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use pio instruction encoding apis

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This commit is contained in:
Gus Caplan 2021-09-15 11:34:07 -05:00 committed by 9names
parent b399c96cf5
commit 833b69819e
1 changed files with 39 additions and 21 deletions
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60
rp2040-hal/src/pio.rs
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@ -140,21 +140,35 @@ impl<P: Instance> PIO<P> {
}
}
fn add_program(&self, instructions: &[u16], origin: Option<u8>) -> Option<usize> {
fn add_program(
&self,
instructions: &[u16],
origin: Option<u8>,
side_set: pio::SideSet,
) -> Option<usize> {
if let Some(offset) = self.find_offset_for_instructions(instructions, origin) {
for (i, instr) in instructions.iter().enumerate() {
let instr = if instr & 0xe000 != 0 {
*instr
} else {
// JMP instruction. We need to apply offset here
let address = instr & 0x001f;
assert!(
address + (offset as u16) <= 0x001f,
"Invalid JMP out of the program after offset addition"
);
instr + offset as u16
};
for (i, instr) in instructions
.iter()
.map(|instr| {
let mut instr = pio::Instruction::decode(*instr, side_set).unwrap();
instr.operands = match instr.operands {
pio::InstructionOperands::JMP { condition, address } => {
// JMP instruction. We need to apply offset here
let address = address + offset as u8;
assert!(
address < pio::RP2040_MAX_PROGRAM_SIZE as u8,
"Invalid JMP out of the program after offset addition"
);
pio::InstructionOperands::JMP { condition, address }
}
_ => instr.operands,
};
instr.encode(side_set)
})
.enumerate()
{
self.pio.instr_mem[i + offset].write(|w| unsafe { w.bits(instr as u32) })
}
self.used_instruction_space
@ -800,10 +814,11 @@ impl<'a> PIOBuilder<'a> {
/// Build the config and deploy it to a StateMachine.
pub fn build<P: Instance>(self, pio: &PIO<P>, sm: &StateMachine<P>) -> Result<(), BuildError> {
let offset = match pio.add_program(self.instructions, self.instruction_origin) {
Some(o) => o,
None => return Err(BuildError::NoSpace),
};
let offset =
match pio.add_program(self.instructions, self.instruction_origin, self.side_set) {
Some(o) => o,
None => return Err(BuildError::NoSpace),
};
// Stop the SM
// TODO: This should probably do before we write the program source code
@ -898,10 +913,13 @@ impl<'a> PIOBuilder<'a> {
// Set starting location by setting the state machine to execute a jmp
// to the beginning of the program we loaded in.
#[allow(clippy::unusual_byte_groupings)]
let mut instr = 0b000_00000_000_00000; // JMP 0
instr |= offset as u16;
sm.set_instruction(instr);
sm.set_instruction(
pio::InstructionOperands::JMP {
condition: pio::JmpCondition::Always,
address: offset as u8,
}
.encode(),
);
// Enable SM
sm.set_enabled(true);