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Merged
pelwell merged 2 commits into from
Nov 4, 2026
Merged

piolib: Add functions from the V2 SDK #226

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bccd2f9
piolib: Add pio_sm_config_xfer_flags
pelwell Sep 10, 2026
36d8b83
piolib: Add functions from the V2 SDK
pelwell Nov 2, 2026
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22 changes: 22 additions & 0 deletions piolib/examples/apitest.c
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "piolib.h"

Expand Down Expand Up @@ -107,6 +108,27 @@ int main(int argc, const char **argv) {
pio_remove_program(pio, &dummy_program, offset);
}

// V2 additions
{
pio_sm_config c1 = pio_get_default_sm_config();
pio_sm_config c2 = pio_get_default_sm_config();
sm_config_set_out_pins(&c1, 1, 2);
sm_config_set_out_pin_base(&c2, 1);
sm_config_set_out_pin_count(&c2, 2);
check("sm_config_set_out_pins", !memcmp(&c1, &c2, sizeof(c1)));
sm_config_set_in_pins(&c1, 3);
sm_config_set_in_pin_base(&c2, 3);
sm_config_set_in_pin_count(&c2, 32);
check("sm_config_set_in_pins", !memcmp(&c1, &c2, sizeof(c1)));
sm_config_set_set_pins(&c1, 4, 5);
sm_config_set_set_pin_base(&c2, 4);
sm_config_set_set_pin_count(&c2, 5);
check("sm_config_set_set_pins", !memcmp(&c1, &c2, sizeof(c1)));
sm_config_set_sideset_pins(&c1, 6);
sm_config_set_sideset_pin_base(&c2, 6);
check("sm_config_set_sideset_pins", !memcmp(&c1, &c2, sizeof(c1)));
}

offset = pio_add_program(pio, &echo_program);
c = pio_get_default_sm_config();
sm_config_set_wrap(&c, offset + echo_wrap_target, offset + echo_wrap);
Expand Down
100 changes: 98 additions & 2 deletions piolib/include/piolib.h
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,14 @@ enum pio_xfer_dir {
PIO_DIR_COUNT
};

enum pio_dma_flags {
PIO_DMA_PREFER_HEAVY = (0 << 0),
PIO_DMA_PREFER_LIGHT = (1 << 0),
PIO_DMA_FORCE_HEAVY = (2 << 0),
PIO_DMA_FORCE_LIGHT = (3 << 0),
PIO_DMA_CYCLIC = (1 << 2),
};

enum pio_sm_flags {
PIO_SM_FLAG_TXSTALL = 0x0001,
PIO_SM_FLAG_RXSTALL = 0x0002,
Expand Down Expand Up @@ -134,6 +142,7 @@ struct pio_chip {
void (*close_instance)(PIO pio);

int (*pio_sm_config_xfer)(PIO pio, uint sm, uint dir, uint buf_size, uint buf_count);
int (*pio_sm_config_xfer_flags)(PIO pio, uint sm, uint dir, uint buf_size, uint buf_count, uint flags);
int (*pio_sm_xfer_data)(PIO pio, uint sm, uint dir, uint data_bytes, void *data);

bool (*pio_can_add_program_at_offset)(PIO pio, const pio_program_t *program, uint offset);
Expand Down Expand Up @@ -237,6 +246,16 @@ struct pio_chip {
void (*pio_interrupt_clear)(PIO pio, uint pio_interrupt_num);
int (*pio_irq_claim)(PIO pio);
uint32_t (*pio_irq_wait)(PIO pio, uint timeout_ms);

/* Additions for V2 SDK */
void (*smc_set_out_pin_base)(PIO pio, pio_sm_config *c, uint out_base);
void (*smc_set_out_pin_count)(PIO pio, pio_sm_config *c, uint out_count);
void (*smc_set_set_pin_base)(PIO pio, pio_sm_config *c, uint set_base);
void (*smc_set_set_pin_count)(PIO pio, pio_sm_config *c, uint set_count);
void (*smc_set_in_pin_base)(PIO pio, pio_sm_config *c, uint in_base);
void (*smc_set_in_pin_count)(PIO pio, pio_sm_config *c, uint in_count);
void (*smc_set_sideset_pin_base)(PIO pio, pio_sm_config *c, uint sideset_base);
void (*smc_set_sideset_pin_count)(PIO pio, pio_sm_config *c, uint sideset_count);
};

