PIO on the Raspberry Pi Pico – Part 2

Having got all the theory out of the way in PIO on the Raspberry Pi Pico now is the time to actually start programming. Whilst I have the option of using the C/C++ SDK or one of the Python variants, I’m particularly interested in getting it going from within the Arduino environment, just because that is where I do pretty much all of my other microcontroller messing about.

I’m not using the official Arduino for Pico support though, I’m using Earl Philhower’s version from here: https://github.com/earlephilhower/arduino-pico

Pico Arduino Getting Started

Before getting too far into PIO land, there are a few things to note about using the unofficial Arduino Pico core with the Raspberry Pi Pico.

On first boot, hold down the BOOT switch and the Pico will be detected as a “UF2 Board”. This will allow the first upload to take place (more here). I’ve selected “Raspberry Pi Pico” or “Raspberry Pi Pico 2” as appropriate for the board.

Prior to the first download, the configuration should set the Debug Port to Serial. Then once the first sketch is downloaded the board can be redetected via a serial link which will allow both Serial.print() and automatic reset on download of new sketches.

Aside: there are three serial ports (more here):

• Serial – the USB serial port – the one used here
• Serial1 – UART0
• Serial2 – UART1

Here is a simple starter program to make sure everything is working:

Assuming everything is working, every second the LED will flash on or off and the counter value will be printed to the serial monitor.

Some PIO API Principles

Pin groups are an important idea when dealing with PIO state machines.

There are four different sets of pins that can be enacted upon via the PIO system: OUT, IN, SET and Sidestep. Each has its own group of API functions. For example, to set the start and number of pins in a specific group there are the following functions (from here):

Oh, and there is a special “jmp” pin too which is kind of a 5th group all on its own, independent of the other four.

This pattern is mirrored for other PIO functions too, for example, the sm_config_ range of functions to update a state machine configuration:

So each of the pin groups has a set of APIs functions that act directly on the state machine (pio_sm_set_xxx as described first) and a set that acts on a state machine’s configuration (sm_config_set_xxx as described above).

There is also a third set that encodes actual PIO instructions related to the pin groups, although this isn’t a direct one-for-one with the previous two, as it relates to the actual PIO instruction set itself.

Some examples:

Note it is worth adding at this point that although there are API functions for all of the above, it is also possible to directly set state machine parameters and operational configuration using direct access to state machine registers. For more, see section “11.7 List of Registers” in the RP2350 datasheet.

For some information on the various layers in the SDK, see “2.3 SDK Library Structure” in the Raspberry Pi Pico C/C++ SDK.

Hello PIO

I’m starting off with a simple pulse on a GPIO pin and will be using the online PIO assembler from https://wokwi.com/tools/pioasm to build it.

My PIO Source:

The online assembler turns the above into the following, which is pasted into a pulse_pio.h file within an Arduino sketch.

Adding the appropriate additional PIO initialisation code to my previous test sketch now gives me the following complete code:

Notes:

• As I’m using “set” in the pio program I need to use the “set” group of pins in the various API calls – hence the use of sm_config_set_set_pins() which configures which pins to use with the set command. In this case, just one pin determined by the “pin” parameter.
• I’m using the wait [] instructions to put the pulse HIGH for 4 cycles and LOW for 12 cycles, giving 16 cycles in total.
• The waiting cycles have to account for the single cycle of the actual executed instruction, hence using [3] and [11].
• When setting the clock divisor, I’m dividing the system frequency by my required frequency * 16 as there are 16 cycles in the complete program.
• When I had a single cycle HIGH and 3 cycles LOW and then used the value 440.0 * 4.0 I wasn’t getting an accurate frequency (I was getting ~1.9K rather than 440). I’m guessing (I haven’t done the maths) this was overflowing the integer part of the divisor maybe.

The PIO and state machine used are allocated dynamically by the system using pio_claim_free_sm_and_add_program(). The first version had hard-coded PIO 0, state machine 0:

The final result can be seen on the oscilloscope trace below.

PIO API Organisation

The PIO hardware documentation describes two modules for PIO APIs:

• sm_config – everything related to setting up state machines prior to setting them running. All functions prefaced with sm_config_set_xxxx().
• pio_instructions – ways to actually run state machine instructions at run time. All functions are prefaced with pio_encode_xxxx().

