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Remove pin ordering restriction in RP2040 ps2 driver (#26256)

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This commit is contained in:
gitaen
2026-06-15 09:36:02 +10:00
committed by GitHub
parent 92dc82ae08
commit 4f6c5d2745
2 changed files with 36 additions and 28 deletions
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platforms/chibios/drivers/vendor/RP/RP2040/ps2_vendor.c
Vendored
+35 -27
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@@ -21,8 +21,16 @@
# endif
#endif
#if PS2_DATA_PIN + 1 != PS2_CLOCK_PIN
# error PS/2 clock pin must be data pin + 1!
#if PS2_DATA_PIN + 1 == PS2_CLOCK_PIN
# define PS2_FIRST_PIN PS2_DATA_PIN
# define PS2_DATA_PINDIR_BIT 1
# define PS2_CLOCK_PINDIR_BIT 2
#elif PS2_DATA_PIN - 1 == PS2_CLOCK_PIN
# define PS2_FIRST_PIN PS2_CLOCK_PIN
# define PS2_DATA_PINDIR_BIT 2
# define PS2_CLOCK_PINDIR_BIT 1
#else
# error PS/2 clock and data pin must be consecutive!
#endif
static inline void pio_serve_interrupt(void);
@@ -50,29 +58,29 @@ OSAL_IRQ_HANDLER(RP_PIO0_IRQ_0_HANDLER) {
// clang-format off
static const uint16_t ps2_program_instructions[] = {
// .wrap_target
0x00c7, // 0: jmp pin, 7
0xe02a, // 1: set x, 10
0x2021, // 2: wait 0 pin, 1
0x4001, // 3: in pins, 1
0x20a1, // 4: wait 1 pin, 1
0x0042, // 5: jmp x--, 2
0x0000, // 6: jmp 0
0x00e9, // 7: jmp !osre, 9
0x0000, // 8: jmp 0
0xff81, // 9: set pindirs, 1 [31]
0xe280, // 10: set pindirs, 0 [2]
0xe082, // 11: set pindirs, 2
0x2021, // 12: wait 0 pin, 1
0xe029, // 13: set x, 9
0x6081, // 14: out pindirs, 1
0x20a1, // 15: wait 1 pin, 1
0x2021, // 16: wait 0 pin, 1
0x004e, // 17: jmp x--, 14
0xe083, // 18: set pindirs, 3
0x2021, // 19: wait 0 pin, 1
0x20a1, // 20: wait 1 pin, 1
// .wrap
// .wrap_target
0x00c7, // 0: jmp pin, 7
0xe02a, // 1: set x, 10
0x2000 | PS2_CLOCK_PIN, // 2: wait 0 gpio, CLK
0x4001, // 3: in pins, 1
0x2080 | PS2_CLOCK_PIN, // 4: wait 1 gpio, CLK
0x0042, // 5: jmp x--, 2
0x0000, // 6: jmp 0
0x00e9, // 7: jmp !osre, 9
0x0000, // 8: jmp 0
0xff80 | PS2_DATA_PINDIR_BIT, // 9: set pindirs, DATA [31]
0xe280, // 10: set pindirs, 0 [2]
0xe080 | PS2_CLOCK_PINDIR_BIT, // 11: set pindirs, CLK
0x2000 | PS2_CLOCK_PIN, // 12: wait 0 gpio, CLK
0xe029, // 13: set x, 9
0x6081, // 14: out pindirs, 1
0x2080 | PS2_CLOCK_PIN, // 15: wait 1 gpio, CLK
0x2000 | PS2_CLOCK_PIN, // 16: wait 0 gpio, CLK
0x004e, // 17: jmp x--, 14
0xe083, // 18: set pindirs, 3
0x2000 | PS2_CLOCK_PIN, // 19: wait 0 gpio, CLK
0x2080 | PS2_CLOCK_PIN, // 20: wait 1 gpio, CLK
// .wrap
};
// clang-format on
@@ -133,9 +141,9 @@ void ps2_host_init(void) {
sm_config_set_wrap(&c, offset + PS2_WRAP_TARGET, offset + PS2_WRAP);
// Set pindirs to input (output enable is inverted below)
pio_sm_set_consecutive_pindirs(pio, state_machine, PS2_DATA_PIN, 2, true);
pio_sm_set_consecutive_pindirs(pio, state_machine, PS2_FIRST_PIN, 2, true);
sm_config_set_clkdiv(&c, (float)clock_get_hz(clk_sys) / (200.0f * KHZ));
sm_config_set_set_pins(&c, PS2_DATA_PIN, 2);
sm_config_set_set_pins(&c, PS2_FIRST_PIN, 2);
sm_config_set_out_pins(&c, PS2_DATA_PIN, 1);
sm_config_set_out_shift(&c, true, true, 10);
sm_config_set_in_shift(&c, true, true, 11);