micropython/docs/library/rp2.rst

.. currentmodule:: rp2

:mod:`rp2` --- functionality specific to the RP2040
===================================================

.. module:: rp2
    :synopsis: functionality specific to the RP2

The ``rp2`` module contains functions and classes specific to the RP2040, as
used in the Raspberry Pi Pico.

See the `RP2040 Python datasheet
<https://datasheets.raspberrypi.com/pico/raspberry-pi-pico-python-sdk.pdf>`_
for more information, and `pico-micropython-examples
<https://github.com/raspberrypi/pico-micropython-examples/tree/master/pio>`_
for example code.


PIO related functions
---------------------

The ``rp2`` module includes functions for assembling PIO programs.

For running PIO programs, see :class:`rp2.StateMachine`.

.. function:: asm_pio(*, out_init=None, set_init=None, sideset_init=None, in_shiftdir=0, out_shiftdir=0, autopush=False, autopull=False, push_thresh=32, pull_thresh=32, fifo_join=PIO.JOIN_NONE)

    Assemble a PIO program.

    The following parameters control the initial state of the GPIO pins, as one
    of `PIO.IN_LOW`, `PIO.IN_HIGH`, `PIO.OUT_LOW` or `PIO.OUT_HIGH`. If the
    program uses more than one pin, provide a tuple, e.g.
    ``out_init=(PIO.OUT_LOW, PIO.OUT_LOW)``.

    - *out_init* configures the pins used for ``out()`` instructions.
    - *set_init* configures the pins used for ``set()`` instructions. There can
      be at most 5.
    - *sideset_init* configures the pins used side-setting. There can be at
      most 5.

    The following parameters are used by default, but can be overridden in
    `StateMachine.init()`:

    - *in_shiftdir* is the default direction the ISR will shift, either
      `PIO.SHIFT_LEFT` or `PIO.SHIFT_RIGHT`.
    - *out_shiftdir* is the default direction the OSR will shift, either
      `PIO.SHIFT_LEFT` or `PIO.SHIFT_RIGHT`.
    - *push_thresh* is the threshold in bits before auto-push or conditional
      re-pushing is triggered.
    - *pull_thresh* is the threshold in bits before auto-pull or conditional
      re-pulling is triggered.

    The remaining parameters are:

    - *autopush* configures whether auto-push is enabled.
    - *autopull* configures whether auto-pull is enabled.
    - *fifo_join* configures whether the 4-word TX and RX FIFOs should be
      combined into a single 8-word FIFO for one direction only. The options
      are `PIO.JOIN_NONE`, `PIO.JOIN_RX` and `PIO.JOIN_TX`.

.. function:: asm_pio_encode(instr, sideset_count, sideset_opt=False)

    Assemble a single PIO instruction. You usually want to use `asm_pio()`
    instead.

    >>> rp2.asm_pio_encode("set(0, 1)", 0)
    57345

.. class:: PIOASMError

    This exception is raised from `asm_pio()` or `asm_pio_encode()` if there is
    an error assembling a PIO program.


PIO assembly language instructions
----------------------------------

PIO state machines are programmed in a custom assembly language with nine core
PIO-machine instructions.  In MicroPython, PIO assembly routines are written as
a Python function with the decorator ``@rp2.asm_pio()``, and they use Python
syntax.  Such routines support standard Python variables and arithmetic, as well
as the following custom functions that encode PIO instructions and direct the
assembler.  See sec 3.4 of the RP2040 datasheet for further details.

wrap_target()
    Specify the location where execution continues after program wrapping.
    By default this is the start of the PIO routine.

wrap()
    Specify the location where the program finishes and wraps around.
    If this directive is not used then it is added automatically at the end of
    the PIO routine.  Wrapping does not cost any execution cycles.

label(label)
    Define a label called *label* at the current location.  *label* can be a
    string or integer.

word(instr, label=None)
    Insert an arbitrary 16-bit word in the assembled output.