But there are also the direct state machine APIs which have the form pio_(sm|get|gpio|other)_. These appear to have several functional groups as follows:

• PIO control: manage instances of PIOs and state machines within them.
• Programs and instruction memory: add, remove, write to, determine offsets in, and so on.
• GPIO pins: configure, attach to state machines, set ranges, etc.
• State machines: set parameters associated with state machines; configure IRQs; clock divider; control the sm; set details for execution such as pins, wrap, shifts, and so on.
• Data interface to state machines: push and pull data; access fifos; etc.

Unfortunately there isn’t a particularly consistent API naming convention that I’ve spotted for the pio_ functions apart from an awful lot of them start pio_sm_. Apart from the state machines functions that don’t…

Conclusion

I’ve now been through the theory and a real, albeit simple, application and am feeling like I understand a lot more what is going on now. I still am somewhat bewildered by the huge array of API calls and do feel like they could be grouped together somehow to make them more accessible to people who haven’t swallowed the entire chip datasheet and SDK guidebooks…

But yes, I’m slowly starting to feel like I’m getting to grips with PIO a bit more now. I want to do something that now grabs some input from the GPIO and sticks it into memory, ideally using the DMA system, so that is probably where I’ll go next.

Kevin

PIO on the Raspberry Pi Pico

Every time I’ve started to approach the use of the programmable IO (PIO) subsystem on the RP2040 or RP2350 (as used on the Raspberry Pi Pico), I’ve found myself essentially starting from scratch again and the examples quite opaque to me.

So this time as I’ve worked through it yet again, I’ve decided to write it all down 🙂

Here are some existing tutorials and projects that talk about getting going with the PIO:

• RP2350 Datasheet – “Chapter 11: PIO”
• Raspberry Pi Pico-series C/C++ SDK – “Chapter 3: Using Programmable I/O (PIO)”.
• Hackspace Magazine Issue 39 – Raspberry Pi Pico Programmable I/O (page 40).
• Stephen Smith’s “I/O Co-processing on the Raspberry Pi Pico”
• PIO Examples: https://github.com/raspberrypi/pico-examples?tab=readme-ov-file#pio

Assembling PIO Code

The PIO has its own bespoke micro-instruction set that is very similar to many types of assembly language and it requires its own pio assembler to process it. The basic sequence is as follows:

• PIO -> pioasm -> C header file -> include in C/C++ project and build

There are options for writing PIO in both Micropython and Circuitpython, which I have done in the past, but I’m sticking with the C route here. This requires the pioasm to take PIO code and produce a C header file that can then be included in a C project.

To use the RP2040/2350 Arduino environment, it is necessary to process PIO independently and then add the C file to the Arduino project. The Raspberry Pi C/C++ SDK can process PIO files directly as part of the main build.

There is also an option to use hardware SDK functions for dynamic creation of PIO code at runtime. The functions are a series of pio_encode_XX() functions representing the different PIO instructions as listed here: https://www.raspberrypi.com/documentation/pico-sdk/hardware.html#group_pio_instructions

There are two other novel approaches I found so far too:

• Wokwi online PIO assembler: https://wokwi.com/tools/pioasm
• Piersrocks’ runtime PIO assembler: https://github.com/piersfinlayson/apio

The first is an online editing environment that creates the required processed PIO related code for the C/C++ SDK or Python which can then be included in your build environment as required.

The second is an alternative run-time approach that uses a range of C macros to allow the “assembling” of PIO code as part of the run-time execution. It does this by directly creating the HEX equivalents of PIO instructions, thereby effectively assembling in the fly. This means that the PIO code can be customised to the specific run-time situation.

At this stage I’m not sure what it gives over using the pio_encode_ SDK functions directly. I do note however there is an equivalent PIO emulator which means this approach will run equally well on real hardware or in emulation. I’ve bookmarked this to come back to at some point.

Running PIO Code

Regardless of how the PIO instructions become code, to use them requires setting up and configuring the PIO state machines at run time as part of a project. A common approach is to include an initialisation function within the PIO code itself that is destined for passing straight through to the C/C++ SDK. This will have access to all definitions used within the PIO code and also allows the appropriate configuration information to remain encapsulated with the code.

But I have to admit I find there is an awful lot of assumed “magic” going on when configuring and getting running PIO programs and state machines. And whilst there are plenty of examples to study, I don’t find that they are written so as to teach. Consequently, I’ve noted the following as “reminders to self” on how to read some of the examples. It doesn’t help that the SDK function list is very long and there are several ways to achieve the same things.

