rp-hal-boards/rp2040-hal/src/sio.rs

//! Single Cycle Input and Output (SIO)
//!
//! To be able to partition parts of the SIO block to other modules:
//!
//! ```no_run
//! use rp2040_hal::{gpio::Pins, pac, sio::Sio};
//!
//! let mut peripherals = pac::Peripherals::take().unwrap();
//! let sio = Sio::new(peripherals.SIO);
//! ```
//!
//! And then for example
//!
//! ```no_run
//! # use rp2040_hal::{gpio::Pins, pac, sio::Sio};
//! # let mut peripherals = pac::Peripherals::take().unwrap();
//! # let sio = Sio::new(peripherals.SIO);
//! let pins = Pins::new(peripherals.IO_BANK0, peripherals.PADS_BANK0, sio.gpio_bank0, &mut peripherals.RESETS);
//! ```

use super::*;
use core::convert::Infallible;

/// Marker struct for ownership of SIO gpio bank0
pub struct SioGpioBank0 {
    _private: (),
}

/// Marker struct for ownership of SIO FIFO
pub struct SioFifo {
    _private: (),
}

/// Marker struct for ownership of SIO gpio qspi
pub struct SioGpioQspi {
    _private: (),
}

/// Marker struct for ownership of divide/modulo module
pub struct HwDivider {
    _private: (),
}

/// Result of divide/modulo operation
pub struct DivResult<T> {
    /// The remainder of divide/modulo operation
    pub remainder: T,
    /// The quotient of divide/modulo operation
    pub quotient: T,
}

/// Struct containing ownership markers for managing ownership of the SIO registers.
pub struct Sio {
    _sio: pac::SIO,
    /// GPIO Bank 0 registers
    pub gpio_bank0: SioGpioBank0,
    /// GPIO QSPI registers
    pub gpio_qspi: SioGpioQspi,
    /// 8-cycle hardware divide/modulo module
    pub hwdivider: HwDivider,
    /// Inter-core FIFO
    pub fifo: SioFifo,
    // we can hand out other things here, for example:
    // interp0
    // interp1
}

impl Sio {
    /// Create `Sio` from the PAC.
    pub fn new(sio: pac::SIO) -> Self {
        Self {
            _sio: sio,
            gpio_bank0: SioGpioBank0 { _private: () },
            gpio_qspi: SioGpioQspi { _private: () },
            fifo: SioFifo { _private: () },
            hwdivider: HwDivider { _private: () },
        }
    }

    /// Returns whether we are running on Core 0 (`0`) or Core 1 (`1`).
    pub fn core() -> u8 {
        // Safety: it is always safe to read this read-only register
        unsafe { (*pac::SIO::ptr()).cpuid.read().bits() as u8 }
    }
}

impl SioFifo {
    /// Check if the inter-core FIFO has valid data for reading.
    ///
    /// Returning `true` means there is valid data, `false` means it is empty
    /// and you must not read from it.
    pub fn is_read_ready(&mut self) -> bool {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.fifo_st.read().vld().bit_is_set()
    }

    /// Check if the inter-core FIFO is ready to receive data.
    ///
    /// Returning `true` means there is room, `false` means it is full and you
    /// must not write to it.
    pub fn is_write_ready(&mut self) -> bool {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.fifo_st.read().rdy().bit_is_set()
    }

    /// Return the FIFO status, as an integer.
    pub fn status(&self) -> u32 {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.fifo_st.read().bits()
    }

    /// Write to the inter-core FIFO.
    ///
    /// You must ensure the FIFO has space by calling `is_write_ready`
    pub fn write(&mut self, value: u32) {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.fifo_wr.write(|w| unsafe { w.bits(value) });
        // Fire off an event to the other core.
        // This is required as the other core may be `wfe` (waiting for event)
        cortex_m::asm::sev();
    }

    /// Read from the inter-core FIFO.
    ///
    /// Will return `Some(data)`, or `None` if the FIFO is empty.
    pub fn read(&mut self) -> Option<u32> {
        if self.is_read_ready() {
            let sio = unsafe { &(*pac::SIO::ptr()) };
            Some(sio.fifo_rd.read().bits())
        } else {
            None
        }
    }

    /// Read from the FIFO until it is empty, throwing the contents away.
    pub fn drain(&mut self) {
        while self.read().is_some() {
            // Retry until FIFO empty
        }
    }

    /// Push to the FIFO, spinning if there's no space.
    pub fn write_blocking(&mut self, value: u32) {
        // We busy-wait for the FIFO to have some space
        while !self.is_write_ready() {
            cortex_m::asm::nop();
        }

        // Write the value to the FIFO - the other core will now be able to
        // pop it off its end of the FIFO.
        self.write(value as u32);

