pio.h

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/*
 * Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef _HARDWARE_PIO_H
#define _HARDWARE_PIO_H
 
#include "pico.h"
#include "hardware/address_mapped.h"
#include "hardware/structs/pio.h"
#include "hardware/gpio.h"
#include "hardware/regs/dreq.h"
#include "hardware/pio_instructions.h"
 
// PICO_CONFIG: PARAM_ASSERTIONS_ENABLED_HARDWARE_PIO, Enable/disable assertions in the hardware_pio module, type=bool, default=0, group=hardware_pio
#ifndef PARAM_ASSERTIONS_ENABLED_HARDWARE_PIO
#ifdef PARAM_ASSERTIONS_ENABLED_PIO // backwards compatibility with SDK < 2.0.0
#define PARAM_ASSERTIONS_ENABLED_HARDWARE_PIO PARAM_ASSERTIONS_ENABLED_PIO
#else
#define PARAM_ASSERTIONS_ENABLED_HARDWARE_PIO 0
#endif
#endif
 
// PICO_CONFIG: PICO_PIO_CLKDIV_ROUND_NEAREST, True if floating point PIO clock divisors should be rounded to the nearest possible clock divisor rather than rounding down, type=bool, default=PICO_CLKDIV_ROUND_NEAREST, group=hardware_pio
#ifndef PICO_PIO_CLKDIV_ROUND_NEAREST
#define PICO_PIO_CLKDIV_ROUND_NEAREST PICO_CLKDIV_ROUND_NEAREST
#endif

 
#ifdef __cplusplus
extern "C" {
#endif
 
static_assert(PIO_SM0_SHIFTCTRL_FJOIN_RX_LSB == PIO_SM0_SHIFTCTRL_FJOIN_TX_LSB + 1, "");

enum pio_fifo_join {
    PIO_FIFO_JOIN_NONE = 0,    
    PIO_FIFO_JOIN_TX = 1,      
    PIO_FIFO_JOIN_RX = 2,      
#if PICO_PIO_VERSION > 0
    PIO_FIFO_JOIN_TXGET = 4,   
    PIO_FIFO_JOIN_TXPUT = 8,   
    PIO_FIFO_JOIN_PUTGET = 12, 
#endif
};

enum pio_mov_status_type {
    STATUS_TX_LESSTHAN = 0,
    STATUS_RX_LESSTHAN = 1,
#if PICO_PIO_VERSION > 0
    STATUS_IRQ_SET = 2
#endif
};
 
typedef pio_hw_t *PIO;

#define pio0 pio0_hw

#define pio1 pio1_hw
 
#if NUM_PIOS > 2
#define pio2 pio2_hw
#endif
 
#if PICO_PIO_VERSION > 0
#ifndef PICO_PIO_USE_GPIO_BASE
// PICO_CONFIG: PICO_PIO_USE_GPIO_BASE, Enable code for handling more than 32 PIO pins, type=bool, default=true when supported and when the device has more than 32 pins, group=hardware_pio
#define PICO_PIO_USE_GPIO_BASE ((NUM_BANK0_GPIOS) > 32)
#endif
#else
#define PICO_PIO_USE_GPIO_BASE 0
#endif

#ifndef PIO_NUM
static_assert(PIO1_BASE - PIO0_BASE == (1u << 20), "hardware layout mismatch");
#if NUM_PIOS > 2
static_assert(PIO2_BASE - PIO0_BASE == (2u << 20), "hardware layout mismatch");
#endif
#define PIO_NUM(pio) (((uintptr_t)(pio) - PIO0_BASE) >> 20)
#endif

#ifndef PIO_INSTANCE
static_assert(PIO1_BASE - PIO0_BASE == (1u << 20), "hardware layout mismatch");
#if NUM_PIOS > 2
static_assert(PIO2_BASE - PIO0_BASE == (2u << 20), "hardware layout mismatch");
#endif
#define PIO_INSTANCE(instance) ((pio_hw_t *)(PIO0_BASE + (instance) * (1u << 20)))
#endif

#ifndef PIO_IS_INSTANCE
#if NUM_PIOS > 2
    static_assert(NUM_PIOS == 3, "");
    #define PIO_IS_INSTANCE(pio) ((pio) == pio0 || (pio) == pio1 || (pio) == pio2)
#else
    static_assert(NUM_PIOS == 2, "");
    #define PIO_IS_INSTANCE(pio) ((pio) == pio0 || (pio) == pio1)
#endif
#endif

