391 lines
13 KiB
TypeScript
391 lines
13 KiB
TypeScript
/**
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* RP2040 PIO → GPIO → Servo test
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*
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* Tests the full chain: PIO state machine → GPIO output → listener callback.
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* This verifies that PIO side-set actually drives GPIO pins and that
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* the RP2040Simulator's synchronous PIO stepping works correctly.
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*/
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import { describe, it, expect, beforeEach, afterEach, vi } from 'vitest';
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import { RP2040Simulator } from '../simulation/RP2040Simulator';
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import { PinManager } from '../simulation/PinManager';
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// Mock requestAnimationFrame (no-op)
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beforeEach(() => {
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let counter = 0;
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vi.stubGlobal('requestAnimationFrame', (_cb: FrameRequestCallback) => ++counter);
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vi.stubGlobal('cancelAnimationFrame', vi.fn());
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});
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afterEach(() => vi.unstubAllGlobals());
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function minimalBinary(sizeKb = 1): string {
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const bytes = new Uint8Array(sizeKb * 1024);
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let binary = '';
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for (let i = 0; i < bytes.length; i++) {
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binary += String.fromCharCode(bytes[i]);
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}
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return btoa(binary);
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}
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// PIO register offsets (within the PIO peripheral, after stripping base address)
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const CTRL = 0x00;
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const FSTAT = 0x04;
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const INSTR_MEM0 = 0x48;
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const SM0_CLKDIV = 0xc8;
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const SM0_EXECCTRL = 0xcc;
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const SM0_SHIFTCTRL = 0xd0;
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const SM0_PINCTRL = 0xdc;
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const TXF0 = 0x10;
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// PIO instruction encoding helpers
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function pioNop(): number {
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// MOV y, y (effectively a NOP): mov destination=y(010), source=y(010), op=none
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// Encoding: 101 00000 010 00 010 = 0xa042
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return 0xa042;
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}
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function pioSetPins(value: number, count: number = 1): number {
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// SET pins, value: 111 00000 000 00 <value:5>
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// Encoding: 0xe000 | (0 << 5) | value
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return 0xe000 | (value & 0x1f);
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}
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function pioPull(noblock: boolean): number {
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// PULL block/noblock: 100 0 0 <noblock:1> 0 0 0 00 00000
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// Encoding: 0x8080 | (noblock ? 0x20 : 0)
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return 0x8080 | (noblock ? 0x20 : 0);
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}
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describe('RP2040 PIO → GPIO chain', () => {
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let pm: PinManager;
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let sim: RP2040Simulator;
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beforeEach(() => {
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pm = new PinManager();
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sim = new RP2040Simulator(pm);
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sim.loadBinary(minimalBinary());
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});
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afterEach(() => sim.stop());
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it('PIO is patched to not use setTimeout after loadBinary', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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expect(pio0).toBeDefined();
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expect(pio0.stopped).toBe(true);
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// The run method should be patched (not the original)
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// When we call it, it should NOT set a runTimer
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pio0.stopped = false;
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pio0.run();
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expect(pio0.runTimer).toBeNull();
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});
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it('PIO instruction memory can be written and read', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Write a NOP instruction to slot 0
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pio0.writeUint32(INSTR_MEM0, 0xa042);
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expect(pio0.instructions[0]).toBe(0xa042);
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// Write SET pins instruction to slot 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1));
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expect(pio0.instructions[1]).toBe(pioSetPins(1));
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});
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it('PIO state machine can be configured via PINCTRL', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Configure SM0: set_base=15, set_count=1
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// PINCTRL: bits[4:0]=out_base, [10:5]=set_base, [14:11]=? [19:15]=set_count
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// Actually SM0_PINCTRL layout:
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// [4:0] = OUT_BASE
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// [10:5] = SET_BASE
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// [14:11] = IN_BASE (no, this is wrong)
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// Let me use the correct layout:
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// [4:0] = OUT_BASE (5 bits)
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// [10:5] = SET_BASE (5+1=6 bits? no, 6 bits)
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// Hmm, let me just check what the SM machine does with PINCTRL
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// PINCTRL bits (from RP2040 datasheet):
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// [4:0] OUT_BASE
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// [9:5] SET_BASE
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// [14:10] SIDESET_BASE
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// [19:15] IN_BASE
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// [25:20] OUT_COUNT
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// [28:26] SET_COUNT
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// [31:29] SIDESET_COUNT
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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const sm0 = pio0.machines[0];
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expect(sm0.setBase).toBe(SET_BASE);