        // Fire off an event to the other core
        cortex_m::asm::sev();
    }

    /// Pop from the FIFO, spinning if there's currently no data.
    pub fn read_blocking(&mut self) -> u32 {
        // Keep trying until FIFO has data
        loop {
            // Have we got something?
            if let Some(data) = self.read() {
                // Yes, return it right away
                return data;
            } else {
                // No, so sleep the CPU. We expect the sending core to `sev`
                // on write.
                cortex_m::asm::wfe();
            }
        }
    }
}

impl HwDivider {
    /// Perform hardware unsigned divide/modulo operation
    pub fn unsigned(&self, dividend: u32, divisor: u32) -> DivResult<u32> {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.div_udividend.write(|w| unsafe { w.bits(dividend) });

        sio.div_udivisor.write(|w| unsafe { w.bits(divisor) });

        cortex_m::asm::delay(8);

        // Note: quotient must be read last
        let remainder = sio.div_remainder.read().bits();
        let quotient = sio.div_quotient.read().bits();

        DivResult {
            remainder,
            quotient,
        }
    }

    /// Perform hardware signed divide/modulo operation
    pub fn signed(&self, dividend: i32, divisor: i32) -> DivResult<i32> {
        let sio = unsafe { &(*pac::SIO::ptr()) };
        sio.div_sdividend
            .write(|w| unsafe { w.bits(dividend as u32) });

        sio.div_sdivisor
            .write(|w| unsafe { w.bits(divisor as u32) });

        cortex_m::asm::delay(8);

        // Note: quotient must be read last
        let remainder = sio.div_remainder.read().bits() as i32;
        let quotient = sio.div_quotient.read().bits() as i32;

        DivResult {
            remainder,
            quotient,
        }
    }
}

/// This type is just used to limit us to Spinlocks `0..=31`
pub trait SpinlockValid {}

/// Hardware based spinlock.
///
/// You can claim this lock by calling either [`claim`], [`try_claim`] or
/// [`claim_async`]. These spin-locks are hardware backed, so if you lock
/// e.g. `Spinlock<6>`, then any other part of your application using
/// `Spinlock<6>` will contend for the same lock, without them needing to
/// share a reference or otherwise communicate with each other.
///
/// When the obtained spinlock goes out of scope, it is automatically unlocked.
///
///
/// ```no_run
/// use rp2040_hal::sio::Spinlock0;
/// static mut SOME_GLOBAL_VAR: u32 = 0;
///
/// /// This function is safe to call from two different cores, but is not safe
/// /// to call from an interrupt routine!
/// fn update_global_var() {
///     // Do not say `let _ = ` here - it will immediately unlock!
///     let _lock = Spinlock0::claim();
///     // Do your thing here that Core 0 and Core 1 might want to do at the
///     // same time, like update this global variable:
///     unsafe { SOME_GLOBAL_VAR += 1 };
///     // The lock is dropped here.
/// }
/// ```
///
/// **Warning**: These spinlocks are not re-entrant, meaning that the
///   following code will cause a deadlock:
///
/// ```no_run
/// use rp2040_hal::sio::Spinlock0;
/// let lock_1 = Spinlock0::claim();
/// let lock_2 = Spinlock0::claim(); // deadlock here
/// ```
///
/// **Note:** The `critical-section` implementation uses Spinlock 31.
///
/// [`claim`]: #method.claim
/// [`try_claim`]: #method.try_claim
/// [`claim_async`]: #method.claim_asyncs
pub struct Spinlock<const N: usize>(core::marker::PhantomData<()>)
where
    Spinlock<N>: SpinlockValid;

impl<const N: usize> Spinlock<N>
where
    Spinlock<N>: SpinlockValid,
{
    /// Try to claim the spinlock. Will return `Some(Self)` if the lock is obtained, and `None` if the lock is
    /// already in use somewhere else.
    pub fn try_claim() -> Option<Self> {
        // Safety: We're only reading from this register
        let sio = unsafe { &*pac::SIO::ptr() };
        let lock = sio.spinlock[N].read().bits();
        if lock > 0 {
            Some(Self(core::marker::PhantomData))
        } else {
            None
        }
    }

    /// Claim the spinlock, will block the current thread until the lock is available.
    ///
    /// Note that calling this multiple times in a row will cause a deadlock
    pub fn claim() -> Self {
        loop {
            if let Some(result) = Self::try_claim() {
                break result;
            }
        }
    }

    /// Try to claim the spinlock. Will return `WouldBlock` until the spinlock is available.
    pub fn claim_async() -> nb::Result<Self, Infallible> {
        Self::try_claim().ok_or(nb::Error::WouldBlock)
    }

    /// Clear a locked spin-lock.
    ///
    /// # Safety
    ///
    /// Only call this function if you hold the spin-lock.
    pub unsafe fn release() {
        let sio = &*pac::SIO::ptr();
        // Write (any value): release the lock
        sio.spinlock[N].write_with_zero(|b| b.bits(1));
    }
}

impl<const N: usize> Drop for Spinlock<N>
where
    Spinlock<N>: SpinlockValid,
{
    fn drop(&mut self) {
        // This is safe because we own the object, and hence hold the lock.
        unsafe { Self::release() }
    }
}