struct pio_instance {
Expand Down Expand Up @@ -265,46 +284,69 @@ irq_handler_t irq_get_handler(uint num);
void irq_set_enabled(uint num, bool enabled);
bool irq_is_enabled(uint num);

static inline void check_pio_param(__unused PIO pio)
{
valid_params_if(PIO, pio_get_index(pio) >= 0);
}

static inline PIO pio_get_instance(uint instance)
{
return pio_open_helper(instance);
}

static inline uint pio_get_funcsel(PIO pio) {
check_pio_param(pio);
return GPIO_FUNC_PIO0;
}

static inline void pio_error(PIO pio, const char *msg)
{
check_pio_param(pio);
pio->error = true;
if (pio->errors_are_fatal)
pio_panic(msg);
}

static inline bool pio_get_error(PIO pio)
{
check_pio_param(pio);
return pio->error;
}

static inline void pio_clear_error(PIO pio)
{
check_pio_param(pio);
pio->error = false;
}

static inline void pio_enable_fatal_errors(PIO pio, bool enable)
{
check_pio_param(pio);
pio->errors_are_fatal = enable;
}

static inline uint pio_get_sm_count(PIO pio)
{
check_pio_param(pio);
return pio->chip->sm_count;
}

static inline uint pio_get_instruction_count(PIO pio)
{
check_pio_param(pio);
return pio->chip->instr_count;
}

static inline uint pio_get_fifo_depth(PIO pio)
{
check_pio_param(pio);
return pio->chip->fifo_depth;
}

static inline void check_pio_param(__unused PIO pio)
static inline uint pio_get_gpio_base(PIO pio)
{
valid_params_if(PIO, pio_get_index(pio) >= 0);
check_pio_param(pio);
return 0;
}

static inline int pio_sm_config_xfer(PIO pio, uint sm, uint dir, uint buf_size, uint buf_count)
Expand All @@ -313,6 +355,12 @@ static inline int pio_sm_config_xfer(PIO pio, uint sm, uint dir, uint buf_size,
return pio->chip->pio_sm_config_xfer(pio, sm, dir, buf_size, buf_count);
}

static inline int pio_sm_config_xfer_flags(PIO pio, uint sm, uint dir, uint buf_size, uint buf_count, uint flags)
{
check_pio_param(pio);
return pio->chip->pio_sm_config_xfer_flags(pio, sm, dir, buf_size, buf_count, flags);
}

static inline int pio_sm_xfer_data(PIO pio, uint sm, uint dir, uint data_bytes, void *data)
{
check_pio_param(pio);
Expand Down Expand Up @@ -796,6 +844,54 @@ static inline void sm_config_set_sideset(pio_sm_config *c, uint bit_count, bool
pio->chip->smc_set_sideset(pio, c, bit_count, optional, pindirs);
}

static inline void sm_config_set_out_pin_base(pio_sm_config *c, uint out_base)
{
PIO pio = pio_get_current();
pio->chip->smc_set_out_pin_base(pio, c, out_base);
}

static inline void sm_config_set_out_pin_count(pio_sm_config *c, uint out_count)
{
PIO pio = pio_get_current();
pio->chip->smc_set_out_pin_count(pio, c, out_count);
}

static inline void sm_config_set_set_pin_base(pio_sm_config *c, uint set_base)
{
PIO pio = pio_get_current();
pio->chip->smc_set_set_pin_base(pio, c, set_base);
}

static inline void sm_config_set_set_pin_count(pio_sm_config *c, uint set_count)
{
PIO pio = pio_get_current();
pio->chip->smc_set_set_pin_count(pio, c, set_count);
}

static inline void sm_config_set_in_pin_base(pio_sm_config *c, uint in_base)
{
PIO pio = pio_get_current();
pio->chip->smc_set_in_pin_base(pio, c, in_base);
}

static inline void sm_config_set_in_pin_count(pio_sm_config *c, uint in_count)
{
PIO pio = pio_get_current();
pio->chip->smc_set_in_pin_count(pio, c, in_count);
}

static inline void sm_config_set_sideset_pin_base(pio_sm_config *c, uint sideset_base)
{
PIO pio = pio_get_current();
pio->chip->smc_set_sideset_pin_base(pio, c, sideset_base);
}

static inline void sm_config_set_sideset_pin_count(pio_sm_config *c, uint sideset_count)
{
PIO pio = pio_get_current();
pio->chip->smc_set_sideset_pin_count(pio, c, sideset_count);
}

static inline void sm_config_set_clkdiv_int_frac(pio_sm_config *c, uint16_t div_int, uint8_t div_frac)
{
PIO pio = pio_get_current();
Expand Down
15 changes: 15 additions & 0 deletions piolib/include/rp1_pio_if.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,12 @@
#define RP1_PIO_DIR_FROM_SM 1
#define RP1_PIO_DIR_COUNT 2

