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SAI: audio pll, sai peripheral driver, and small rtic synthesizing sample #143

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SAI: audio pll, sai peripheral driver, and small rtic synthesizing sample #143

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3c9c7cc
Update imxrt-iomuxc to 0.2.4
SpinFast Dec 12, 2023
06357b5
Update imxrt-ral to 0.6
SpinFast Feb 7, 2024
e83af6c
Add helix configuration for rust-analyzer
SpinFast Nov 5, 2023
819a353
Add pll4 clock module and sai clock modules
SpinFast Nov 9, 2023
3dcbe5d
Adds a SAI driver to the tree
SpinFast Oct 23, 2023
ba1749b
SAI example with wolfson wm8960 codec
SpinFast Feb 7, 2024
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2 changes: 2 additions & 0 deletions .helix/languages.toml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
[language-server.rust-analyzer.config]
cargo = { features = ["imxrt1010"], target = "thumbv7em-none-eabihf" }
5 changes: 3 additions & 2 deletions Cargo.toml
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Expand Up @@ -91,14 +91,14 @@ members = ["board", "logging"]

[workspace.dependencies]
imxrt-dma = "0.1"
imxrt-iomuxc = "0.2.1"
imxrt-iomuxc = "0.2.4"
imxrt-hal = { version = "0.5", path = "." }
imxrt-log = { path = "logging", default-features = false, features = [
"log",
"lpuart",
"usbd",
] }
imxrt-ral = "0.5"
imxrt-ral = { version = "0.6", git = "https://github.com/imxrt-rs/imxrt-ral.git", rev = "a2383c53a1537c152e0aed4880402edb16cc6577" }
imxrt-rt = "0.1"
imxrt-usbd = "0.2"

Expand Down Expand Up @@ -142,6 +142,7 @@ pin-utils = "0.1"
usb-device = { version = "0.2", features = ["test-class-high-speed"] }
usbd-serial = "0.1"
usbd-hid = "0.6"
wm8960 = "0.1.0"

[target.'cfg(all(target_arch = "arm", target_os = "none"))'.dev-dependencies]
board = { path = "board" }
Expand Down
1 change: 1 addition & 0 deletions board/build.rs
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Expand Up @@ -78,6 +78,7 @@ PROVIDE(BOARD_PWM = DefaultHandler);
PROVIDE(BOARD_DMA_A = DefaultHandler);
PROVIDE(BOARD_DMA_B = DefaultHandler);
PROVIDE(BOARD_PIT = DefaultHandler);
PROVIDE(BOARD_SAI1 = DefaultHandler);
PROVIDE(BOARD_GPT1 = DefaultHandler);
PROVIDE(BOARD_GPT2 = DefaultHandler);
PROVIDE(BOARD_USB1 = DefaultHandler);
Expand Down
24 changes: 24 additions & 0 deletions board/src/imxrt1010evk.rs
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Expand Up @@ -57,6 +57,16 @@ pub type Console = hal::lpuart::Lpuart<ConsolePins, 1>;
/// host and the MCU.
pub type ConsolePins = crate::hal::lpuart::Pins<iomuxc::gpio::GPIO_10, iomuxc::gpio::GPIO_09>;

pub type Sai1MclkPin = iomuxc::gpio::GPIO_08;

pub type Sai1TxPins =
hal::sai::Pins<iomuxc::gpio::GPIO_07, iomuxc::gpio::GPIO_06, iomuxc::gpio::GPIO_04>;

pub type Sai1RxPins =
hal::sai::Pins<iomuxc::gpio::GPIO_02, iomuxc::gpio::GPIO_01, iomuxc::gpio::GPIO_03>;

pub type Sai1 = hal::sai::Sai<1, Sai1MclkPin, Sai1TxPins, ()>;

pub type SpiPins = hal::lpspi::Pins<
iomuxc::gpio_ad::GPIO_AD_04, // SDO, J57_8
iomuxc::gpio_ad::GPIO_AD_03, // SDI, J57_10
Expand Down Expand Up @@ -146,6 +156,7 @@ pub struct Specifics {
pub console: Console,
pub spi: Spi,
pub i2c: I2c,
pub sai1: Sai1,
pub pwm: Pwm,
pub tp34: Tp34,
pub tp31: Tp31,
Expand Down Expand Up @@ -180,6 +191,16 @@ impl Specifics {
console.set_parity(None);
});

let sai1 = {
let sai1 = unsafe { ral::sai::SAI1::instance() };
let pins = Sai1TxPins {
sync: iomuxc.gpio.p07,
bclk: iomuxc.gpio.p06,
data: iomuxc.gpio.p04,
};
Sai1::from_tx(sai1, iomuxc.gpio.p08, pins)
};