/// Spinlock number 0
pub type Spinlock0 = Spinlock<0>;

impl SpinlockValid for Spinlock<0> {}

/// Spinlock number 1
pub type Spinlock1 = Spinlock<1>;

impl SpinlockValid for Spinlock<1> {}

/// Spinlock number 2
pub type Spinlock2 = Spinlock<2>;

impl SpinlockValid for Spinlock<2> {}

/// Spinlock number 3
pub type Spinlock3 = Spinlock<3>;

impl SpinlockValid for Spinlock<3> {}

/// Spinlock number 4
pub type Spinlock4 = Spinlock<4>;

impl SpinlockValid for Spinlock<4> {}

/// Spinlock number 5
pub type Spinlock5 = Spinlock<5>;

impl SpinlockValid for Spinlock<5> {}

/// Spinlock number 6
pub type Spinlock6 = Spinlock<6>;

impl SpinlockValid for Spinlock<6> {}

/// Spinlock number 7
pub type Spinlock7 = Spinlock<7>;

impl SpinlockValid for Spinlock<7> {}

/// Spinlock number 8
pub type Spinlock8 = Spinlock<8>;

impl SpinlockValid for Spinlock<8> {}

/// Spinlock number 9
pub type Spinlock9 = Spinlock<9>;

impl SpinlockValid for Spinlock<9> {}

/// Spinlock number 10
pub type Spinlock10 = Spinlock<10>;

impl SpinlockValid for Spinlock<10> {}

/// Spinlock number 11
pub type Spinlock11 = Spinlock<11>;

impl SpinlockValid for Spinlock<11> {}

/// Spinlock number 12
pub type Spinlock12 = Spinlock<12>;

impl SpinlockValid for Spinlock<12> {}

/// Spinlock number 13
pub type Spinlock13 = Spinlock<13>;

impl SpinlockValid for Spinlock<13> {}

/// Spinlock number 14
pub type Spinlock14 = Spinlock<14>;

impl SpinlockValid for Spinlock<14> {}

/// Spinlock number 15
pub type Spinlock15 = Spinlock<15>;

impl SpinlockValid for Spinlock<15> {}

/// Spinlock number 16
pub type Spinlock16 = Spinlock<16>;

impl SpinlockValid for Spinlock<16> {}

/// Spinlock number 17
pub type Spinlock17 = Spinlock<17>;

impl SpinlockValid for Spinlock<17> {}

/// Spinlock number 18
pub type Spinlock18 = Spinlock<18>;

impl SpinlockValid for Spinlock<18> {}

/// Spinlock number 19
pub type Spinlock19 = Spinlock<19>;

impl SpinlockValid for Spinlock<19> {}

/// Spinlock number 20
pub type Spinlock20 = Spinlock<20>;

impl SpinlockValid for Spinlock<20> {}

/// Spinlock number 21
pub type Spinlock21 = Spinlock<21>;

impl SpinlockValid for Spinlock<21> {}

/// Spinlock number 22
pub type Spinlock22 = Spinlock<22>;

impl SpinlockValid for Spinlock<22> {}

/// Spinlock number 23
pub type Spinlock23 = Spinlock<23>;

impl SpinlockValid for Spinlock<23> {}

/// Spinlock number 24
pub type Spinlock24 = Spinlock<24>;

impl SpinlockValid for Spinlock<24> {}

/// Spinlock number 25
pub type Spinlock25 = Spinlock<25>;

impl SpinlockValid for Spinlock<25> {}

/// Spinlock number 26
pub type Spinlock26 = Spinlock<26>;

impl SpinlockValid for Spinlock<26> {}

/// Spinlock number 27
pub type Spinlock27 = Spinlock<27>;

impl SpinlockValid for Spinlock<27> {}

/// Spinlock number 28
pub type Spinlock28 = Spinlock<28>;

impl SpinlockValid for Spinlock<28> {}

/// Spinlock number 29
pub type Spinlock29 = Spinlock<29>;

impl SpinlockValid for Spinlock<29> {}

/// Spinlock number 30
pub type Spinlock30 = Spinlock<30>;

impl SpinlockValid for Spinlock<30> {}

/// Spinlock number 31
pub type Spinlock31 = Spinlock<31>;

impl SpinlockValid for Spinlock<31> {}

/// Returns the current state of the spinlocks. Each index corresponds to the associated spinlock, e.g. if index `5` is set to `true`, it means that [`Spinlock5`] is currently locked.
///
/// Note that spinlocks can be claimed or released at any point, so this function cannot guarantee the spinlock is actually available right after calling this function. This function is mainly intended for debugging.
pub fn spinlock_state() -> [bool; 32] {
    // Safety: we're only reading from a register
    let sio = unsafe { &*pac::SIO::ptr() };
    // A bitmap containing the state of all 32 spinlocks (1=locked).
    let register = sio.spinlock_st.read().bits();
    let mut result = [false; 32];
    #[allow(clippy::needless_range_loop)]
    for i in 0..32 {
        result[i] = (register & (1 << i)) > 0;
    }
    result
}