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[rp] PIO with compile-time assembler
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‎examples/rp_pico/pio_ws2812/main.cpp‎

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/*
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* Copyright (c) 2026, Andrey Kunitsyn
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include "ws2812.pio.hpp"
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using namespace Board;
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struct HW
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{
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using PIO = modm::platform::Pio0;
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using PIO_SM = PIO::StateMachine<0>;
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using DataGpio = modm::platform::GpioOutput16;
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};
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int
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main()
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{
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Board::initialize();
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HW::DataGpio::setOutput(Gpio::OutputType::PushPull, Gpio::SlewRate::Fast);
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HW::DataGpio::setDriveStrength(Gpio::DriveStrength::mA_12);
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auto pio_program_offset = HW::PIO::addProgram(ws2812::program);
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ws2812::init<Board::SystemClock,HW::PIO,HW::PIO_SM,HW::DataGpio>(pio_program_offset);
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constexpr auto delay_val = 5ms;
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while (true)
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{
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uint32_t clr = 0;
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while (clr!=0xff0000) {
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clr = clr + 0x010000;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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while (clr!=0x000000) {
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clr = clr - 0x010000;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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while (clr!=0x00ff00) {
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clr = clr + 0x000100;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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while (clr!=0x000000) {
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clr = clr - 0x000100;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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while (clr!=0x0000ff) {
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clr = clr + 0x000001;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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while (clr!=0x000000) {
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clr = clr - 0x000001;
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HW::PIO_SM::writeBlocking(clr << 8);
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modm::delay(delay_val);
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}
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}
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return 0;
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}

‎examples/rp_pico/pio_ws2812/project.xml‎

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<library>
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<extends>modm:rp-pico</extends>
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<options>
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<option name="modm:build:build.path">../../../build/rp_pico/pio_ws2812</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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<module>modm:platform:pio:0</module>
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</modules>
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</library>

‎examples/rp_pico/pio_ws2812/ws2812.pio.hpp‎

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/*
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* Copyright (c) 2026, Andrey Kunitsyn
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#pragma once
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#include <modm/board.hpp>
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/* from https://github.com/raspberrypi/pico-examples/blob/master/pio/ws2812/ws2812.pio */
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/* .program ws2812 */
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namespace ws2812
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{
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using namespace modm::platform::pio;
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// constants WS2812
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static constexpr uint32_t T0H = 350; // ns
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static constexpr uint32_t T0L = 800;
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static constexpr uint32_t T1H = 700;
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static constexpr uint32_t T1L = 600;
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// constants WS2812B
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// static constexpr uint32_t T0H = 400; // ns
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// static constexpr uint32_t T0L = 850;
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// static constexpr uint32_t T1H = 850;
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// static constexpr uint32_t T1L = 400;
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static constexpr uint32_t TimeScale = 50;
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static constexpr uint32_t TH_Common = T0H/TimeScale;
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static constexpr uint32_t TH_Add = (T1H-T0H)/TimeScale;
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static constexpr uint32_t TL_Common = T1L/TimeScale;
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static constexpr uint32_t TL_Add = (T0L-T1L)/TimeScale;
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// labels
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struct bitloop {};
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struct do_one {};
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struct do_zero {};
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/*
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.side_set 1
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.wrap_target
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bitloop:
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out x, 1 side 0 [T3 - 1] ; Side-set still takes place when instruction stalls
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jmp !x do_zero side 1 [T1 - 1] ; Branch on the bit we shifted out. Positive pulse
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do_one:
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jmp bitloop side 1 [T2 - 1] ; Continue driving high, for a long pulse
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do_zero:
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nop side 0 [T2 - 1] ; Or drive low, for a short pulse
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.wrap
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*/
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// PIO program
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static constexpr auto program = PIOProgram::begin()
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.sideset<1>
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.wrapTarget<>
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.label<bitloop>
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.instr(pio::Out.x<1> .side<0>.delay<TL_Common-1>)
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.instr(pio::Jmp.not_x.to<do_zero> .side<1>.delay<TH_Common-1>)
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.label<do_one>
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.instr(pio::Jmp.to<bitloop> .side<1>.delay<TH_Add-1>)
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.label<do_zero>
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.instr(pio::Nop .side<0>.delay<TL_Add-1>)
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.wrap<>
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.end();
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/*
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pio_gpio_init(pio, pin);
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pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
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pio_sm_config c = ws2812_program_get_default_config(offset);
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sm_config_set_sideset_pins(&c, pin);
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sm_config_set_out_shift(&c, false, true, rgbw ? 32 : 24);
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sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_TX);
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int cycles_per_bit = ws2812_T1 + ws2812_T2 + ws2812_T3;
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float div = clock_get_hz(clk_sys) / (freq * cycles_per_bit);
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sm_config_set_clkdiv(&c, div);
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pio_sm_init(pio, sm, offset, &c);
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pio_sm_set_enabled(pio, sm, true);
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*/
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// initialization code
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template <typename SystemClock,typename PIO,typename SM,typename DataGpio>
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static constexpr void init(uint16_t offset) {
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PIO::template connect<typename DataGpio::Pad>();
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SM::template addOutput<DataGpio>();
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SM::config(offset,program)
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.template setSidesetPins<DataGpio>()
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.template setOutShift<false,true,24>()
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.setFifoJoinTx()
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.template setFrequency<SystemClock,1000000000/TimeScale>()
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.init(offset+program.getOffset<bitloop>());
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SM::setEnabled(true);
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}
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}