Taking the PIO PWM code from the pico_examples as a starting point (https://github.com/raspberrypi/pico-examples/tree/master/pio/pwm), I’ve added in some comments containing the full function prototypes for some of the calls to make them a bit easier to walk through.

pwm.pio:

The above PIO code assembles down into the following (this is using the online PIO assembler):

Some key points to note about this “assembled” code:

• Notice the appearance of pwm_program_get_default_config() which was already referenced in the passed-through C code.
• Notice also that the “get” function has the side effect of actually setting some state machine configuration parameters in the returned configuration too! Worse for me, it isn’t actually part of the configuration at this stage – it is just in the configuration that is returned by the function…
  • The engineer in me hates this… I hate seeing a function that implies a benign function (“get”) that actually changes something critical… by I digress.
• A key parameter that gets set are the wrap parameters via sm_config_set_wrap(). This has to be updated once the actual code offset in the PIO instruction memory is known, hence I guess why this is set at run time.
• The patched in parameters (wrap and sideset in this case) won’t actually take effect until the configuration is finally set in the provided pass-through C code via the call to pio_sm_init().

Here is its associated C code pwm.c:

There are a few key things to remember to make sense of these examples:

• The offset that is talked about is the location within the shared 32 instruction program area and is used to refer back to the installed PIO program. It is returned from pio_add_program().
• A PIO .program directive becomes a default C like directive on processing by pioasm. This results in two obscure bits of “magic” coding going on meaning in this case that “.program pwm” in the PIO file becomes “pwm_program” in C/C++:
  • pio_program_t pwm_program is a C structure which can then be referenced from the C code as shown in the line pio_add_program(pio, &pwm_program).
  • static inline pio_sm_config pwm_program_get_default_config(uint offset) is a C function based on pio_get_default_sm_config() that returns the PIO configuration for the specific PIO program in question – in this case of course the pwm program (see previous notes).
• The use of .side_step opt means that not every PIO instruction has to have a side step instruction too.
• The PIO refers to an abstract group of pins, but it is the configuration which is part of the C/C++ SDK that determines which pins are used.
• The %c-sdk { … %} pairing signifies that this part of the PIO code will be passed straight onto the C/C++ SDK.
• There are multiple ways of initialising GPIO pins and directions. In this example it doesn’t use pindirs in the PIO code but uses pio_sm_set_consecutive_pindirs() in the C code.
• This example uses hardcoded references to PIO 0 and SM 0, but in many cases the PIO and SM would be chosen dynamically using API calls such as the following:
  • pio_claim_free_sm_and_add_program ()
  • pio_claim_free_sm_and_add_program_for_gpio_range()
  • pio_claim_unused_sm()
• Each PIO program has a default configuration associated with it which can be updated. A typical pattern is shown here where the default configuration is grabbed using (in this case) pwm_program_get_default_config() and then updated by passing into SDK calls that follow.
• The state machine is finally set running with the required configuration using pio_sm_init();

There is one additional mix of techniques that is worth pulling out here. In the C code the function pio_pwm_set_period() is used to update the PWM period which it has to do by passing it into the SM via the FIFO. It is using some SM manipulation routines and then some inline, run-time PIO code, to achieve this.

Again some pretty confusing API calls, especially giving this is meant to be an example, but essentially what is going on (I think) is:

By default anything sent to the FIFO is written to the X register and used to set the duty cycle of the PWM. But this code creates some temporary PIO code to receive the contents of the FIFO and put it into ISR instead. Of course it has to temporarily suspend the execution of the stored PIO code in order to do this.

I really dislike the nomenclature of “set enabled (false)” as an API approach. I’d much prefer to see something like pio_sm_enable() and pio_sm_disable() myself. I suppose they haven’t done this due to the large increase in API functions it creates.

I guess this is personal preference, but I do find that it adds to the opaqueness of much of the example code when it doesn’t read naturally.

So To Recap…

Writing PIO code can be done at build time (from Python or C/C++ using pioasm or an online assembler) or run time (using pio_encode_ functions or maybe APIO).

pioasm bridges the gap between PIO code and C/C++ including creating two magic C/C++ constructs: pwm_program for the code and pwm_program_get_default_config() to return the created PIO configuration.

