247 lines
9.0 KiB
C
247 lines
9.0 KiB
C
/*
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* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "hardware/claim.h"
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#include "hardware/pio.h"
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#include "hardware/pio_instructions.h"
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// sanity check
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check_hw_layout(pio_hw_t, sm[0].clkdiv, PIO_SM0_CLKDIV_OFFSET);
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check_hw_layout(pio_hw_t, sm[1].clkdiv, PIO_SM1_CLKDIV_OFFSET);
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check_hw_layout(pio_hw_t, instr_mem[0], PIO_INSTR_MEM0_OFFSET);
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check_hw_layout(pio_hw_t, inte0, PIO_IRQ0_INTE_OFFSET);
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check_hw_layout(pio_hw_t, txf[1], PIO_TXF1_OFFSET);
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check_hw_layout(pio_hw_t, rxf[3], PIO_RXF3_OFFSET);
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check_hw_layout(pio_hw_t, ints1, PIO_IRQ1_INTS_OFFSET);
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static_assert(NUM_PIO_STATE_MACHINES * NUM_PIOS <= 8, "");
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static uint8_t claimed;
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void pio_sm_claim(PIO pio, uint sm) {
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check_sm_param(sm);
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uint which = pio_get_index(pio);
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if (which) {
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hw_claim_or_assert(&claimed, NUM_PIO_STATE_MACHINES + sm, "PIO 1 SM %d already claimed");
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} else {
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hw_claim_or_assert(&claimed, sm, "PIO 0 SM %d already claimed");
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}
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}
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void pio_claim_sm_mask(PIO pio, uint sm_mask) {
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for(uint i = 0; sm_mask; i++, sm_mask >>= 1u) {
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if (sm_mask & 1u) pio_sm_claim(pio, i);
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}
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}
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void pio_sm_unclaim(PIO pio, uint sm) {
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check_sm_param(sm);
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uint which = pio_get_index(pio);
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hw_claim_clear(&claimed, which * NUM_PIO_STATE_MACHINES + sm);
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}
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int pio_claim_unused_sm(PIO pio, bool required) {
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uint which = pio_get_index(pio);
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uint base = which * NUM_PIO_STATE_MACHINES;
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int index = hw_claim_unused_from_range((uint8_t*)&claimed, required, base,
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base + NUM_PIO_STATE_MACHINES - 1, "No PIO state machines are available");
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return index >= base ? index - base : -1;
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}
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void pio_load_program(PIO pio, const uint16_t *prog, uint8_t prog_len, uint8_t load_offset) {
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// instructions are only 16 bits, but instruction memory locations are spaced 32 bits apart
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// Adjust the addresses of any jump instructions to respect load offset
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assert(load_offset + prog_len <= PIO_INSTRUCTION_COUNT);
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}
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static_assert(PIO_INSTRUCTION_COUNT <= 32, "");
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static uint32_t _used_instruction_space[2];
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static int _pio_find_offset_for_program(PIO pio, const pio_program_t *program) {
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assert(program->length < PIO_INSTRUCTION_COUNT);
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uint32_t used_mask = _used_instruction_space[pio_get_index(pio)];
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uint32_t program_mask = (1u << program->length) - 1;
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if (program->origin >= 0) {
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if (program->origin > 32 - program->length) return -1;
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return used_mask & (program_mask << program->origin) ? -1 : program->origin;
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} else {
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// work down from the top always
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for (int i = 32 - program->length; i >= 0; i--) {
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if (!(used_mask & (program_mask << (uint) i))) {
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return i;
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}
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}
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return -1;
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}
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}
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bool pio_can_add_program(PIO pio, const pio_program_t *program) {
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uint32_t save = hw_claim_lock();
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bool rc = -1 != _pio_find_offset_for_program(pio, program);
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hw_claim_unlock(save);
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return rc;
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}
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static bool _pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) {
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assert(offset < PIO_INSTRUCTION_COUNT);
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assert(offset + program->length <= PIO_INSTRUCTION_COUNT);
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if (program->origin >= 0 && program->origin != offset) return false;
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uint32_t used_mask = _used_instruction_space[pio_get_index(pio)];
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uint32_t program_mask = (1u << program->length) - 1;
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return !(used_mask & (program_mask << offset));
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}
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bool pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) {
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uint32_t save = hw_claim_lock();
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bool rc = _pio_can_add_program_at_offset(pio, program, offset);
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hw_claim_unlock(save);
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return rc;
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}
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static void _pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) {
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if (!_pio_can_add_program_at_offset(pio, program, offset)) {
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panic("No program space");
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}
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for (uint i = 0; i < program->length; ++i) {
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uint16_t instr = program->instructions[i];
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pio->instr_mem[offset + i] = pio_instr_bits_jmp != _pio_major_instr_bits(instr) ? instr : instr + offset;
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}
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uint32_t program_mask = (1u << program->length) - 1;
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_used_instruction_space[pio_get_index(pio)] |= program_mask << offset;
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}
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// these assert if unable
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uint pio_add_program(PIO pio, const pio_program_t *program) {
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uint32_t save = hw_claim_lock();
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int offset = _pio_find_offset_for_program(pio, program);
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if (offset < 0) {
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panic("No program space");
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}
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_pio_add_program_at_offset(pio, program, offset);
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hw_claim_unlock(save);
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return offset;
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}
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void pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset) {
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uint32_t save = hw_claim_lock();
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_pio_add_program_at_offset(pio, program, offset);
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hw_claim_unlock(save);
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}
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void pio_remove_program(PIO pio, const pio_program_t *program, uint loaded_offset) {
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uint32_t program_mask = (1u << program->length) - 1;
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program_mask <<= loaded_offset;
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uint32_t save = hw_claim_lock();
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assert(program_mask == (_used_instruction_space[pio_get_index(pio)] & program_mask));
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_used_instruction_space[pio_get_index(pio)] &= ~program_mask;
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hw_claim_unlock(save);
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}
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void pio_clear_instruction_memory(PIO pio) {
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uint32_t save = hw_claim_lock();
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_used_instruction_space[pio_get_index(pio)] = 0;
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for(uint i=0;i<PIO_INSTRUCTION_COUNT;i++) {
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pio->instr_mem[i] = pio_encode_jmp(i);
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}
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hw_claim_unlock(save);
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}
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// Set the value of all PIO pins. This is done by forcibly executing
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// instructions on a "victim" state machine, sm. Ideally you should choose one
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// which is not currently running a program. This is intended for one-time
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// setup of initial pin states.