#define RP1_PIO_SM_CONFIG_XFER_FL_DMA_PREFER_HEAVY (0 << 0)
#define RP1_PIO_SM_CONFIG_XFER_FL_DMA_PREFER_LIGHT (1 << 0)
#define RP1_PIO_SM_CONFIG_XFER_FL_DMA_FORCE_HEAVY (2 << 0)
#define RP1_PIO_SM_CONFIG_XFER_FL_DMA_FORCE_LIGHT (3 << 0)
#define RP1_PIO_SM_CONFIG_XFER_FL_DMA_CYCLIC (1 << 2)

typedef struct {
uint32_t clkdiv;
uint32_t execctrl;
Expand Down Expand Up @@ -183,6 +189,14 @@ struct rp1_pio_sm_config_xfer32_args {
uint32_t buf_count;
};

struct rp1_pio_sm_config_xfer_v2_args {
uint16_t sm;
uint16_t dir;
uint32_t flags;
uint32_t buf_size;
uint32_t buf_count;
};

struct rp1_pio_sm_xfer_data_args {
uint16_t sm;
uint16_t dir;
Expand Down Expand Up @@ -242,6 +256,7 @@ struct rp1_pio_interrupt_clear_args {
#define PIO_IOC_SM_XFER_DATA _IOW(PIO_IOC_MAGIC, 1, struct rp1_pio_sm_xfer_data_args)
#define PIO_IOC_SM_XFER_DATA32 _IOW(PIO_IOC_MAGIC, 2, struct rp1_pio_sm_xfer_data32_args)
#define PIO_IOC_SM_CONFIG_XFER32 _IOW(PIO_IOC_MAGIC, 3, struct rp1_pio_sm_config_xfer32_args)
#define PIO_IOC_SM_CONFIG_XFER_V2 _IOW(PIO_IOC_MAGIC, 4, struct rp1_pio_sm_config_xfer_v2_args)

#define PIO_IOC_READ_HW _IOW(PIO_IOC_MAGIC, 8, struct rp1_access_hw_args)
#define PIO_IOC_WRITE_HW _IOW(PIO_IOC_MAGIC, 9, struct rp1_access_hw_args)
Expand Down
80 changes: 80 additions & 0 deletions piolib/pio_rp1.c
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Original file line number Diff line number Diff line change
Expand Up @@ -272,6 +272,13 @@ static int rp1_pio_sm_config_xfer(PIO pio, uint sm, uint dir, uint buf_size, uin
return err;
}

static int rp1_pio_sm_config_xfer_flags(PIO pio, uint sm, uint dir, uint buf_size, uint buf_count, uint flags)
{
struct rp1_pio_sm_config_xfer_v2_args args = { .sm = sm, .dir = dir, .buf_size = buf_size, .buf_count = buf_count, .flags = flags };
check_sm_param(sm);
return rp1_ioctl(pio, PIO_IOC_SM_CONFIG_XFER_V2, &args);
}

static int rp1_pio_sm_xfer_data(PIO pio, uint sm, uint dir, uint data_bytes, void *data)
{
struct rp1_pio_sm_xfer_data_args args = { .sm = sm, .dir = dir, .data_bytes = data_bytes, .rsvd = 0, .data = data };
Expand Down Expand Up @@ -669,6 +676,68 @@ static void rp1_smc_set_sideset_pins(PIO, pio_sm_config *config, uint sideset_ba
(sideset_base << PROC_PIO_SM0_PINCTRL_SIDESET_BASE_LSB);
}

static void rp1_smc_set_out_pin_base(PIO, pio_sm_config *config, uint out_base)
{
smc_to_rp1(config, c);
valid_params_if(PIO, out_base < RP1_PIO_GPIO_COUNT);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_OUT_BASE_BITS) |
(out_base << PROC_PIO_SM0_PINCTRL_OUT_BASE_LSB);
}

