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pio_instructions.h
1/*
2 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
3 *
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef _HARDWARE_PIO_INSTRUCTIONS_H
8#define _HARDWARE_PIO_INSTRUCTIONS_H
9
10#include "pico.h"
11
23// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS, Enable/disable assertions in the PIO instructions, type=bool, default=0, group=pio_instructions
24#ifndef PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS
25#define PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS 0
26#endif
27
28#ifdef __cplusplus
29extern "C" {
30#endif
31
32enum pio_instr_bits {
33 pio_instr_bits_jmp = 0x0000,
34 pio_instr_bits_wait = 0x2000,
35 pio_instr_bits_in = 0x4000,
36 pio_instr_bits_out = 0x6000,
37 pio_instr_bits_push = 0x8000,
38 pio_instr_bits_pull = 0x8080,
39 pio_instr_bits_mov = 0xa000,
40 pio_instr_bits_irq = 0xc000,
41 pio_instr_bits_set = 0xe000,
42};
43
44#ifndef NDEBUG
45#define _PIO_INVALID_IN_SRC 0x08u
46#define _PIO_INVALID_OUT_DEST 0x10u
47#define _PIO_INVALID_SET_DEST 0x20u
48#define _PIO_INVALID_MOV_SRC 0x40u
49#define _PIO_INVALID_MOV_DEST 0x80u
50#else
51#define _PIO_INVALID_IN_SRC 0u
52#define _PIO_INVALID_OUT_DEST 0u
53#define _PIO_INVALID_SET_DEST 0u
54#define _PIO_INVALID_MOV_SRC 0u
55#define _PIO_INVALID_MOV_DEST 0u
56#endif
57
65 pio_pins = 0u,
66 pio_x = 1u,
67 pio_y = 2u,
68 pio_null = 3u | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_DEST,
69 pio_pindirs = 4u | _PIO_INVALID_IN_SRC | _PIO_INVALID_MOV_SRC | _PIO_INVALID_MOV_DEST,
70 pio_exec_mov = 4u | _PIO_INVALID_IN_SRC | _PIO_INVALID_OUT_DEST | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_SRC,
71 pio_status = 5u | _PIO_INVALID_IN_SRC | _PIO_INVALID_OUT_DEST | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_DEST,
72 pio_pc = 5u | _PIO_INVALID_IN_SRC | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_SRC,
73 pio_isr = 6u | _PIO_INVALID_SET_DEST,
74 pio_osr = 7u | _PIO_INVALID_OUT_DEST | _PIO_INVALID_SET_DEST,
75 pio_exec_out = 7u | _PIO_INVALID_IN_SRC | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_SRC | _PIO_INVALID_MOV_DEST,
76};
77
78static inline uint _pio_major_instr_bits(uint instr) {
79 return instr & 0xe000u;
80}
81
82static inline uint _pio_arg1(uint instr) {
83 return (instr >> 5) & 0x7u;
84}
85
86static inline uint _pio_encode_instr_and_args(enum pio_instr_bits instr_bits, uint arg1, uint arg2) {
87 valid_params_if(PIO_INSTRUCTIONS, arg1 <= 0x7);
88#if PARAM_ASSERTIONS_ENABLED(PIO_INSTRUCTIONS)
89 uint32_t major = _pio_major_instr_bits(instr_bits);
90 if (major == pio_instr_bits_in || major == pio_instr_bits_out) {
91 assert(arg2 && arg2 <= 32);
92 } else {
93 assert(arg2 <= 31);
94 }
95#endif
96 return instr_bits | (arg1 << 5u) | (arg2 & 0x1fu);
97}
98
99static inline uint _pio_encode_instr_and_src_dest(enum pio_instr_bits instr_bits, enum pio_src_dest dest, uint value) {
100 return _pio_encode_instr_and_args(instr_bits, dest & 7u, value);
101}
102
114static inline uint pio_encode_delay(uint cycles) {
115 // note that the maximum cycles will be smaller if sideset_bit_count > 0
116 valid_params_if(PIO_INSTRUCTIONS, cycles <= 0x1f);
117 return cycles << 8u;
118}
119
132static inline uint pio_encode_sideset(uint sideset_bit_count, uint value) {
133 valid_params_if(PIO_INSTRUCTIONS, sideset_bit_count >= 1 && sideset_bit_count <= 5);
134 valid_params_if(PIO_INSTRUCTIONS, value <= ((1u << sideset_bit_count) - 1));
135 return value << (13u - sideset_bit_count);
136}
137
150static inline uint pio_encode_sideset_opt(uint sideset_bit_count, uint value) {
151 valid_params_if(PIO_INSTRUCTIONS, sideset_bit_count >= 1 && sideset_bit_count <= 4);
152 valid_params_if(PIO_INSTRUCTIONS, value <= ((1u << sideset_bit_count) - 1));
153 return 0x1000u | value << (12u - sideset_bit_count);
154}
155
165static inline uint pio_encode_jmp(uint addr) {
166 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 0, addr);
167}
168
178static inline uint pio_encode_jmp_not_x(uint addr) {
179 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 1, addr);
180}
181
191static inline uint pio_encode_jmp_x_dec(uint addr) {
192 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 2, addr);