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void pio_sm_set_pins(PIO pio, uint sm, uint32_t pins) {
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uint32_t pinctrl_saved = pio->sm[sm].pinctrl;
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uint remaining = 32;
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uint base = 0;
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while (remaining) {
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uint decrement = remaining > 5 ? 5 : remaining;
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pio->sm[sm].pinctrl =
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(decrement << PIO_SM0_PINCTRL_SET_COUNT_LSB) |
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(base << PIO_SM0_PINCTRL_SET_BASE_LSB);
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pio_sm_exec(pio, sm, pio_encode_set(pio_pins, pins & 0x1fu));
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remaining -= decrement;
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base += decrement;
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pins >>= 5;
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}
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pio->sm[sm].pinctrl = pinctrl_saved;
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}
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void pio_sm_set_pins_with_mask(PIO pio, uint sm, uint32_t pinvals, uint32_t pin_mask) {
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uint32_t pinctrl_saved = pio->sm[sm].pinctrl;
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while (pin_mask) {
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uint base = __builtin_ctz(pin_mask);
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pio->sm[sm].pinctrl =
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(1u << PIO_SM0_PINCTRL_SET_COUNT_LSB) |
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(base << PIO_SM0_PINCTRL_SET_BASE_LSB);
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pio_sm_exec(pio, sm, pio_encode_set(pio_pins, (pinvals >> base) & 0x1u));
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pin_mask &= pin_mask - 1;
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}
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pio->sm[sm].pinctrl = pinctrl_saved;
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}
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void pio_sm_set_pindirs_with_mask(PIO pio, uint sm, uint32_t pindirs, uint32_t pin_mask) {
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uint32_t pinctrl_saved = pio->sm[sm].pinctrl;
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while (pin_mask) {
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uint base = __builtin_ctz(pin_mask);
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pio->sm[sm].pinctrl =
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(1u << PIO_SM0_PINCTRL_SET_COUNT_LSB) |
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(base << PIO_SM0_PINCTRL_SET_BASE_LSB);
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pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, (pindirs >> base) & 0x1u));
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pin_mask &= pin_mask - 1;
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}
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pio->sm[sm].pinctrl = pinctrl_saved;
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}
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void pio_sm_set_consecutive_pindirs(PIO pio, uint sm, uint pin, uint count, bool is_out) {
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assert(pin < 32u);
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uint32_t pinctrl_saved = pio->sm[sm].pinctrl;
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uint pindir_val = is_out ? 0x1f : 0;
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while (count > 5) {
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pio->sm[sm].pinctrl = (5u << PIO_SM0_PINCTRL_SET_COUNT_LSB) | (pin << PIO_SM0_PINCTRL_SET_BASE_LSB);
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pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, pindir_val));
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count -= 5;
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pin = (pin + 5) & 0x1f;
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}
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pio->sm[sm].pinctrl = (count << PIO_SM0_PINCTRL_SET_COUNT_LSB) | (pin << PIO_SM0_PINCTRL_SET_BASE_LSB);
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pio_sm_exec(pio, sm, pio_encode_set(pio_pindirs, pindir_val));
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pio->sm[sm].pinctrl = pinctrl_saved;
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}
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void pio_sm_init(PIO pio, uint sm, uint initial_pc, const pio_sm_config *config) {
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// Halt the machine, set some sensible defaults
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pio_sm_set_enabled(pio, sm, false);
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if (config) {
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pio_sm_set_config(pio, sm, config);
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} else {
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pio_sm_config c = pio_get_default_sm_config();
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pio_sm_set_config(pio, sm, &c);
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}
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pio_sm_clear_fifos(pio, sm);
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// Clear FIFO debug flags
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const uint32_t fdebug_sm_mask =
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(1u << PIO_FDEBUG_TXOVER_LSB) |
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(1u << PIO_FDEBUG_RXUNDER_LSB) |
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(1u << PIO_FDEBUG_TXSTALL_LSB) |
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(1u << PIO_FDEBUG_RXSTALL_LSB);
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pio->fdebug = fdebug_sm_mask << sm;
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// Finally, clear some internal SM state
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pio_sm_restart(pio, sm);
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pio_sm_clkdiv_restart(pio, sm);
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pio_sm_exec(pio, sm, pio_encode_jmp(initial_pc));
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}
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void pio_sm_drain_tx_fifo(PIO pio, uint sm) {
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uint instr = (pio->sm[sm].shiftctrl & PIO_SM0_SHIFTCTRL_AUTOPULL_BITS) ? pio_encode_out(pio_null, 32) :
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pio_encode_pull(false, false);
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while (!pio_sm_is_tx_fifo_empty(pio, sm)) {
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pio_sm_exec(pio, sm, instr);
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}
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}
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