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RP235x: support new FIFO options, set IE, OD on PIO pins.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,116 @@ | ||
| //! This example shows how to use the PIO module in the RP235x to read a quadrature rotary encoder. | ||
| //! It differs from the other example in that it uses the RX FIFO as a status register | ||
| #![no_std] | ||
| #![no_main] | ||
|
|
||
| use defmt::info; | ||
| use embassy_executor::Spawner; | ||
| use embassy_rp::block::ImageDef; | ||
| use embassy_rp::gpio::Pull; | ||
| use embassy_rp::peripherals::PIO0; | ||
| use embassy_rp::{bind_interrupts, pio}; | ||
| use embassy_time::Timer; | ||
| use fixed::traits::ToFixed; | ||
| use pio::{Common, Config, FifoJoin, Instance, InterruptHandler, Pio, PioPin, ShiftDirection, StateMachine}; | ||
| use {defmt_rtt as _, panic_probe as _}; | ||
|
|
||
| #[link_section = ".start_block"] | ||
| #[used] | ||
| pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe(); | ||
|
|
||
| // Program metadata for `picotool info` | ||
| #[link_section = ".bi_entries"] | ||
| #[used] | ||
| pub static PICOTOOL_ENTRIES: [embassy_rp::binary_info::EntryAddr; 4] = [ | ||
| embassy_rp::binary_info::rp_program_name!(c"example_pio_rotary_encoder_rxf"), | ||
| embassy_rp::binary_info::rp_cargo_version!(), | ||
| embassy_rp::binary_info::rp_program_description!(c"Rotary encoder (RXF)"), | ||
| embassy_rp::binary_info::rp_program_build_attribute!(), | ||
| ]; | ||
|
|
||
| bind_interrupts!(struct Irqs { | ||
| PIO0_IRQ_0 => InterruptHandler<PIO0>; | ||
| }); | ||
|
|
||
| pub struct PioEncoder<'d, T: Instance, const SM: usize> { | ||
| sm: StateMachine<'d, T, SM>, | ||
| } | ||
|
|
||
| impl<'d, T: Instance, const SM: usize> PioEncoder<'d, T, SM> { | ||
| pub fn new( | ||
| pio: &mut Common<'d, T>, | ||
| mut sm: StateMachine<'d, T, SM>, | ||
| pin_a: impl PioPin, | ||
| pin_b: impl PioPin, | ||
| ) -> Self { | ||
| let mut pin_a = pio.make_pio_pin(pin_a); | ||
| let mut pin_b = pio.make_pio_pin(pin_b); | ||
| pin_a.set_pull(Pull::Up); | ||
| pin_b.set_pull(Pull::Up); | ||
|
|
||
| sm.set_pin_dirs(pio::Direction::In, &[&pin_a, &pin_b]); | ||
|
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||
| let prg = pio_proc::pio_asm!( | ||
| "start:" | ||
| // encoder count is stored in X | ||
| "mov isr, x" | ||
| // and then moved to the RX FIFO register | ||
| "mov rxfifo[0], isr" | ||
|
|
||
| // wait for encoder transition | ||
| "wait 1 pin 1" | ||
| "wait 0 pin 1" | ||
|
|
||
| "set y, 0" | ||
| "mov y, pins[1]" | ||
|
|
||
| // update X depending on pin 1 | ||
| "jmp !y decr" | ||
|
|
||
| // this is just a clever way of doing x++ | ||
| "mov x, ~x" | ||
| "jmp x--, incr" | ||
| "incr:" | ||
| "mov x, ~x" | ||
| "jmp start" | ||
|
|
||
| // and this is x-- | ||
| "decr:" | ||
| "jmp x--, start" | ||
| ); | ||
|
|
||
| let mut cfg = Config::default(); | ||
| cfg.set_in_pins(&[&pin_a, &pin_b]); | ||
| cfg.fifo_join = FifoJoin::RxAsStatus; | ||
| cfg.shift_in.direction = ShiftDirection::Left; | ||
| cfg.clock_divider = 10_000.to_fixed(); | ||
| cfg.use_program(&pio.load_program(&prg.program), &[]); | ||
| sm.set_config(&cfg); | ||
|
|
||
| sm.set_enable(true); | ||
| Self { sm } | ||
| } | ||
|
|
||
| pub async fn read(&mut self) -> u32 { | ||
| self.sm.get_rxf_entry(0) | ||
| } | ||
| } | ||
|
|
||
| pub enum Direction { | ||
| Clockwise, | ||
| CounterClockwise, | ||
| } | ||
|
|
||
| #[embassy_executor::main] | ||
| async fn main(_spawner: Spawner) { | ||
| let p = embassy_rp::init(Default::default()); | ||
| let Pio { mut common, sm0, .. } = Pio::new(p.PIO0, Irqs); | ||
|
|
||
| let mut encoder = PioEncoder::new(&mut common, sm0, p.PIN_4, p.PIN_5); | ||
|
|
||
| loop { | ||
| info!("Count: {}", encoder.read().await); | ||
| Timer::after_millis(1000).await; | ||
| } | ||
| } |
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