dual mcu demo

README.md

@@ -59,6 +59,16 @@ Other ways of creating LittleFS images can be found [here](https://github.com/wo
 
 Currently, the filesystem is not writeable, as the SSI peripheral required for flash writing is not implemented yet. If you're interested in hacking, see the discussion in https://github.com/wokwi/rp2040js/issues/88 for a workaround.
 
+### Dual RP2040 demo
+```
+npm install
+npm run start:dual-mcu
+```
+
+This fires up two instances of rp2040js including some glue code that connects the GPIOs 2-10 in an open collector/pull up bus fashion.
+It will write a VCD trace of bus signals to the file `dual-mcu-bus-trace.vcd` including a virtual signal indicating conflicts on the bus.
+The demo programs on the two RP2040s pull a single line low each (MCU0: D0 then D1 then ... then D7, MCU1 in the opposite direction).
+
 ## Learn more
 
 - [Live-coding stream playlist](https://www.youtube.com/playlist?list=PLLomdjsHtJTxT-vdJHwa3z62dFXZnzYBm)

demo/dual-mcu.ts

@@ -0,0 +1,107 @@
+import * as fs from 'fs';
+import { RP2040 } from '../src';
+import { GPIOPinState } from '../src/gpio-pin';
+import { bootromB1 } from './bootrom';
+import { loadHex } from './intelhex';
+
+const hex1 = fs.readFileSync('demo/dual-mcu/dual-mcu-0.hex', 'utf-8');
+const hex2 = fs.readFileSync('demo/dual-mcu/dual-mcu-1.hex', 'utf-8');
+const mcu1 = new RP2040();
+const mcu2 = new RP2040();
+mcu1.loadBootrom(bootromB1);
+mcu2.loadBootrom(bootromB1);
+loadHex(hex1, mcu1.flash, 0x10000000);
+loadHex(hex2, mcu2.flash, 0x10000000);
+
+mcu1.uart[0].onByte = (value) => {
+  process.stdout.write(new Uint8Array([value]));
+};
+
+mcu2.uart[0].onByte = (value) => {
+  process.stdout.write(new Uint8Array([value]));
+};
+
+// GPIOPinState: { Low, High, Input, InputPullUp, InputPullDown }
+
+let pin_state: number[][] = [
+  [0,0,0,0,0,0,0],  // result value
+  [3,3,3,3,3,3,3],  // input from mcu1 (pullup initially)
+  [3,3,3,3,3,3,3]   // input from mcu2 (pullup initially)
+];
+let pin_gpio: number[] = [2,3,4,5,6,7,8,9];
+let pin_label: string[] = ["d0", "d1", "d2", "d3", "d4", "d5", "d6", "d7"];
+let vcd_file = fs.createWriteStream('dual-mcu-bus-trace.vcd', {});
+let last_conflict_cycle: number = -1;
+
+// This listener connects the two MCUs and writes a VCD signal trace file.
+// This code assumes pullups enabled (open collector/pullup bus).
+function pinListener(mcu_id: number, pin: number) {
+  return (state: GPIOPinState, oldState: GPIOPinState) => {
+    pin_state[mcu_id+1][pin] = state;
+    let v: number = ((pin_state[0+1][pin]===0)||(pin_state[1+1][pin]===0))?0:1;
+    mcu1.gpio[pin_gpio[pin]].setInputValue((v==1)?true:false);
+    mcu2.gpio[pin_gpio[pin]].setInputValue((v==1)?true:false);
+
+    // write signal to VCD file
+    let pin_vcd_id = String.fromCharCode(pin+34);
+    if(pin_state[0][pin]!==v) {
+      pin_state[0][pin]=v;
+      vcd_file.write(`#${mcu1.core.cycles} ${v}${pin_vcd_id}\n`);
+    }
+
+    // write conflict flag to VCD file
+    let conflict: boolean = ((pin_state[0+1][pin]===0)&&(pin_state[1+1][pin]===1))||((pin_state[0+1][pin]===1)&&(pin_state[1+1][pin]===0));
+    if(conflict) console.log(`Conflict on pin ${pin_label[pin]} at cycle ${mcu1.core.cycles} (${pin_state[0+1][pin]}/${pin_state[1+1][pin]})`);
+    let have_new_conflict = conflict&&(last_conflict_cycle === -1);
+    let conflict_recently_resolved = (!conflict)&&(last_conflict_cycle !== -1);
+    if(conflict_recently_resolved && (mcu1.core.cycles === last_conflict_cycle)) {
+      // one mcu set conflict and other resolved in same cycle:
+      // delay until next signal change so that the conflict signal is visible in VCD
+      return;
+    }
+    let write_conflict_flag: boolean = have_new_conflict || conflict_recently_resolved;
+    if(write_conflict_flag) {
+      vcd_file.write(`#${mcu1.core.cycles} ${conflict?1:0}!\n`);
+    }
+    last_conflict_cycle = conflict ? mcu1.core.cycles : -1;
+  };
+}
+
+for(let i = 0; i < pin_label.length; i++) {
+  mcu1.gpio[pin_gpio[i]].addListener(pinListener(0, i));
+  mcu2.gpio[pin_gpio[i]].addListener(pinListener(1, i));
+}
+
+mcu1.core.PC = 0x10000000;
+mcu2.core.PC = 0x10000000;
+
+// write VCD file header
+vcd_file.write("$timescale 1ns $end\n");
+vcd_file.write("$scope module logic $end\n");
+vcd_file.write(`$var wire 1 ! bus_conflict $end\n`);
+for(let pin = 0; pin < pin_label.length; pin++) {
+  let pin_vcd_id = String.fromCharCode(pin+34);
+  vcd_file.write(`$var wire 1 ${pin_vcd_id} ${pin_label[pin]} $end\n`);
+}
+vcd_file.write("$upscope $end\n");
+vcd_file.write("$enddefinitions $end\n");
+
+function run_mcus() {
+  let cycles_mcu2_behind = 0;
+  for (let i = 0; i < 100000; i++) {
+    if((mcu1.core.cycles%(1<<25))===0) console.log(`clock: ${mcu1.core.cycles/125000000} secs`);
+    // run mcu1 for one step, take note of how many cycles that took,
+    // then step mcu2 until it caught up.
+    let cycles = mcu1.core.cycles;
+    mcu1.step();
+    cycles_mcu2_behind += mcu1.core.cycles - cycles;
+    while(cycles_mcu2_behind > 0) {
+      cycles = mcu2.core.cycles;
+      mcu2.step();
+      cycles_mcu2_behind -= mcu2.core.cycles - cycles;
+    }
+  }
+  setTimeout(() => run_mcus(), 0);
+}
+
+run_mcus();