#ifndef PIO_FUNCSEL_NUM
#define PIO_FUNCSEL_NUM(pio, gpio) ((gpio_function_t) (GPIO_FUNC_PIO0 + PIO_NUM(pio)))
#endif

#ifndef PIO_DREQ_NUM
static_assert(DREQ_PIO0_TX1 == DREQ_PIO0_TX0 + 1, "");
static_assert(DREQ_PIO0_TX2 == DREQ_PIO0_TX0 + 2, "");
static_assert(DREQ_PIO0_TX3 == DREQ_PIO0_TX0 + 3, "");
static_assert(DREQ_PIO0_RX0 == DREQ_PIO0_TX0 + NUM_PIO_STATE_MACHINES, "");
static_assert(DREQ_PIO1_TX0 == DREQ_PIO0_RX0 + NUM_PIO_STATE_MACHINES, "");
static_assert(DREQ_PIO1_RX0 == DREQ_PIO1_TX0 + NUM_PIO_STATE_MACHINES, "");
#if NUM_PIOS > 2
static_assert(DREQ_PIO2_TX0 == DREQ_PIO1_RX0 + NUM_PIO_STATE_MACHINES, "");
static_assert(DREQ_PIO2_RX0 == DREQ_PIO2_TX0 + NUM_PIO_STATE_MACHINES, "");
#endif
#define PIO_DREQ_NUM(pio, sm, is_tx) (DREQ_PIO0_TX0 + (sm) + (((is_tx) ? 0 : NUM_PIO_STATE_MACHINES) + PIO_NUM(pio) * (DREQ_PIO1_TX0 - DREQ_PIO0_TX0)))
#endif

#ifndef PIO_IRQ_NUM
#define PIO_IRQ_NUM(pio, irqn) (PIO0_IRQ_0 + NUM_PIO_IRQS * PIO_NUM(pio) + (irqn))
#endif


typedef struct {
    uint32_t clkdiv;    
    uint32_t execctrl;  
    uint32_t shiftctrl; 
    uint32_t pinctrl;   
#if PICO_PIO_USE_GPIO_BASE
#define PINHI_ALL_PINCTRL_LSBS ((1u << PIO_SM0_PINCTRL_IN_BASE_LSB) | (1u << PIO_SM0_PINCTRL_OUT_BASE_LSB) | \
                               (1u << PIO_SM0_PINCTRL_SET_BASE_LSB) | (1u << PIO_SM0_PINCTRL_SIDESET_BASE_LSB))
// note we put the out_special pin starting at bit 20
#define PINHI_EXECCTRL_LSB 20
static_assert( (1u << PINHI_EXECCTRL_LSB) > (PINHI_ALL_PINCTRL_LSBS * 0x1f), "");
#define PINHI_ALL_PIN_LSBS ((1u << PINHI_EXECCTRL_LSB) | PINHI_ALL_PINCTRL_LSBS)
    // each 5-bit field which would usually be used for the pin_base in pin_ctrl, is used for:
    // 0b11111 - corresponding field not specified
    // 0b00000 - pin is in range 0-15
    // 0b00001 - pin is in range 16-31
    // 0b00010 - pin is in range 32-47
    uint32_t pinhi;     
#endif
} pio_sm_config;
 
static inline void check_sm_param(__unused uint sm) {
    valid_params_if(HARDWARE_PIO, sm < NUM_PIO_STATE_MACHINES);
}
 
static inline void check_sm_mask(__unused uint mask) {
    valid_params_if(HARDWARE_PIO, mask < (1u << NUM_PIO_STATE_MACHINES));
}
 
static inline void check_pio_param(__unused PIO pio) {
    valid_params_if(HARDWARE_PIO, PIO_IS_INSTANCE(pio));
}
 
static inline void check_pio_pin_param(__unused uint pin) {
#if !PICO_PIO_USE_GPIO_BASE
    invalid_params_if(HARDWARE_PIO, pin >= 32);
#else
    // pin base allows us to move up 16 pins at a time
    invalid_params_if(HARDWARE_PIO, pin >= ((NUM_BANK0_GPIOS + 15u)&~15u));
#endif
}