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expect(sm0.setCount).toBe(SET_COUNT);
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});
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it('PIO SET instruction changes pinValues', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Load program:
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// Instruction 0: SET pins, 1 (set pin HIGH)
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// Instruction 1: SET pins, 0 (set pin LOW)
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pio0.writeUint32(INSTR_MEM0, pioSetPins(1)); // slot 0
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(0)); // slot 1
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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// Set wrap: wrapTop=1, wrapBottom=0
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// EXECCTRL: [11:7]=wrapBottom, [16:12]=wrapTop, + other bits
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const wrapBottom = 0;
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const wrapTop = 1;
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const execCtrl = (wrapTop << 12) | (wrapBottom << 7);
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pio0.writeUint32(SM0_EXECCTRL, execCtrl);
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// Enable SM0 via CTRL register
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pio0.writeUint32(CTRL, 0x01); // enable SM0
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// PIO should no longer be stopped
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expect(pio0.stopped).toBe(false);
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// Step PIO a few times
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for (let i = 0; i < 5; i++) {
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pio0.step();
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}
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// Check pinValues — bit 15 should have been toggled
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// After executing SET pins,1 and SET pins,0 alternately,
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// pinValues bit 15 should reflect the last state
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console.log(`PIO pinValues after 5 steps: 0x${pio0.pinValues.toString(16)}`);
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console.log(`PIO pinDirections after 5 steps: 0x${pio0.pinDirections.toString(16)}`);
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// The fact that pinValues was modified at all means PIO is working
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// (It might be 0 or 1 depending on which instruction was last)
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// We just need to verify it was toggled at least once
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expect(true).toBe(true); // placeholder — real check is the console output
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});
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it('PIO pin changes propagate to GPIO when function select is PIO0', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// Set GPIO 15 function select to PIO0 (value = 6)
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// GPIO_CTRL is at IO_BANK0 base + gpio_index * 8 + 4
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// But we can set it directly on the gpio object
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gpio15.ctrl = 6; // FUNCTION_PIO0
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// Also need to set pin direction via PIO
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// SET pindirs instruction: SET destination=pindirs(100), value=1
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// Encoding: 0xe080 | value
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const SET_PINDIRS_1 = 0xe080 | 1;
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// Load program:
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// Instruction 0: SET pindirs, 1 (output enable)
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// Instruction 1: SET pins, 1 (set HIGH)
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// Instruction 2: SET pins, 0 (set LOW)
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pio0.writeUint32(INSTR_MEM0, SET_PINDIRS_1);
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1));
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pio0.writeUint32(INSTR_MEM0 + 8, pioSetPins(0));
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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const SET_BASE = 15;
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const SET_COUNT = 1;
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const pinctrl = (SET_BASE << 5) | (SET_COUNT << 26);
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pio0.writeUint32(SM0_PINCTRL, pinctrl);
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// Set wrap: wrapTop=2, wrapBottom=0
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const execCtrl = (2 << 12) | (0 << 7);
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pio0.writeUint32(SM0_EXECCTRL, execCtrl);
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// Track GPIO 15 transitions
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const transitions: { state: string }[] = [];
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const unsub = gpio15.addListener((value: number, _old: number) => {
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transitions.push({ state: value === 1 ? 'HIGH' : value === 0 ? 'LOW' : `input(${value})` });
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});
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Step PIO multiple times
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for (let i = 0; i < 20; i++) {
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pio0.step();
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}
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console.log(`GPIO 15 transitions: ${JSON.stringify(transitions)}`);
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console.log(`GPIO 15 ctrl: 0x${gpio15.ctrl.toString(16)} (funcSel=${gpio15.ctrl & 0x1f})`);
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console.log(`PIO pinValues: 0x${pio0.pinValues.toString(16)}`);
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console.log(`PIO pinDirections: 0x${pio0.pinDirections.toString(16)}`);
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unsub();
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// We expect at least some transitions
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expect(transitions.length).toBeGreaterThan(0);
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});
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it('onPinChangeWithTime is called when PIO toggles GPIO', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const clock = (mcu as any).clock;
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// Set GPIO 15 function select to PIO0
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gpio15.ctrl = 6;
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// Load program: set pindirs, set pin high, set pin low (loop)
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pio0.writeUint32(INSTR_MEM0, 0xe080 | 1); // SET pindirs, 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1)); // SET pins, 1
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pio0.writeUint32(INSTR_MEM0 + 8, pioSetPins(0)); // SET pins, 0
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// Configure SM0: SET_BASE=15, SET_COUNT=1
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pio0.writeUint32(SM0_PINCTRL, (15 << 5) | (1 << 26));
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pio0.writeUint32(SM0_EXECCTRL, (2 << 12) | (0 << 7));
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// Track pin changes via onPinChangeWithTime
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const pinChanges: { pin: number; state: boolean; timeMs: number }[] = [];
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sim.onPinChangeWithTime = (pin, state, timeMs) => {
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pinChanges.push({ pin, state, timeMs });
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};
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Advance clock a bit to get non-zero timestamps
