rp2xxx: Add support for assembling RP2350-specific PIO (#320)

* rp2xxx: Update PIO for rp2350

* - Reorganized some of the comptime behavior surrounding CPU

* Get pio comparison tests running on both cpu types

* Fix PIO sm_set_shift_options

* s/format/cpu

* better error in tokenizer tests

* Test expected index in define expect_define

* More tests for both cpus

* Add jmppin as valid source for wait

* Test mov to pindirs

* cleanup irq comp test

* wip movrx

* mov to rx working

* Add movrx comparison tests

* put ws2812 in both chips

* wip: print diag and error

* Fix error handling in rp2xxx pio assembler

* Repro issue in diags

* Fix diag issue

* Cleanup diags

* improve movtorx parsing and diag

* Get movfromrx encoding and most tokenization working

* Get tokenizing mov from rx to work

* wip: Allow pio assemble to work at runtime

* Revert "wip: Allow pio assemble to work at runtime"

We currently depend on this stuff being comptime, would have to manage
the memory if we wanted to support it running at runtime

This reverts commit dc3b857.

* irq rel

* Fix mov from idx

* cleanup

* fix

* Some cleanup

---------

Co-authored-by: Hayden Riddiford <hayden@terrakaffe.com>

port/raspberrypi/rp2xxx/src/hal/chip.zig

@@ -0,0 +1,4 @@
+pub const Chip = enum {
+    RP2040,
+    RP2350,
+};

port/raspberrypi/rp2xxx/src/hal/compatibility.zig

@@ -1,10 +1,6 @@
 const std = @import("std");
 const microzig = @import("microzig");
-
-pub const Chip = enum {
-    RP2040,
-    RP2350,
-};
+const Chip = @import("chip.zig").Chip;
 
 pub const chip: Chip = blk: {
     if (std.mem.eql(u8, microzig.config.chip_name, "RP2040")) {

port/raspberrypi/rp2xxx/src/hal/pio.zig

@@ -12,7 +12,7 @@ const chip_specific = switch (chip) {
     .RP2350 => @import("pio/rp2350.zig"),
 };
 pub const StateMachine = common.StateMachine;
-pub const Instruction = common.Instruction;
+pub const Instruction = common.Instruction(chip);
 pub const PinMapping = common.PinMapping;
 pub const PinMappingOptions = common.PinMappingOptions;
 pub const StateMachineInitOptions = chip_specific.StateMachineInitOptions;
@@ -24,7 +24,9 @@ pub const assembler = @import("pio/assembler.zig");
 const encoder = @import("pio/assembler/encoder.zig");
 
 pub const Program = assembler.Program;
-pub const assemble = assembler.assemble;
+pub inline fn assemble(comptime source: []const u8, comptime options: assembler.AssembleOptions) assembler.Output {
+    return assembler.assemble(chip, source, options);
+}
 
 pub fn num(n: u2) Pio {
     switch (chip) {

port/raspberrypi/rp2xxx/src/hal/pio/assembler.zig

@@ -1,6 +1,7 @@
 const std = @import("std");
 const assert = std.debug.assert;
 
+const Chip = @import("../chip.zig").Chip;
 const tokenizer = @import("assembler/tokenizer.zig");
 const encoder = @import("assembler/encoder.zig");
 
@@ -71,9 +72,9 @@ pub const Diagnostics = struct {
     }
 };
 
-pub fn assemble_impl(comptime source: []const u8, diags: *?Diagnostics, options: AssembleOptions) !Output {
-    const tokens = try tokenizer.tokenize(source, diags, options.tokenize);
-    const encoder_output = try encoder.encode(tokens.slice(), diags, options.encode);
+pub fn assemble_impl(comptime chip: Chip, comptime source: []const u8, diags: *?Diagnostics, options: AssembleOptions) !Output {
+    const tokens = try tokenizer.tokenize(chip, source, diags, options.tokenize);
+    const encoder_output = try encoder.encode(chip, tokens.slice(), diags, options.encode);
     var programs = std.BoundedArray(Program, options.encode.max_programs).init(0) catch unreachable;
     for (encoder_output.programs.slice()) |bounded|
         try programs.append(bounded.to_exported_program());
@@ -121,9 +122,9 @@ fn format_compile_error(comptime message: []const u8, comptime source: []const u
     });
 }
 
-pub fn assemble(comptime source: []const u8, comptime options: AssembleOptions) Output {
+pub fn assemble(comptime chip: Chip, comptime source: []const u8, comptime options: AssembleOptions) Output {
     var diags: ?Diagnostics = null;
-    return assemble_impl(source, &diags, options) catch |err| {
+    return assemble_impl(chip, source, &diags, options) catch |err| {
         if (diags) |d|
             @compileError(format_compile_error(d.message.slice(), source, d.index));
         @compileError(@errorName(err));

