PIO timing improvements and dual MCU demo

README.md

@@ -107,6 +107,16 @@ sudo umount fat12/  # unmount the filesystem
 While CircuitPython does not typically use a writeable filesystem, note that this functionality is unavailable (see MicroPython filesystem
 support section for more details).
 
+### 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 +1,115 @@
+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 }
+
+const 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)
+];
+const pin_gpio: number[] = [2, 3, 4, 5, 6, 7, 8, 9];
+const pin_label: string[] = ['d0', 'd1', 'd2', 'd3', 'd4', 'd5', 'd6', 'd7'];
+const 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;
+    const 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
+    const 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
+    const 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]}/${
+          pin_state[1 + 1][pin]
+        })`
+      );
+    const have_new_conflict = conflict && last_conflict_cycle === -1;
+    const conflict_recently_resolved = !conflict && last_conflict_cycle !== -1;
+    if (conflict_recently_resolved && mcu1.core.cycles === last_conflict_cycle) {
+      // one mcu set conflict and other resolved in same cycle:
+      // delay until next signal change so that the conflict signal is visible in VCD
+      return;
+    }
+    const write_conflict_flag: boolean = have_new_conflict || conflict_recently_resolved;
+    if (write_conflict_flag) {
+      vcd_file.write(`#${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 $end\n`);
+for (let pin = 0; pin < pin_label.length; pin++) {
+  const pin_vcd_id = String.fromCharCode(pin + 34);
+  vcd_file.write(`$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)