193}
194
204static inline uint pio_encode_jmp_not_y(uint addr) {
205 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 3, addr);
206}
207
217static inline uint pio_encode_jmp_y_dec(uint addr) {
218 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 4, addr);
219}
220
230static inline uint pio_encode_jmp_x_ne_y(uint addr) {
231 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 5, addr);
232}
233
243static inline uint pio_encode_jmp_pin(uint addr) {
244 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 6, addr);
245}
246
256static inline uint pio_encode_jmp_not_osre(uint addr) {
257 return _pio_encode_instr_and_args(pio_instr_bits_jmp, 7, addr);
258}
259
260static inline uint _pio_encode_irq(bool relative, uint irq) {
261 valid_params_if(PIO_INSTRUCTIONS, irq <= 7);
262 return (relative ? 0x10u : 0x0u) | irq;
263}
264
275static inline uint pio_encode_wait_gpio(bool polarity, uint gpio) {
276 return _pio_encode_instr_and_args(pio_instr_bits_wait, 0u | (polarity ? 4u : 0u), gpio);
277}
278
289static inline uint pio_encode_wait_pin(bool polarity, uint pin) {
290 return _pio_encode_instr_and_args(pio_instr_bits_wait, 1u | (polarity ? 4u : 0u), pin);
291}
292
304static inline uint pio_encode_wait_irq(bool polarity, bool relative, uint irq) {
305 valid_params_if(PIO_INSTRUCTIONS, irq <= 7);
306 return _pio_encode_instr_and_args(pio_instr_bits_wait, 2u | (polarity ? 4u : 0u), _pio_encode_irq(relative, irq));
307}
308
319static inline uint pio_encode_in(enum pio_src_dest src, uint count) {
320 valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_IN_SRC));
321 return _pio_encode_instr_and_src_dest(pio_instr_bits_in, src, count);
322}
323
334static inline uint pio_encode_out(enum pio_src_dest dest, uint count) {
335 valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_OUT_DEST));
336 return _pio_encode_instr_and_src_dest(pio_instr_bits_out, dest, count);
337}
338
349static inline uint pio_encode_push(bool if_full, bool block) {
350 return _pio_encode_instr_and_args(pio_instr_bits_push, (if_full ? 2u : 0u) | (block ? 1u : 0u), 0);
351}
352
363static inline uint pio_encode_pull(bool if_empty, bool block) {
364 return _pio_encode_instr_and_args(pio_instr_bits_pull, (if_empty ? 2u : 0u) | (block ? 1u : 0u), 0);
365}
366
377static inline uint pio_encode_mov(enum pio_src_dest dest, enum pio_src_dest src) {
378 valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
379 valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
380 return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest, src & 7u);
381}
382
393static inline uint pio_encode_mov_not(enum pio_src_dest dest, enum pio_src_dest src) {
394 valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
395 valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
396 return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest, (1u << 3u) | (src & 7u));
397}
398
409static inline uint pio_encode_mov_reverse(enum pio_src_dest dest, enum pio_src_dest src) {
410 valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
411 valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
412 return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest, (2u << 3u) | (src & 7u));
413}
414
425static inline uint pio_encode_irq_set(bool relative, uint irq) {
426 return _pio_encode_instr_and_args(pio_instr_bits_irq, 0, _pio_encode_irq(relative, irq));
427}
428
439static inline uint pio_encode_irq_wait(bool relative, uint irq) {
440 return _pio_encode_instr_and_args(pio_instr_bits_irq, 1, _pio_encode_irq(relative, irq));
441}
442
453static inline uint pio_encode_irq_clear(bool relative, uint irq) {
454 return _pio_encode_instr_and_args(pio_instr_bits_irq, 2, _pio_encode_irq(relative, irq));
455}
456
467static inline uint pio_encode_set(enum pio_src_dest dest, uint value) {
468 valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_SET_DEST));
469 return _pio_encode_instr_and_src_dest(pio_instr_bits_set, dest, value);
470}
471
480static inline uint pio_encode_nop(void) {
481 return pio_encode_mov(pio_y, pio_y);
482}
483
484#ifdef __cplusplus
485}
486#endif
487
488#endif
static uint pio_encode_jmp(uint addr)
Encode an unconditional JMP instruction.