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests.zig

@@ -1,6 +1,8 @@
 const std = @import("std");
 const assembler = @import("../assembler.zig");
 const tokenizer = @import("tokenizer.zig");
+const Chip = @import("../../chip.zig").Chip;
+
 const c = @cImport({
     @cDefine("PICO_NO_HARDWARE", "1");
     @cInclude("stdint.h");
@@ -12,7 +14,9 @@ const c = @cImport({
     @cInclude("comparison_tests/hello.pio.h");
     @cInclude("comparison_tests/hub75.pio.h");
     @cInclude("comparison_tests/i2c.pio.h");
+    @cInclude("comparison_tests/irq.pio.h");
     @cInclude("comparison_tests/manchester_encoding.pio.h");
+    @cInclude("comparison_tests/movrx.pio.h");
     @cInclude("comparison_tests/nec_carrier_burst.pio.h");
     @cInclude("comparison_tests/nec_carrier_control.pio.h");
     @cInclude("comparison_tests/nec_receive.pio.h");
@@ -31,7 +35,13 @@ const c = @cImport({
 });
 
 fn pio_comparison(comptime source: []const u8) !void {
-    const output = comptime assembler.assemble(source, .{});
+    inline for (comptime .{ Chip.RP2040, Chip.RP2350 }) |chip| {
+        try pio_comparison_chip(chip, source);
+    }
+}
+
+fn pio_comparison_chip(comptime chip: Chip, comptime source: []const u8) !void {
+    const output = comptime assembler.assemble(chip, source, .{});
     try std.testing.expect(output.programs.len > 0);
 
     inline for (output.programs) |program| {
@@ -87,11 +97,21 @@ test "pio.comparison.i2c" {
     try pio_comparison(@embedFile("comparison_tests/i2c.pio"));
 }
 
+test "pio.comparison.irq" {
+    @setEvalBranchQuota(22000);
+    try pio_comparison_chip(.RP2350, @embedFile("comparison_tests/irq.pio"));
+}
+
 test "pio.comparison.manchester_encoding" {
     @setEvalBranchQuota(11000);
     try pio_comparison(@embedFile("comparison_tests/manchester_encoding.pio"));
 }
 
+test "pio.comparison.movrx" {
+    @setEvalBranchQuota(11000);
+    try pio_comparison_chip(.RP2350, @embedFile("comparison_tests/movrx.pio"));
+}
+
 test "pio.comparison.nec_carrier_burst" {
     @setEvalBranchQuota(6000);
     try pio_comparison(@embedFile("comparison_tests/nec_carrier_burst.pio"));

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests/README.md

@@ -1,4 +1,6 @@
 # PIO example programs for testing
 
-These were all taken from [the official pico examples repo](https://github.com/raspberrypi/pico-examples).
+These were all taken from [the official pico examples
+repo](https://github.com/raspberrypi/pico-examples).
+
 The headers are generated using `pioasm`.

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests/irq.pio

@@ -0,0 +1,14 @@
+.program irq
+.side_set 1
+
+.wrap_target
+    irq set 1 prev side 0
+    irq set 1 rel side 0
+    irq set 1 next side 0
+    irq wait 1 prev side 0
+    irq wait 1 rel side 0
+    irq wait 1 next side 0
+    irq clear 1 prev side 0
+    irq clear 1 rel side 0
+    irq clear 1 next side 0
+.wrap

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests/irq.pio.h

@@ -0,0 +1,14 @@
+#pragma once
+
+// TODO: Exercise more? delays, optional sideset, etc?
+static const uint16_t irq_program_instructions[] = {
+    0xc009, // irq set    1 prev          side 0
+    0xc011, // irq set    1 rel           side 0
+    0xc019, // irq set    1 next          side 0
+    0xc029, // irq wait   1 prev          side 0
+    0xc031, // irq wait   1 rel           side 0
+    0xc039, // irq wait   1 next          side 0
+    0xc049, // irq clear  1 prev          side 0
+    0xc051, // irq clear  1 rel           side 0
+    0xc059, // irq clear  1 next          side 0
+};

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests/movrx.pio

@@ -0,0 +1,15 @@
+.program movrx
+
+.wrap_target
+    mov rxfifoy, isr
+    mov rxfifo0, isr
+    mov rxfifo1, isr
+    mov rxfifo2, isr
+    mov rxfifo3, isr
+
+    mov osr, rxfifoy
+    mov osr, rxfifo0
+    mov osr, rxfifo1
+    mov osr, rxfifo2
+    mov osr, rxfifo3
+.wrap

port/raspberrypi/rp2xxx/src/hal/pio/assembler/comparison_tests/movrx.pio.h

@@ -0,0 +1,16 @@
+#pragma once
+
+static const uint16_t movrx_program_instructions[] = {
+    // 0b1000_ssss_0001_yiii
+    0x8018, // mov rxfifoy, isr
+    0x8010, // mov rxfifo0, isr
+    0x8011, // mov rxfifo1, isr
+    0x8012, // mov rxfifo2, isr
+    0x8013, // mov rxfifo3, isr
+    // 0b1000_ssss_1001_yiii
+    0x8098, // mov osr, rxfifoy
+    0x8090, // mov osr, rxfifo0
+    0x8091, // mov osr, rxfifo1
+    0x8092, // mov osr, rxfifo2
+    0x8093, // mov osr, rxfifo3
+};