#[cfg(feature = "spi")]
let spi = {
let lpspi1 = unsafe { ral::lpspi::LPSPI1::instance() };
Expand Down Expand Up @@ -248,6 +269,7 @@ impl Specifics {
console,
spi,
i2c,
sai1,
pwm,
tp34: iomuxc.gpio_sd.p02,
tp31: iomuxc.gpio_sd.p01,
Expand Down Expand Up @@ -344,6 +366,7 @@ pub mod interrupt {
pub const BOARD_DMA_A: Interrupt = Interrupt::DMA7;
pub const BOARD_DMA_B: Interrupt = Interrupt::DMA11;
pub const BOARD_PIT: Interrupt = Interrupt::PIT;
pub const BOARD_SAI1: Interrupt = Interrupt::SAI1;
pub const BOARD_GPT1: Interrupt = Interrupt::GPT1;
pub const BOARD_GPT2: Interrupt = Interrupt::GPT2;
pub const BOARD_USB1: Interrupt = Interrupt::USB_OTG1;
Expand All @@ -357,6 +380,7 @@ pub mod interrupt {
(BOARD_DMA_A, syms::BOARD_DMA_A),
(BOARD_DMA_B, syms::BOARD_DMA_B),
(BOARD_PIT, syms::BOARD_PIT),
(BOARD_SAI1, syms::BOARD_SAI1),
(BOARD_GPT1, syms::BOARD_GPT1),
(BOARD_GPT2, syms::BOARD_GPT2),
(BOARD_USB1, syms::BOARD_USB1),
Expand Down
2 changes: 2 additions & 0 deletions board/src/imxrt1060evk.rs
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Expand Up @@ -302,6 +302,7 @@ pub mod interrupt {
pub const BOARD_DMA_A: Interrupt = Interrupt::DMA7_DMA23;
pub const BOARD_DMA_B: Interrupt = Interrupt::DMA11_DMA27;
pub const BOARD_PIT: Interrupt = Interrupt::PIT;
pub const BOARD_SAI1: Interrupt = Interrupt::SAI1;
pub const BOARD_GPT1: Interrupt = Interrupt::GPT1;
pub const BOARD_GPT2: Interrupt = Interrupt::GPT2;
pub const BOARD_USB1: Interrupt = Interrupt::USB_OTG1;
Expand All @@ -315,6 +316,7 @@ pub mod interrupt {
(BOARD_DMA_A, syms::BOARD_DMA_A),
(BOARD_DMA_B, syms::BOARD_DMA_B),
(BOARD_PIT, syms::BOARD_PIT),
(BOARD_SAI1, syms::BOARD_SAI1),
(BOARD_GPT1, syms::BOARD_GPT1),
(BOARD_GPT2, syms::BOARD_GPT2),
(BOARD_USB1, syms::BOARD_USB1),
Expand Down
15 changes: 15 additions & 0 deletions board/src/imxrt10xx/clock.rs
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Expand Up @@ -40,7 +40,18 @@ fn prepare_clock_tree(
clock_tree::configure_lpspi(RUN_MODE, ccm);
clock_tree::configure_perclk(RUN_MODE, ccm);
clock_tree::configure_uart(RUN_MODE, ccm);
clock_tree::configure_sai(RUN_MODE, ccm);
ccm::analog::pll3::restart(ccm_analog);
//clock output settings for the audio pll
//24000000*(30 + 72/100)/1 = 737.28MHz
//sai mclk settings then are
//(737280000/5)/6 = 24.576MHz
//sai bclk (for 48kHz 16bit stereo)
//24576kHz/16 = 1536000.000 Hz
//Ideal bclk is (48000*2*16) = 1536000
//24576kHz/512 = 48kHz
//Ideal frame sync is 48000
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The commit message additionally suggests that this might be WM8960 specific.
Fortunately this is AFAICT usable much more generally. 24.576MHz can often be used for various 48kHz based sampling rates with 16 or 32bit. AKM has nice tables showing this in their datasheets.E.g. AK4452 Tables 3+4/6+7 show this is usable up to hex speed. BICK requirements probably further limit it to 16bit @ 384kHz.

ccm::analog::pll4::reconfigure(ccm_analog, 30, 72, 100, ccm::analog::pll4::PostDivider::U1);
}

use hal::ccm::clock_gate;
Expand All @@ -53,6 +64,10 @@ const COMMON_CLOCK_GATES: &[clock_gate::Locator] = &[
clock_gate::dma(),
clock_gate::usb(),
clock_gate::trng(),
clock_gate::sai::<1>(),
//#[cfg(not(feature = "imxrt1010"))]
//clock_gate::sai::<2>(),
//clock_gate::sai::<3>(),
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Is this unfinished?

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It is

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I'm not sure this commented code would work. The board crate can't detect an imxrt-hal crate feature called imxrt1010, since they're different crates. And as I write this, board doesn't have its own imxrt1010 feature.

