text: /****************************************************************************
   * arch/arm/src/rp2040/rp2040_pio_instructions.h
   *
   * Based upon the software originally developed by
   *   Raspberry Pi (Trading) Ltd.
   *
   * Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name of the copyright holder nor the names of its
   *    contributors may be used to endorse or promote products derived
   *    from this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #ifndef __ARCH_ARM_SRC_RP2040_RP2040_PIO_INSTRUCTIONS_H
  #define __ARCH_ARM_SRC_RP2040_RP2040_PIO_INSTRUCTIONS_H
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  
  #include <stdint.h>
  #include <assert.h>
  #include <debug.h>
  
  #include "rp2040_pio.h"
  
  /****************************************************************************
   * Pre-processor Definitions
   ****************************************************************************/
  
  /* PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS,
   * Enable/disable assertions in the PIO instructions, type=bool, default=0,
   * group=hardware_pio
   */
  
  #ifndef PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS
  #define PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS 0
  #endif
  
  #ifndef __ASSEMBLY__
  
  #undef EXTERN
  #if defined(__cplusplus)
  #define EXTERN extern "C"
  extern "C"
  {
  #else
  #define EXTERN extern
  #endif
  
  /****************************************************************************
   * Public Types
   ****************************************************************************/
  
  enum pio_instr_bits
    {
      pio_instr_bits_jmp = 0x0000,
      pio_instr_bits_wait = 0x2000,
      pio_instr_bits_in = 0x4000,
      pio_instr_bits_out = 0x6000,
      pio_instr_bits_push = 0x8000,
      pio_instr_bits_pull = 0x8080,
      pio_instr_bits_mov = 0xa000,
      pio_instr_bits_irq = 0xc000,
      pio_instr_bits_set = 0xe000,
    };
  
  #ifndef NDEBUG
  #define _PIO_INVALID_IN_SRC    0x08u
  #define _PIO_INVALID_OUT_DEST 0x10u
  #define _PIO_INVALID_SET_DEST 0x20u
  #define _PIO_INVALID_MOV_SRC  0x40u
  #define _PIO_INVALID_MOV_DEST 0x80u
  #else
  #define _PIO_INVALID_IN_SRC    0u
  #define _PIO_INVALID_OUT_DEST 0u
  #define _PIO_INVALID_SET_DEST 0u
  #define _PIO_INVALID_MOV_SRC  0u
  #define _PIO_INVALID_MOV_DEST 0u
  #endif
  
  enum pio_src_dest
    {
      pio_pins = 0u,
      pio_x = 1u,
      pio_y = 2u,
      pio_null =     3u | _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_DEST,
      pio_pindirs =  4u | _PIO_INVALID_IN_SRC | _PIO_INVALID_MOV_SRC |
                          _PIO_INVALID_MOV_DEST,
      pio_exec_mov = 4u | _PIO_INVALID_IN_SRC | _PIO_INVALID_OUT_DEST |
                          _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_SRC,
      pio_status =   5u | _PIO_INVALID_IN_SRC | _PIO_INVALID_OUT_DEST |
                          _PIO_INVALID_SET_DEST | _PIO_INVALID_MOV_DEST,
      pio_pc =       5u | _PIO_INVALID_IN_SRC | _PIO_INVALID_SET_DEST |
                          _PIO_INVALID_MOV_SRC,
      pio_isr =      6u | _PIO_INVALID_SET_DEST,
      pio_osr =      7u | _PIO_INVALID_OUT_DEST | _PIO_INVALID_SET_DEST,
      pio_exec_out = 7u | _PIO_INVALID_IN_SRC | _PIO_INVALID_SET_DEST |
                          _PIO_INVALID_MOV_SRC | _PIO_INVALID_MOV_DEST,
    };
  
  /****************************************************************************
   * Inline Functions
   ****************************************************************************/
  
  inline static uint32_t _pio_major_instr_bits(uint32_t instr)
  {
    return instr & 0xe000u;
  }
  
  inline static uint32_t _pio_encode_instr_and_args(
                                                enum pio_instr_bits instr_bits,
                                                uint32_t arg1, uint32_t arg2)
  {
    valid_params_if(PIO_INSTRUCTIONS, arg1 <= 0x7);
  #if PARAM_ASSERTIONS_ENABLED_PIO_INSTRUCTIONS
    uint32_t major = _pio_major_instr_bits(instr_bits);
    if (major == pio_instr_bits_in || major == pio_instr_bits_out)
      {
        assert(arg2 && arg2 <= 32);
      }
    else
      {
        assert(arg2 <= 31);
      }
  #endif
    return instr_bits | (arg1 << 5u) | (arg2 & 0x1fu);
  }
  
  inline static uint32_t _pio_encode_instr_and_src_dest(
                                              enum pio_instr_bits instr_bits,
                                              enum pio_src_dest dest,
                                              uint32_t value)
  {
    return _pio_encode_instr_and_args(instr_bits, dest & 7u, value);
  }
  