static void rp1_smc_set_out_pin_count(PIO, pio_sm_config *config, uint out_count)
{
smc_to_rp1(config, c);
valid_params_if(PIO, out_count <= RP1_PIO_GPIO_COUNT);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_OUT_COUNT_BITS) |
(out_count << PROC_PIO_SM0_PINCTRL_OUT_COUNT_LSB);
}

static void rp1_smc_set_set_pin_base(PIO, pio_sm_config *config, uint set_base)
{
smc_to_rp1(config, c);
valid_params_if(PIO, set_base < RP1_PIO_GPIO_COUNT);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_SET_BASE_BITS) |
(set_base << PROC_PIO_SM0_PINCTRL_SET_BASE_LSB);
}

static void rp1_smc_set_set_pin_count(PIO, pio_sm_config *config, uint set_count)
{
smc_to_rp1(config, c);
valid_params_if(PIO, set_count <= 5);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_SET_COUNT_BITS) |
(set_count << PROC_PIO_SM0_PINCTRL_SET_COUNT_LSB);
}

static void rp1_smc_set_in_pin_base(PIO, pio_sm_config *config, uint in_base)
{
smc_to_rp1(config, c);
valid_params_if(PIO, in_base < RP1_PIO_GPIO_COUNT);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_IN_BASE_BITS) |
(in_base << PROC_PIO_SM0_PINCTRL_IN_BASE_LSB);
}

static void rp1_smc_set_in_pin_count(PIO, __unused pio_sm_config *config, __unused uint in_count)
{
/* RP1 PIO has no IN_COUNT field - the count is fixed at 32 */
valid_params_if(PIO, in_count == 32);
}

static void rp1_smc_set_sideset_pin_base(PIO, pio_sm_config *config, uint sideset_base)
{
smc_to_rp1(config, c);
valid_params_if(PIO, sideset_base < RP1_PIO_GPIO_COUNT);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_SIDESET_BASE_BITS) |
(sideset_base << PROC_PIO_SM0_PINCTRL_SIDESET_BASE_LSB);
}

static void rp1_smc_set_sideset_pin_count(PIO, pio_sm_config *config, uint sideset_count)
{
smc_to_rp1(config, c);
valid_params_if(PIO, sideset_count <= 5);
c->pinctrl = (c->pinctrl & ~PROC_PIO_SM0_PINCTRL_SIDESET_COUNT_BITS) |
(sideset_count << PROC_PIO_SM0_PINCTRL_SIDESET_COUNT_LSB);
}

static void rp1_smc_set_sideset(PIO, pio_sm_config *config, uint bit_count, bool optional, bool pindirs)
{
smc_to_rp1(config, c);
Expand Down Expand Up @@ -990,6 +1059,7 @@ DECLARE_PIO_CHIP(rp1) {
.close_instance = rp1_close_instance,

.pio_sm_config_xfer = rp1_pio_sm_config_xfer,
.pio_sm_config_xfer_flags = rp1_pio_sm_config_xfer_flags,
.pio_sm_xfer_data = rp1_pio_sm_xfer_data,

.pio_can_add_program_at_offset = rp1_pio_can_add_program_at_offset,
Expand Down Expand Up @@ -1075,6 +1145,16 @@ DECLARE_PIO_CHIP(rp1) {
.smc_set_out_special = rp1_smc_set_out_special,
.smc_set_mov_status = rp1_smc_set_mov_status,

/* Additions for V2 SDK */
.smc_set_out_pin_base = rp1_smc_set_out_pin_base,
.smc_set_out_pin_count = rp1_smc_set_out_pin_count,
.smc_set_set_pin_base = rp1_smc_set_set_pin_base,
.smc_set_set_pin_count = rp1_smc_set_set_pin_count,
.smc_set_in_pin_base = rp1_smc_set_in_pin_base,
.smc_set_in_pin_count = rp1_smc_set_in_pin_count,
.smc_set_sideset_pin_base = rp1_smc_set_sideset_pin_base,
.smc_set_sideset_pin_count = rp1_smc_set_sideset_pin_count,

.clock_get_hz = rp1_clock_get_hz,

.pio_gpio_init = rp1_pio_gpio_init,
Expand Down
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