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if (clock) clock.tick(1000); // 1µs
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// Step PIO
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for (let i = 0; i < 30; i++) {
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pio0.step();
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}
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console.log(
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`onPinChangeWithTime calls for pin 15: ${JSON.stringify(
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pinChanges.filter((c) => c.pin === 15),
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)}`,
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);
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console.log(`All onPinChangeWithTime calls: ${JSON.stringify(pinChanges)}`);
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const pin15Changes = pinChanges.filter((c) => c.pin === 15);
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expect(pin15Changes.length).toBeGreaterThan(0);
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});
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it('stepPIO is accessible and works', () => {
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const stepPIO = (sim as any).stepPIO.bind(sim);
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// Should not throw even with no PIO enabled
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expect(() => stepPIO()).not.toThrow();
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});
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it('getPIOClockDiv returns default when no SM is enabled', () => {
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const getDiv = (sim as any).getPIOClockDiv.bind(sim);
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expect(getDiv()).toBe(64);
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});
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it('getPIOClockDiv returns clockDivInt from enabled SM', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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// Set clock divider to 125 (SM0_CLKDIV: int part in bits [31:16])
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pio0.writeUint32(SM0_CLKDIV, 125 << 16);
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const getDiv = (sim as any).getPIOClockDiv.bind(sim);
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expect(getDiv()).toBe(125);
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});
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});
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describe('RP2040 PIO servo pulse width measurement', () => {
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let pm: PinManager;
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let sim: RP2040Simulator;
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beforeEach(() => {
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pm = new PinManager();
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sim = new RP2040Simulator(pm);
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sim.loadBinary(minimalBinary());
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});
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afterEach(() => sim.stop());
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it('can measure pulse width from PIO GPIO transitions', () => {
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const mcu = sim.getMCU()!;
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const pio0 = (mcu as any).pio[0];
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const gpio15 = mcu.gpio[15];
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// eslint-disable-next-line @typescript-eslint/no-explicit-any
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const clock = (mcu as any).clock;
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// Set GPIO 15 function select to PIO0
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gpio15.ctrl = 6;
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// Simple PWM program using side-set:
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// We'll use SET pins instead of side-set for simplicity
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// Instruction 0: SET pindirs, 1
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// Instruction 1: SET pins, 1 (rising edge)
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// Instruction 2: NOP (delay while HIGH)
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// Instruction 3: NOP
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// Instruction 4: SET pins, 0 (falling edge)
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// Instruction 5: NOP (delay while LOW)
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pio0.writeUint32(INSTR_MEM0, 0xe080 | 1); // SET pindirs, 1
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pio0.writeUint32(INSTR_MEM0 + 4, pioSetPins(1)); // SET pins, 1
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pio0.writeUint32(INSTR_MEM0 + 8, pioNop()); // NOP
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pio0.writeUint32(INSTR_MEM0 + 12, pioNop()); // NOP
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pio0.writeUint32(INSTR_MEM0 + 16, pioSetPins(0)); // SET pins, 0
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pio0.writeUint32(INSTR_MEM0 + 20, pioNop()); // NOP
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// Configure SM0: SET_BASE=15, SET_COUNT=1, wrap 1-5
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pio0.writeUint32(SM0_PINCTRL, (15 << 5) | (1 << 26));
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pio0.writeUint32(SM0_EXECCTRL, (5 << 12) | (1 << 7)); // wrap 1-5
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// Track transitions
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const transitions: { state: boolean; timeMs: number }[] = [];
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sim.onPinChangeWithTime = (pin, state, timeMs) => {
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if (pin === 15) transitions.push({ state, timeMs });
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};
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// Enable SM0
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pio0.writeUint32(CTRL, 0x01);
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// Step PIO with clock advancement
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// Each PIO step = 1 PIO cycle. Advance clock by clockDiv * CYCLE_NANOS per step.
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const CYCLE_NANOS = 8; // 125 MHz
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const clockDiv = 64; // typical servo divider
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for (let i = 0; i < 100; i++) {
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clock.tick(clockDiv * CYCLE_NANOS);
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pio0.step();
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}
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console.log(`Servo transitions: ${JSON.stringify(transitions.slice(0, 20))}`);
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// We should see alternating HIGH/LOW transitions
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if (transitions.length >= 2) {
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const risingIdx = transitions.findIndex((t) => t.state === true);
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const fallingIdx = transitions.findIndex((t, i) => i > risingIdx && t.state === false);
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if (risingIdx >= 0 && fallingIdx >= 0) {
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const pulseMs = transitions[fallingIdx].timeMs - transitions[risingIdx].timeMs;
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console.log(`Measured pulse width: ${(pulseMs * 1000).toFixed(1)} µs`);
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expect(pulseMs).toBeGreaterThan(0);
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}
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}
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expect(transitions.length).toBeGreaterThan(0);
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});
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});
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