static inline void sm_config_set_out_pin_base(pio_sm_config *c, uint out_base) {
    check_pio_pin_param(out_base);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_OUT_BASE_BITS) |
                 ((out_base & 31) << PIO_SM0_PINCTRL_OUT_BASE_LSB);
#if PICO_PIO_USE_GPIO_BASE
    c->pinhi = (c->pinhi & ~(31u << PIO_SM0_PINCTRL_OUT_BASE_LSB)) |
                    ((out_base >> 4) << PIO_SM0_PINCTRL_OUT_BASE_LSB);
#endif
}

static inline void sm_config_set_out_pin_count(pio_sm_config *c, uint out_count) {
    valid_params_if(HARDWARE_PIO, out_count <= 32);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_OUT_COUNT_BITS) |
                 (out_count << PIO_SM0_PINCTRL_OUT_COUNT_LSB);
}

static inline void sm_config_set_out_pins(pio_sm_config *c, uint out_base, uint out_count) {
    sm_config_set_out_pin_base(c, out_base);
    sm_config_set_out_pin_count(c, out_count);
}

static inline void sm_config_set_set_pin_base(pio_sm_config *c, uint set_base) {
    check_pio_pin_param(set_base);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_SET_BASE_BITS) |
                 ((set_base & 31) << PIO_SM0_PINCTRL_SET_BASE_LSB);
#if PICO_PIO_USE_GPIO_BASE
    c->pinhi = (c->pinhi & ~(31u << PIO_SM0_PINCTRL_SET_BASE_LSB)) |
                    ((set_base >> 4) << PIO_SM0_PINCTRL_SET_BASE_LSB);
#endif
}

static inline void sm_config_set_set_pin_count(pio_sm_config *c, uint set_count) {
    valid_params_if(HARDWARE_PIO, set_count <= 5);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_SET_COUNT_BITS) |
                 (set_count << PIO_SM0_PINCTRL_SET_COUNT_LSB);
}

static inline void sm_config_set_set_pins(pio_sm_config *c, uint set_base, uint set_count) {
    sm_config_set_set_pin_base(c, set_base);
    sm_config_set_set_pin_count(c, set_count);
}

static inline void sm_config_set_in_pin_base(pio_sm_config *c, uint in_base) {
    check_pio_pin_param(in_base);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_IN_BASE_BITS) |
                 ((in_base & 31) << PIO_SM0_PINCTRL_IN_BASE_LSB);
#if PICO_PIO_USE_GPIO_BASE
    c->pinhi = (c->pinhi & ~(31u << PIO_SM0_PINCTRL_IN_BASE_LSB)) |
                    ((in_base >> 4) << PIO_SM0_PINCTRL_IN_BASE_LSB);
#endif
}

static inline void sm_config_set_in_pins(pio_sm_config *c, uint in_base) {
    sm_config_set_in_pin_base(c, in_base);
}

static inline void sm_config_set_in_pin_count(pio_sm_config *c, uint in_count) {
#if PICO_PIO_VERSION == 0
    // can't be changed from 32 on PIO v0
    ((void)c);
    valid_params_if(HARDWARE_PIO, in_count == 32);
#else
    valid_params_if(HARDWARE_PIO, in_count && in_count <= 32);
    c->shiftctrl = (c->shiftctrl & ~PIO_SM0_SHIFTCTRL_IN_COUNT_BITS) |
                   ((in_count & 0x1fu) << PIO_SM0_SHIFTCTRL_IN_COUNT_LSB);
#endif
}

static inline void sm_config_set_sideset_pin_base(pio_sm_config *c, uint sideset_base) {
    check_pio_pin_param(sideset_base);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_SIDESET_BASE_BITS) |
                 ((sideset_base & 31) << PIO_SM0_PINCTRL_SIDESET_BASE_LSB);
#if PICO_PIO_USE_GPIO_BASE
    c->pinhi = (c->pinhi & ~(31u << PIO_SM0_PINCTRL_SIDESET_BASE_LSB)) |
                    ((sideset_base >> 4) << PIO_SM0_PINCTRL_SIDESET_BASE_LSB);
#endif
}

static inline void sm_config_set_sideset_pins(pio_sm_config *c, uint sideset_base) {
    sm_config_set_sideset_pin_base(c, sideset_base);
}