Definition pio_instructions.h:165
static uint pio_encode_delay(uint cycles)
Encode just the delay slot bits of an instruction.
Definition pio_instructions.h:114
static uint pio_encode_irq_set(bool relative, uint irq)
Encode a IRQ SET instruction.
Definition pio_instructions.h:425
static uint pio_encode_wait_irq(bool polarity, bool relative, uint irq)
Encode a WAIT for IRQ instruction.
Definition pio_instructions.h:304
static uint pio_encode_push(bool if_full, bool block)
Encode a PUSH instruction.
Definition pio_instructions.h:349
static uint pio_encode_wait_gpio(bool polarity, uint gpio)
Encode a WAIT for GPIO pin instruction.
Definition pio_instructions.h:275
static uint pio_encode_sideset_opt(uint sideset_bit_count, uint value)
Encode just the side set bits of an instruction (in optional -opt side set mode)
Definition pio_instructions.h:150
pio_src_dest
Enumeration of values to pass for source/destination args for instruction encoding functions.
Definition pio_instructions.h:64
static uint pio_encode_irq_clear(bool relative, uint irq)
Encode a IRQ CLEAR instruction.
Definition pio_instructions.h:453
static uint pio_encode_mov_not(enum pio_src_dest dest, enum pio_src_dest src)
Encode a MOV instruction with bit invert.
Definition pio_instructions.h:393
static uint pio_encode_jmp_not_x(uint addr)
Encode a conditional JMP if scratch X zero instruction.
Definition pio_instructions.h:178
static uint pio_encode_pull(bool if_empty, bool block)
Encode a PULL instruction.
Definition pio_instructions.h:363
static uint pio_encode_out(enum pio_src_dest dest, uint count)
Encode an OUT instruction.
Definition pio_instructions.h:334
static uint pio_encode_jmp_y_dec(uint addr)
Encode a conditional JMP if scratch Y non-zero (and post-decrement Y) instruction.
Definition pio_instructions.h:217
static uint pio_encode_jmp_x_ne_y(uint addr)
Encode a conditional JMP if scratch X not equal scratch Y instruction.
Definition pio_instructions.h:230
static uint pio_encode_nop(void)
Encode a NOP instruction.
Definition pio_instructions.h:480
static uint pio_encode_in(enum pio_src_dest src, uint count)
Encode an IN instruction.
Definition pio_instructions.h:319
static uint pio_encode_jmp_pin(uint addr)
Encode a conditional JMP if input pin high instruction.
Definition pio_instructions.h:243
static uint pio_encode_sideset(uint sideset_bit_count, uint value)
Encode just the side set bits of an instruction (in non optional side set mode)
Definition pio_instructions.h:132
static uint pio_encode_mov_reverse(enum pio_src_dest dest, enum pio_src_dest src)
Encode a MOV instruction with bit reverse.
Definition pio_instructions.h:409
static uint pio_encode_jmp_x_dec(uint addr)
Encode a conditional JMP if scratch X non-zero (and post-decrement X) instruction.
Definition pio_instructions.h:191
static uint pio_encode_jmp_not_y(uint addr)
Encode a conditional JMP if scratch Y zero instruction.
Definition pio_instructions.h:204
static uint pio_encode_mov(enum pio_src_dest dest, enum pio_src_dest src)
Encode a MOV instruction.
Definition pio_instructions.h:377
static uint pio_encode_set(enum pio_src_dest dest, uint value)
Encode a SET instruction.
Definition pio_instructions.h:467
static uint pio_encode_irq_wait(bool relative, uint irq)
Encode a IRQ WAIT instruction.
Definition pio_instructions.h:439
static uint pio_encode_jmp_not_osre(uint addr)
Encode a conditional JMP if output shift register not empty instruction.
Definition pio_instructions.h:256
static uint pio_encode_wait_pin(bool polarity, uint pin)
Encode a WAIT for pin instruction.
Definition pio_instructions.h:289