demo/dual-mcu/CMakeLists.txt

@@ -0,0 +1,42 @@
+cmake_minimum_required(VERSION 3.12)
+include(pico_sdk_import.cmake)
+
+project(dual-mcu C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+pico_sdk_init()
+
+add_executable(dual-mcu-0
+        dual-mcu.c
+)
+
+add_executable(dual-mcu-1
+        dual-mcu.c
+)
+
+target_compile_options(dual-mcu-0 PRIVATE -Wall -DMCU0)
+target_compile_options(dual-mcu-1 PRIVATE -Wall -DMCU1)
+
+target_link_libraries(dual-mcu-0
+        hardware_pio
+        pico_stdlib
+        pico_util
+)
+
+target_link_libraries(dual-mcu-1
+        hardware_pio
+        pico_stdlib
+        pico_util
+)
+
+pico_enable_stdio_usb(dual-mcu-0 0)
+pico_enable_stdio_uart(dual-mcu-0 1)
+pico_enable_stdio_usb(dual-mcu-1 0)
+pico_enable_stdio_uart(dual-mcu-1 1)
+
+pico_generate_pio_header(dual-mcu-0 ${CMAKE_CURRENT_LIST_DIR}/dual-mcu.pio)
+pico_generate_pio_header(dual-mcu-1 ${CMAKE_CURRENT_LIST_DIR}/dual-mcu.pio)
+
+pico_add_extra_outputs(dual-mcu-0)
+pico_add_extra_outputs(dual-mcu-1)