static inline void sm_config_set_sideset(pio_sm_config *c, uint bit_count, bool optional, bool pindirs) {
    valid_params_if(HARDWARE_PIO, bit_count <= 5);
    valid_params_if(HARDWARE_PIO, !optional || bit_count >= 1);
    c->pinctrl = (c->pinctrl & ~PIO_SM0_PINCTRL_SIDESET_COUNT_BITS) |
                 (bit_count << PIO_SM0_PINCTRL_SIDESET_COUNT_LSB);
    c->execctrl = (c->execctrl & ~(PIO_SM0_EXECCTRL_SIDE_EN_BITS | PIO_SM0_EXECCTRL_SIDE_PINDIR_BITS)) |
                  (bool_to_bit(optional) << PIO_SM0_EXECCTRL_SIDE_EN_LSB) |
                  (bool_to_bit(pindirs) << PIO_SM0_EXECCTRL_SIDE_PINDIR_LSB);
}

static inline void sm_config_set_clkdiv_int_frac8(pio_sm_config *c, uint32_t div_int, uint8_t div_frac8) {
    static_assert(REG_FIELD_WIDTH(PIO_SM0_CLKDIV_INT) == 16, "");
    invalid_params_if(HARDWARE_PIO, div_int >> 16);
    invalid_params_if(HARDWARE_PIO, div_int == 0 && div_frac8 != 0);
    static_assert(REG_FIELD_WIDTH(PIO_SM0_CLKDIV_FRAC) == 8, "");
    c->clkdiv =
            (((uint)div_frac8) << PIO_SM0_CLKDIV_FRAC_LSB) |
            (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
}
 
// backwards compatibility
static inline void sm_config_set_clkdiv_int_frac(pio_sm_config *c, uint16_t div_int, uint8_t div_frac8) {
    sm_config_set_clkdiv_int_frac8(c, div_int, div_frac8);
}
 
static inline void pio_calculate_clkdiv8_from_float(float div, uint32_t *div_int, uint8_t *div_frac8) {
    valid_params_if(HARDWARE_PIO, div >= 1 && div <= 65536);
    const int frac_bit_count = REG_FIELD_WIDTH(PIO_SM0_CLKDIV_FRAC);
#if PICO_PIO_CLKDIV_ROUND_NEAREST
    div += 0.5f / (1 << frac_bit_count); // round to the nearest 1/256
#endif
    *div_int = (uint16_t)div;
    // not a strictly necessary check, but if this changes, then this method should
    // probably no longer be used in favor of one with a larger fraction
    static_assert(REG_FIELD_WIDTH(PIO_SM0_CLKDIV_FRAC) == 8, "");
    if (*div_int == 0) {
        *div_frac8 = 0;
    } else {
        *div_frac8 = (uint8_t)((div - (float)*div_int) * (1u << frac_bit_count));
    }
}
 
// backwards compatibility
static inline void pio_calculate_clkdiv_from_float(float div, uint16_t *div_int16, uint8_t *div_frac8) {
    uint32_t div_int;
    pio_calculate_clkdiv8_from_float(div, &div_int, div_frac8);
    *div_int16 = (uint16_t) div_int;
}

static inline void sm_config_set_clkdiv(pio_sm_config *c, float div) {
    uint32_t div_int;
    uint8_t div_frac8;
    pio_calculate_clkdiv8_from_float(div, &div_int, &div_frac8);
    sm_config_set_clkdiv_int_frac8(c, div_int, div_frac8);
}

static inline void sm_config_set_wrap(pio_sm_config *c, uint wrap_target, uint wrap) {
    valid_params_if(HARDWARE_PIO, wrap < PIO_INSTRUCTION_COUNT);
    valid_params_if(HARDWARE_PIO, wrap_target < PIO_INSTRUCTION_COUNT);
    c->execctrl = (c->execctrl & ~(PIO_SM0_EXECCTRL_WRAP_TOP_BITS | PIO_SM0_EXECCTRL_WRAP_BOTTOM_BITS)) |
                  (wrap_target << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB) |
                  (wrap << PIO_SM0_EXECCTRL_WRAP_TOP_LSB);
}

static inline void sm_config_set_jmp_pin(pio_sm_config *c, uint pin) {
    check_pio_pin_param(pin);
    c->execctrl = (c->execctrl & ~PIO_SM0_EXECCTRL_JMP_PIN_BITS) |
                  ((pin & 31) << PIO_SM0_EXECCTRL_JMP_PIN_LSB);
#if PICO_PIO_USE_GPIO_BASE
    c->pinhi = (c->pinhi & ~(31u << PINHI_EXECCTRL_LSB)) |
               ((pin >> 4) << PINHI_EXECCTRL_LSB);
#endif
}