‎src/modm/platform/pio/rp/module.lb‎

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2024, Andrey Kunitsyn
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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class Instance(Module):
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def __init__(self, instance):
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self.instance = instance
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def init(self, module):
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module.name = str(self.instance)
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module.description = "PIO {} instance".format(self.instance)
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def prepare(self, module, options):
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return True
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def build(self, env):
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properties = {
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"id": self.instance,
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}
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env.substitutions = properties
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env.outbasepath = "modm/src/modm/platform/pio"
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env.template("pio.hpp.in", "pio_{}.hpp".format(self.instance))
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env.template("pio.cpp.in", "pio_{}.cpp".format(self.instance))
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def init(module):
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module.name = ":platform:pio"
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module.description = "Programmable IO block (PIO)"
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def prepare(module, options):
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device = options[":target"]
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if not device.has_driver("pio:rp*"):
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return False
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module.depends(
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":platform:gpio",
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":platform:clockgen",
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":architecture:interrupt",
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":architecture:fiber")
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for instance in listify(device.get_driver("pio")["instance"]):
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module.add_submodule(Instance(instance))
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return True
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def build(env):
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env.outbasepath = "modm/src/modm/platform/pio"
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env.copy("pio_asm.hpp")
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env.copy("pio_program.hpp")
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env.copy("pio_sm.hpp")
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pass

‎src/modm/platform/pio/rp/pio.cpp.in‎

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/*
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* Copyright (c) 2022, Andrey Kunitsyn
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/architecture/driver/atomic/queue.hpp>
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#include <modm/architecture/interface/atomic_lock.hpp>
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#include <modm/architecture/interface/interrupt.hpp>
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#include <modm/platform/core/resets.hpp>
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#include "../device.hpp"
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#include "pio_{{ id }}.hpp"
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// ----------------------------------------------------------------------------
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namespace modm::platform
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{
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uint32_t Pio{{ id }}::used_instruction_space = 0;
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}
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// ----------------------------------------------------------------------------
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MODM_ISR(PIO{{ id }}_IRQ_0)
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{
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}
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MODM_ISR(PIO{{ id }}_IRQ_1)
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{
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}

‎src/modm/platform/pio/rp/pio.hpp.in‎

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/*
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* Copyright (c) 2022, Andrey Kunitsyn
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#pragma once
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#include <modm/architecture/interface/peripheral.hpp>
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#include <modm/platform/core/peripherals.hpp>
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#include <modm/platform/gpio/connector.hpp>
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#include <modm/math/algorithm/prescaler.hpp>
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#include "pio_program.hpp"
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#include "pio_sm.hpp"
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#include <hardware/structs/pio.h>
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namespace modm::platform
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{
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/**
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* Programmable IO block (PIO)
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*
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* @ingroup modm_platform_pio
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* @author Andrey Kunitsyn
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*/
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class Pio{{ id }} : public ::modm::PeripheralDriver
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{
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static inline pio_hw_t& pio() { return *pio{{ id }}_hw; }
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static uint32_t used_instruction_space;
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static int findOffset(const PIOProgram& prg) {
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uint32_t program_mask = (1u << prg.length) - 1;
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if (prg.origin >= 0) {
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if (prg.origin > 32 - prg.length) return -1;
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return used_instruction_space & (program_mask << prg.origin) ? -1 : prg.origin;
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} else {
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// work down from the top always
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for (int i = 32 - prg.length; i >= 0; i--) {
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if ((used_instruction_space & (program_mask << static_cast<unsigned int>(i)))==0) {
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return i;
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}
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}
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return -1;
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}
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}
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static void addProgramAtOffset(size_t offset,const PIOProgram& prg) {
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for (uint8_t i = 0; i < prg.length; ++i) {
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auto& instr = prg.instructions[i];
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pio().instr_mem[offset + i] = instr.store(offset);
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}
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uint32_t program_mask = (1u << prg.length) - 1;
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used_instruction_space |= program_mask << offset;
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}
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template <typename Pio,size_t SM>
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friend class pio::implementation::StateMachine;
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public:
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static constexpr Peripheral peripherial = Peripheral::Pio{{ id }};
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template <size_t SM>
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class StateMachine : public modm::platform::pio::implementation::StateMachine<Pio{{ id }},SM> {};
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template< class... Signals >
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static void
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connect()
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{
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using Connector = GpioConnector<peripherial, Signals...>;
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Connector::connect();
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}
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template< class Pin >
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static void connectPin() {
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using Connector = GpioConnector<peripherial, typename Pin::Pad>;
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Connector::connect();
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}
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template <typename Program>
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static size_t addProgram(const Program& prg_data) {
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auto prg = PIOProgram::get(prg_data);
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auto offset = findOffset(prg);
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if (offset < 0) {
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return offset;
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}
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auto res = static_cast<size_t>(offset);
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addProgramAtOffset(res,prg);
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return res;
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}
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};
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} // namespace modm::platform
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