for PioUartRx<'_> { + async fn read(&mut self, buf: &mut [u8]) -> Result { + let mut i = 0; + while i < buf.len() { + buf[i] = self.read_u8().await; + i += 1; + } + Ok(i) + } } }