PIO and SMs can be allocated by the system using a range of “claim” functions. There are 2 PIOs on the RP2040 and 3 on the RP2350, each with its own 32 instruction program memory and each with four state machines.

It can be useful to include an initialisation routine, that configures and starts the PIO program, within the PIO code for use from the C/C++ code using % c-sdk { … %}.

The PIO program is added into the system and given an offset in instruction memory using pio_add_program.

PIO code is very dense and often the functionality cannot be seen from the PIO code itself as it is defined by the PIO configuration – e.g. pins to use, frequency of execution, direction of shifts and so on.

I’ve not touched on it here, but the use of PIO and DMA (direct memory access) often go hand in hand to create completely CPU-free means of getting data in and out of a RP2040/RP2350 system. A really good example of this is Piers Rocks’ OneROM (see this video for a brilliant summary of how this works: https://www.youtube.com/watch?v=Y8RODQZM2HY).

Finally I need to remember that ISR stands for Input Shift Register and not Interrupt Service Routine…

Kevin

今更だけど
ラズパイPico、PIOなんてあったの？？？

そう言えば RP2040 のデータシート、読んだ事なかったかも…  

やる事やったら読んでみよう！

#RaspberryPiPico #PIO

Разбираемся с композитным видеосигналом NTSC, и стоит ли изучать его в 2025 году. Часть 2

В предыдущей статье я рассказал об основах композитного видеосигнала NTSC. Эта статья должна быть интереснее, так как она посвящена программной генерации такого видеосигнала. Тема интересна тем, что помимо самого видеосигнала вы ещё получаете множество практических навыков применения современных микроконтроллеров. Сигнал CVBS можно получить, используя и FPGA-решения, но стоимость их выше, чем у микроконтроллеров, таких как Raspberry Pi Pico или ESP32. Я использовал платы разработчика на базе микроконтроллера RP2040. На рынке существует несколько таких плат. Классика — это Raspberry Pi Pico, но есть несколько китайских аналогов, например, YD-2040. Отдельно хочется выделить RP2040 Zero от Waveshare — очень компактное решение, правда у него отсутствует порт для отладки, но можно обойтись и без порта. Важный момент — СVBS-сигнал является аналоговый, поэтому стабильность напряжение на выходе играет важную роль и для приемлемого качества сигнала китайские клоны Raspberry Pi Pico могут не подойти, так как они страдают нестабильным напряжением на выходах. Мой совет — используйте или оригинальный Raspberry Pi Pico или RP2040 Zero от Waveshare. Желающих продолжить чтение приглашаю под кат.

https://habr.com/ru/companies/ruvds/articles/961086/?utm_source=habrahabr&utm_medium=rss&utm_campaign=961086

#ntsc #raspberrypi #raspberry_pi_pico #cvbs #композитный_видеосигнал #r2r_dac #DMA #PIO #прерывания #ruvds_статьи

Разбираемся с композитным видеосигналом NTSC, и стоит ли изучать его в 2025 году. Часть 2

В предыдущей статье я рассказал об основах композитного видеосигнала NTSC. Эта статья должна быть интереснее, так как она посвящена программной генерации такого видеосигнала. Тема интересна тем, что помимо самого видеосигнала вы ещё получаете множество практических навыков применения современных микроконтроллеров. Сигнал CVBS можно получить, используя и FPGA-решения, но стоимость их выше, чем у микроконтроллеров, таких как Raspberry Pi Pico или ESP32. Я использовал платы разработчика на базе микроконтроллера RP2040. На рынке существует несколько таких плат. Классика — это Raspberry Pi Pico, но есть несколько китайских аналогов, например, YD-2040. Отдельно хочется выделить RP2040 Zero от Waveshare — очень компактное решение, правда у него отсутствует порт для отладки, но можно обойтись и без порта. Важный момент — СVBS-сигнал является аналоговый, поэтому стабильность напряжение на выходе играет важную роль и для приемлемого качества сигнала китайские клоны Raspberry Pi Pico могут не подойти, так как они страдают нестабильным напряжением на выходах. Мой совет — используйте или оригинальный Raspberry Pi Pico или RP2040 Zero от Waveshare. Желающих продолжить чтение приглашаю под кат.

https://habr.com/ru/companies/ruvds/articles/961086/

#ntsc #raspberrypi #raspberry_pi_pico #cvbs #композитный_видеосигнал #r2r_dac #DMA #PIO #прерывания #ruvds_статьи