Merge pull request tock#4179 from mateir-7/pio-final

PIO support for RP2040

boards/pico_explorer_base/src/main.rs

@@ -20,6 +20,7 @@ use components::led::LedsComponent;
 use enum_primitive::cast::FromPrimitive;
 use kernel::component::Component;
 use kernel::hil::led::LedHigh;
+use kernel::hil::pwm::Pwm;
 use kernel::hil::usb::Client;
 use kernel::platform::{KernelResources, SyscallDriverLookup};
 use kernel::scheduler::round_robin::RoundRobinSched;
@@ -34,6 +35,8 @@ use rp2040::clocks::{
     SystemAuxiliaryClockSource, SystemClockSource, UsbAuxiliaryClockSource,
 };
 use rp2040::gpio::{GpioFunction, RPGpio, RPGpioPin};
+use rp2040::pio::{PIONumber, Pio, SMNumber, StateMachineConfiguration};
+use rp2040::pio_pwm::PioPwm;
 use rp2040::resets::Peripheral;
 use rp2040::spi::Spi;
 use rp2040::sysinfo;
@@ -376,11 +379,8 @@ pub unsafe fn start() -> (
         .finalize(components::uart_mux_component_static!());
 
     // Uncomment this to use UART as an output
-    // let uart_mux = components::console::UartMuxComponent::new(
-    //     &peripherals.uart0,
-    //     115200,
-    // )
-    // .finalize(components::uart_mux_component_static!());
+    // let uart_mux = components::console::UartMuxComponent::new(&peripherals.uart0, 115200)
+    //     .finalize(components::uart_mux_component_static!());
 
     // Setup the console.
     let console = components::console::ConsoleComponent::new(
@@ -694,6 +694,16 @@ pub unsafe fn start() -> (
         debug!("{:?}", err);
     });
 
+    //--------------------------------------------------------------------------
+    // PIO
+    //--------------------------------------------------------------------------
+
+    let mut pio: Pio = Pio::new_pio0();
+
+    let pio_pwm = PioPwm::new(&mut pio);
+    pio_pwm.set_clocks(&peripherals.clocks);
+    pio_pwm.start(&RPGpio::GPIO7, 12_500_000, 50).unwrap();
+
     (board_kernel, pico_explorer_base, chip)
 }
 

chips/rp2040/src/chip.rs

@@ -13,6 +13,7 @@ use crate::clocks::Clocks;
 use crate::gpio::{RPGpio, RPPins, SIO};
 use crate::i2c;
 use crate::interrupts;
+use crate::pio::Pio;
 use crate::pwm;
 use crate::resets::Resets;
 use crate::rtc;
@@ -123,6 +124,8 @@ pub struct Rp2040DefaultPeripherals<'a> {
     pub clocks: Clocks,
     pub i2c0: i2c::I2c<'a, 'a>,
     pub pins: RPPins<'a>,
+    pub pio0: Pio,
+    pub pio1: Pio,
     pub pwm: pwm::Pwm<'a>,
     pub resets: Resets,
     pub sio: SIO,
@@ -144,6 +147,8 @@ impl<'a> Rp2040DefaultPeripherals<'a> {
             clocks: Clocks::new(),
             i2c0: i2c::I2c::new_i2c0(),
             pins: RPPins::new(),
+            pio0: Pio::new_pio0(),
+            pio1: Pio::new_pio1(),
             pwm: pwm::Pwm::new(),
             resets: Resets::new(),
             sio: SIO::new(),
@@ -176,6 +181,13 @@ impl<'a> Rp2040DefaultPeripherals<'a> {
 impl InterruptService for Rp2040DefaultPeripherals<'_> {
     unsafe fn service_interrupt(&self, interrupt: u32) -> bool {
         match interrupt {
+            interrupts::PIO0_IRQ_0 => {
+                // As the current PIO interface does not provide support for interrupts, they are
+                // simply ignored.
+                //
+                // Note that PIO interrupts are raised only during unit tests.
+                true
+            }
             interrupts::TIMER_IRQ_0 => {
                 self.timer.handle_interrupt();
                 true

chips/rp2040/src/lib.rs

@@ -11,6 +11,8 @@ mod deferred_calls;
 pub mod gpio;
 pub mod i2c;
 pub mod interrupts;
+pub mod pio;
+pub mod pio_pwm;
 pub mod pwm;
 pub mod resets;
 pub mod rtc;