I have two ideas that might work:

  1. Each board has its own clock gate collection (one example, another example). Since the SAI instance used by a board depends on the board, we can put the clock gate locator there. Board configuration considers the combination of these common clocks and the board-specific clocks, so it's equivalent to what we're going for.
  2. Change each 10xx board to expose a constant, like SAI_INSTANCE, that's used like clock_gate::sai::<{board_impl::SAI_INSTANCE}>() in this collection of common clock gate locators.

I prefer the first approach. That should make it easier to introduce a board that doesn't immediately support an SAI example, and there's precedent.

clock_gate::snvs_lp(),
clock_gate::snvs_hp(),
];
Expand Down
39 changes: 38 additions & 1 deletion board/src/imxrt10xx/clock_tree.rs
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Expand Up @@ -13,7 +13,7 @@
pub(crate) use super::ahb::{ahb_frequency, configure_ahb_ipg};
use crate::{
hal::ccm::{
analog, clock_gate, lpi2c_clk, lpspi_clk, perclk_clk, uart_clk, XTAL_OSCILLATOR_HZ,
analog, clock_gate, lpi2c_clk, lpspi_clk, perclk_clk, sai_clk, uart_clk, XTAL_OSCILLATOR_HZ,
},
ral::ccm::CCM,
RunMode,
Expand Down Expand Up @@ -117,6 +117,27 @@ pub const fn lpi2c_frequency(run_mode: RunMode) -> u32 {

const _: () = assert!(lpi2c_frequency(RunMode::Overdrive) == 8_000_000); // Max is 66MHz.

/// Specify the SAIn clock divider for a given run mode.
const fn sai_divider(_n: u8, run_mode: RunMode) -> u32 {
match run_mode {
RunMode::Overdrive => 6,
}
}

/// Specify the SAIn clock pre-divider for a given run mode.
const fn sai_pre_divider(_n: u8, run_mode: RunMode) -> u32 {
match run_mode {
RunMode::Overdrive => 5,
}
}

/// Specify the source clock for SAIn to be the Audio PLL
const fn sai_selection(_n: u8, run_mode: RunMode) -> sai_clk::Selection {
match run_mode {
RunMode::Overdrive => sai_clk::Selection::Pll4,
}
}

/// Configure the PERCLK root clock.
///
/// When this call returns, the PERCLK clock frequency match the values
Expand Down Expand Up @@ -162,6 +183,22 @@ pub fn configure_uart(run_mode: RunMode, ccm: &mut CCM) {
uart_clk::set_divider(ccm, uart_divider(run_mode));
}

/// Configure the SAI root clock.
///
/// When this call returns, the SAI clock frequency match the values
/// returned by the [`sai_frequency()`] function.
///
/// This function will disable the clock gates for various peripherals. It
/// may leave these clock gates disabled.
pub fn configure_sai(run_mode: RunMode, ccm: &mut CCM) {
clock_gate::SAI_CLOCK_GATES
.iter()
.for_each(|locator| locator.set(ccm, clock_gate::OFF));
sai_clk::set_selection::<1>(ccm, sai_selection(1, run_mode));
sai_clk::set_pre_divider::<1>(ccm, sai_pre_divider(1, run_mode));
sai_clk::set_divider::<1>(ccm, sai_divider(1, run_mode));
}

/// Configure the LPI2C root clock.
///
/// When this call returns, the LPI2C clock frequency match the values
Expand Down
1 change: 1 addition & 0 deletions board/src/lib.rs
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Expand Up @@ -231,6 +231,7 @@ mod board_interrupts {
pub fn BOARD_DMA_A();
pub fn BOARD_DMA_B();
pub fn BOARD_PIT();
pub fn BOARD_SAI1();
pub fn BOARD_GPT1();
pub fn BOARD_GPT2();
pub fn BOARD_USB1();
Expand Down
2 changes: 2 additions & 0 deletions board/src/teensy4.rs
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Expand Up @@ -283,6 +283,7 @@ pub mod interrupt {
pub const BOARD_DMA_A: Interrupt = Interrupt::DMA7_DMA23;
pub const BOARD_DMA_B: Interrupt = Interrupt::DMA11_DMA27;
pub const BOARD_PIT: Interrupt = Interrupt::PIT;
pub const BOARD_SAI1: Interrupt = Interrupt::SAI1;
pub const BOARD_GPT1: Interrupt = Interrupt::GPT1;
pub const BOARD_GPT2: Interrupt = Interrupt::GPT2;
pub const BOARD_USB1: Interrupt = Interrupt::USB_OTG1;
Expand All @@ -296,6 +297,7 @@ pub mod interrupt {
(BOARD_DMA_A, syms::BOARD_DMA_A),
(BOARD_DMA_B, syms::BOARD_DMA_B),
(BOARD_PIT, syms::BOARD_PIT),
(BOARD_SAI1, syms::BOARD_SAI1),
(BOARD_GPT1, syms::BOARD_GPT1),
(BOARD_GPT2, syms::BOARD_GPT2),
(BOARD_USB1, syms::BOARD_USB1),
Expand Down