    - *instr*: the 16-bit value
    - *label*: if given, look up the label and logical-or the label's value with
      *instr*

jmp(...)
    This instruction takes two forms:

    jmp(label)
        - *label*: label to jump to unconditionally

    jmp(cond, label)
        - *cond*: the condition to check, one of:

            - ``not_x``, ``not_y``: true if register is zero
            - ``x_dec``, ``y_dec``: true if register is non-zero, and do post
              decrement
            - ``x_not_y``: true if X is not equal to Y
            - ``pin``: true if the input pin is set
            - ``not_osre``: true if OSR is not empty (hasn't reached its
              threshold)

        - *label*: label to jump to if condition is true

wait(polarity, src, index)
    Block, waiting for high/low on a pin or IRQ line.

    - *polarity*: 0 or 1, whether to wait for a low or high value
    - *src*: one of: ``gpio`` (absolute pin), ``pin`` (pin relative to
      StateMachine's ``in_base`` argument), ``irq``
    - *index*: 0-31, the index for *src*

in_(src, bit_count)
    Shift data in from *src* to ISR.

    - *src*: one of: ``pins``, ``x``, ``y``, ``null``, ``isr``, ``osr``
    - *bit_count*: number of bits to shift in (1-32)

out(dest, bit_count)
    Shift data out from OSR to *dest*.

    - *dest*: one of: ``pins``, ``x``, ``y``, ``pindirs``, ``pc``, ``isr``,
      ``exec``
    - *bit_count*: number of bits to shift out (1-32)

push(...)
    Push ISR to the RX FIFO, then clear ISR to zero.
    This instruction takes the following forms:

    - push()
    - push(block)
    - push(noblock)
    - push(iffull)
    - push(iffull, block)
    - push(iffull, noblock)

    If ``block`` is used then the instruction stalls if the RX FIFO is full.
    The default is to block.  If ``iffull`` is used then it only pushes if the
    input shift count has reached its threshold.

pull(...)
    Pull from the TX FIFO into OSR.
    This instruction takes the following forms:

    - pull()
    - pull(block)
    - pull(noblock)
    - pull(ifempty)
    - pull(ifempty, block)
    - pull(ifempty, noblock)

    If ``block`` is used then the instruction stalls if the TX FIFO is empty.
    The default is to block.  If ``ifempty`` is used then it only pulls if the
    output shift count has reached its threshold.

mov(dest, src)
    Move into *dest* the value from *src*.

    - *dest*: one of: ``pins``, ``x``, ``y``, ``exec``, ``pc``, ``isr``, ``osr``
    - *src*: one of: ``pins``, ``x``, ``y``, ``null``, ``status``, ``isr``,
      ``osr``; this argument can be optionally modified by wrapping it in
      ``invert()`` or ``reverse()`` (but not both together)

irq(...)
    Set or clear an IRQ flag.
    This instruction takes two forms:

    irq(index)
        - *index*: 0-7, or ``rel(0)`` to ``rel(7)``

    irq(mode, index)
        - *mode*: one of: ``block``, ``clear``
        - *index*: 0-7, or ``rel(0)`` to ``rel(7)``

    If ``block`` is used then the instruction stalls until the flag is cleared
    by another entity.  If ``clear`` is used then the flag is cleared instead of
    being set.  Relative IRQ indices add the state machine ID to the IRQ index
    with modulo-4 addition.  IRQs 0-3 are visible from to the processor, 4-7 are
    internal to the state machines.

set(dest, data)
    Set *dest* with the value *data*.

    - *dest*: ``pins``, ``x``, ``y``, ``pindirs``
    - *data*: value (0-31)

nop()
    This is a pseudoinstruction that assembles to ``mov(y, y)`` and has no side
    effect.

.side(value)
    This is a modifier which can be applied to any instruction, and is used to
    control side-set pin values.

    - *value*: the value (bits) to output on the side-set pins

.delay(value)
    This is a modifier which can be applied to any instruction, and specifies
    how many cycles to delay for after the instruction executes.

    - *value*: cycles to delay, 0-31 (maximum value reduced if side-set pins are
      used)

[value]
    This is a modifier and is equivalent to ``.delay(value)``.


Classes
-------

.. toctree::
    :maxdepth: 1

    rp2.Flash.rst
    rp2.PIO.rst
    rp2.StateMachine.rst