Add a method to allow setting the PIO's clock divisor without floats (#440)

* pio: Changes `PIOBuilder::clock_divisor` from f32 to fixed point)
* pio: mark clock_divisor as deprecated

rp2040-hal/examples/pio_blink.rs

@@ -61,10 +61,10 @@ fn main() -> ! {
     // Initialize and start PIO
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program).unwrap();
-    let div = 0f32; // as slow as possible (0 is interpreted as 65536)
+    let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
     let (sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
         .set_pins(led_pin_id, 1)
-        .clock_divisor(div)
+        .clock_divisor_fixed_point(int, frac)
         .build(sm0);
     sm.start();
 

rp2040-hal/examples/pio_proc_blink.rs

@@ -47,10 +47,10 @@ fn main() -> ! {
     // Initialize and start PIO
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program.program).unwrap();
-    let div = 0f32; // as slow as possible (0 is interpreted as 65536)
+    let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
     let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
         .set_pins(led_pin_id, 1)
-        .clock_divisor(div)
+        .clock_divisor_fixed_point(int, frac)
         .build(sm0);
     // The GPIO pin needs to be configured as an output.
     sm.set_pindirs([(led_pin_id, hal::pio::PinDir::Output)]);

rp2040-hal/examples/pio_side_set.rs

@@ -50,10 +50,10 @@ fn main() -> ! {
     // Initialize and start PIO
     let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
     let installed = pio.install(&program.program).unwrap();
-    let div = 0f32; // as slow as possible (0 is interpreted as 65536)
+    let (int, frac) = (0, 0); // as slow as possible (0 is interpreted as 65536)
     let (mut sm, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
         .side_set_pin_base(led_pin_id)
-        .clock_divisor(div)
+        .clock_divisor_fixed_point(int, frac)
         .build(sm0);
     // The GPIO pin needs to be configured as an output.
     sm.set_pindirs([(led_pin_id, hal::pio::PinDir::Output)]);

rp2040-hal/examples/pio_synchronized.rs

@@ -57,12 +57,12 @@ fn main() -> ! {
     // then through a LED. If there is a clock offset, there will be a
     // short time with a voltage between the pins, so the LED will flash up.
     // With a slow clock this is not visible, so use a reasonably fast clock.
-    let div = 256f32;
+    let (int, frac) = (256, 0);
 
     let installed = pio.install(&program.program).unwrap();
     let (mut sm0, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
         .set_pins(pin0, 1)
-        .clock_divisor(div)
+        .clock_divisor_fixed_point(int, frac)
         .build(sm0);
     // The GPIO pin needs to be configured as an output.
     sm0.set_pindirs([(pin0, hal::pio::PinDir::Output)]);
@@ -72,7 +72,7 @@ fn main() -> ! {
     let installed = pio.install(&program.program).unwrap();
     let (mut sm1, _, _) = rp2040_hal::pio::PIOBuilder::from_program(installed)
         .set_pins(pin1, 1)
-        .clock_divisor(div)
+        .clock_divisor_fixed_point(int, frac)
         .build(sm1);
     // The GPIO pin needs to be configured as an output.
     sm1.set_pindirs([(pin1, hal::pio::PinDir::Output)]);

rp2040-hal/src/pio.rs

@@ -471,11 +471,7 @@ impl<SM: ValidStateMachine> UninitStateMachine<SM> {
     }
 
     // Safety: The Send trait assumes this is the only write to sm_clkdiv
-    fn set_clock_divisor(&self, divisor: f32) {
+    fn set_clock_divisor(&self, int: u16, frac: u8) {
-        // sm frequency = clock freq / (CLKDIV_INT + CLKDIV_FRAC / 256)
-        let int = divisor as u16;
-        let frac = ((divisor - int as f32) * 256.0) as u8;
-
         self.sm().sm_clkdiv.write(|w| {
             unsafe {
                 w.int().bits(int);
@@ -1619,7 +1615,7 @@ impl ShiftDirection {
 #[derive(Debug)]
 pub struct PIOBuilder<P> {
     /// Clock divisor.
-    clock_divisor: f32,
+    clock_divisor: (u16, u8),
 
     /// Program location and configuration.
     program: InstalledProgram<P>,
@@ -1688,7 +1684,7 @@ impl<P: PIOExt> PIOBuilder<P> {
     /// Additional configuration may be needed in addition to this.
     pub fn from_program(p: InstalledProgram<P>) -> Self {
         PIOBuilder {
-            clock_divisor: 1.0,
+            clock_divisor: (1, 0),
             program: p,
             jmp_pin: 0,
             out_sticky: false,
@@ -1771,8 +1767,24 @@ impl<P: PIOExt> PIOBuilder<P> {
     ///
     /// The is based on the sys_clk. Set 1 for full speed. A clock divisor of `n` will cause the state machine to run 1
     /// cycle every `n` clock cycles. For small values of `n`, a fractional divisor may introduce unacceptable jitter.
+    #[deprecated(
+        since = "0.7.0",
+        note = "Pulls in floating points. Use the fixed point alternative: clock_divisor_fixed_point"
+    )]
     pub fn clock_divisor(mut self, divisor: f32) -> Self {
-        self.clock_divisor = divisor;
+        self.clock_divisor = (divisor as u16, (divisor * 256.0) as u8);
+        self
+    }
+
+    /// The clock is based on the `sys_clk` and will execute an intruction every `int + (frac/256)` ticks.
+    ///
+    /// A clock divisor of `n` will cause the state machine to run 1 cycle every `n` clock cycles. If the integer part
+    /// is 0 then the fractional part must be 0. This is interpreted by the device as the integer 65536.
+    ///
+    /// For small values of `int`, a fractional divisor may introduce unacceptable jitter.
+    pub fn clock_divisor_fixed_point(mut self, int: u16, frac: u8) -> Self {
+        assert!(int != 0 || frac == 0);
+        self.clock_divisor = (int, frac);
         self
     }
 
@@ -1852,7 +1864,7 @@ impl<P: PIOExt> PIOBuilder<P> {
         sm.set_enabled(false);
 
         // Write all configuration bits
-        sm.set_clock_divisor(self.clock_divisor);
+        sm.set_clock_divisor(self.clock_divisor.0, self.clock_divisor.1);
 
         sm.sm().sm_execctrl.write(|w| {
             w.side_en().bit(self.program.side_set.optional());