  inline static uint32_t pio_encode_delay(uint32_t cycles)
  {
    valid_params_if(PIO_INSTRUCTIONS, cycles <= 0x1f);
    return cycles << 8u;
  }
  
  inline static uint32_t pio_encode_sideset(uint32_t sideset_bit_count,
                                            uint32_t value)
  {
    valid_params_if(PIO_INSTRUCTIONS,
                    sideset_bit_count >= 1 && sideset_bit_count <= 5);
    valid_params_if(PIO_INSTRUCTIONS, value <= (0x1fu >> sideset_bit_count));
    return value << (13u - sideset_bit_count);
  }
  
  inline static uint32_t pio_encode_sideset_opt(uint32_t sideset_bit_count,
                                                uint32_t value)
  {
    valid_params_if(PIO_INSTRUCTIONS,
                    sideset_bit_count >= 2 && sideset_bit_count <= 5);
    valid_params_if(PIO_INSTRUCTIONS, value <= (0x1fu >> sideset_bit_count));
    return 0x1000u | value << (12u - sideset_bit_count);
  }
  
  inline static uint32_t pio_encode_jmp(uint32_t addr)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_jmp, 0, addr);
  }
  
  inline static uint32_t _pio_encode_irq(bool relative, uint32_t irq)
  {
    valid_params_if(PIO_INSTRUCTIONS, irq <= 7);
    return (relative ? 0x10u : 0x0u) | irq;
  }
  
  inline static uint32_t pio_encode_wait_gpio(bool polarity, uint32_t pin)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_wait,
                                      0u | (polarity ? 4u : 0u), pin);
  }
  
  inline static uint32_t pio_encode_wait_pin(bool polarity, uint32_t pin)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_wait,
                                      1u | (polarity ? 4u : 0u), pin);
  }
  
  inline static uint32_t pio_encode_wait_irq(bool polarity, bool relative,
                                         uint32_t irq)
  {
    valid_params_if(PIO_INSTRUCTIONS, irq <= 7);
    return _pio_encode_instr_and_args(pio_instr_bits_wait,
                                      2u | (polarity ? 4u : 0u),
                                      _pio_encode_irq(relative, irq));
  }
  
  inline static uint32_t pio_encode_in(enum pio_src_dest src, uint32_t value)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_IN_SRC));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_in, src, value);
  }
  
  inline static uint32_t pio_encode_out(enum pio_src_dest dest, uint32_t value)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_OUT_DEST));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_out, dest, value);
  }
  
  inline static uint32_t pio_encode_push(bool if_full, bool block)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_push,
                                      (if_full ? 2u : 0u) | (block ? 1u : 0u),
                                      0);
  }
  
  inline static uint32_t pio_encode_pull(bool if_empty, bool block)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_pull,
                                      (if_empty ? 2u : 0u) | (block ? 1u : 0u),
                                      0);
  }
  
  inline static uint32_t pio_encode_mov(enum pio_src_dest dest,
                                    enum pio_src_dest src)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
    valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest,
                                          src & 7u);
  }
  
  inline static uint32_t pio_encode_mov_not(enum pio_src_dest dest,
                                        enum pio_src_dest src)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
    valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest,
                                          (1u << 3u) | (src & 7u));
  }
  
  inline static uint32_t pio_encode_mov_reverse(enum pio_src_dest dest,
                                            enum pio_src_dest src)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_MOV_DEST));
    valid_params_if(PIO_INSTRUCTIONS, !(src & _PIO_INVALID_MOV_SRC));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_mov, dest,
                                          (2u << 3u) | (src & 7u));
  }
  
  inline static uint32_t pio_encode_irq_set(bool relative, uint32_t irq)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_irq, 0,
                                      _pio_encode_irq(relative, irq));
  }
  
  inline static uint32_t pio_encode_irq_clear(bool relative, uint32_t irq)
  {
    return _pio_encode_instr_and_args(pio_instr_bits_irq, 2,
                                      _pio_encode_irq(relative, irq));
  }
  
  inline static uint32_t pio_encode_set(enum pio_src_dest dest, uint32_t value)
  {
    valid_params_if(PIO_INSTRUCTIONS, !(dest & _PIO_INVALID_SET_DEST));
    return _pio_encode_instr_and_src_dest(pio_instr_bits_set, dest, value);
  }
  
  inline static uint32_t pio_encode_nop(void)
  {
    return pio_encode_mov(pio_y, pio_y);
  }
  
  #undef EXTERN
  #if defined(__cplusplus)
  }
  #endif
  #endif /* __ASSEMBLY__ */
  #endif /* __ARCH_ARM_SRC_RP2040_RP2040_PIO_INSTRUNCTIONS_H */
  