static inline void sm_config_set_in_shift(pio_sm_config *c, bool shift_right, bool autopush, uint push_threshold) {
    valid_params_if(HARDWARE_PIO, push_threshold <= 32);
    c->shiftctrl = (c->shiftctrl &
                    ~(PIO_SM0_SHIFTCTRL_IN_SHIFTDIR_BITS |
                      PIO_SM0_SHIFTCTRL_AUTOPUSH_BITS |
                      PIO_SM0_SHIFTCTRL_PUSH_THRESH_BITS)) |
                   (bool_to_bit(shift_right) << PIO_SM0_SHIFTCTRL_IN_SHIFTDIR_LSB) |
                   (bool_to_bit(autopush) << PIO_SM0_SHIFTCTRL_AUTOPUSH_LSB) |
                   ((push_threshold & 0x1fu) << PIO_SM0_SHIFTCTRL_PUSH_THRESH_LSB);
}

static inline void sm_config_set_out_shift(pio_sm_config *c, bool shift_right, bool autopull, uint pull_threshold) {
    valid_params_if(HARDWARE_PIO, pull_threshold <= 32);
    c->shiftctrl = (c->shiftctrl &
                    ~(PIO_SM0_SHIFTCTRL_OUT_SHIFTDIR_BITS |
                      PIO_SM0_SHIFTCTRL_AUTOPULL_BITS |
                      PIO_SM0_SHIFTCTRL_PULL_THRESH_BITS)) |
                   (bool_to_bit(shift_right) << PIO_SM0_SHIFTCTRL_OUT_SHIFTDIR_LSB) |
                   (bool_to_bit(autopull) << PIO_SM0_SHIFTCTRL_AUTOPULL_LSB) |
                   ((pull_threshold & 0x1fu) << PIO_SM0_SHIFTCTRL_PULL_THRESH_LSB);
}

static inline void sm_config_set_fifo_join(pio_sm_config *c, enum pio_fifo_join join) {
    valid_params_if(HARDWARE_PIO, join == PIO_FIFO_JOIN_NONE || join == PIO_FIFO_JOIN_TX || join == PIO_FIFO_JOIN_RX
#if PICO_PIO_VERSION > 0
        || join == PIO_FIFO_JOIN_TXPUT || join == PIO_FIFO_JOIN_TXGET || join == PIO_FIFO_JOIN_PUTGET
#endif
    );
#if PICO_PIO_VERSION == 0
    c->shiftctrl = (c->shiftctrl & (uint)~(PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS | PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS)) |
                   (((uint)join) << PIO_SM0_SHIFTCTRL_FJOIN_TX_LSB);
#else
    c->shiftctrl = (c->shiftctrl & (uint)~(PIO_SM0_SHIFTCTRL_FJOIN_TX_BITS | PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS |
                                           PIO_SM0_SHIFTCTRL_FJOIN_RX_PUT_BITS | PIO_SM0_SHIFTCTRL_FJOIN_RX_GET_BITS)) |
                   (((uint)(join & 3)) << PIO_SM0_SHIFTCTRL_FJOIN_TX_LSB) |
                   (((uint)(join >> 2)) << PIO_SM0_SHIFTCTRL_FJOIN_RX_GET_LSB);
#endif
}

static inline void sm_config_set_out_special(pio_sm_config *c, bool sticky, bool has_enable_pin, uint enable_bit_index) {
    c->execctrl = (c->execctrl &
                   (uint)~(PIO_SM0_EXECCTRL_OUT_STICKY_BITS | PIO_SM0_EXECCTRL_INLINE_OUT_EN_BITS |
                     PIO_SM0_EXECCTRL_OUT_EN_SEL_BITS)) |
                  (bool_to_bit(sticky) << PIO_SM0_EXECCTRL_OUT_STICKY_LSB) |
                  (bool_to_bit(has_enable_pin) << PIO_SM0_EXECCTRL_INLINE_OUT_EN_LSB) |
                  ((enable_bit_index << PIO_SM0_EXECCTRL_OUT_EN_SEL_LSB) & PIO_SM0_EXECCTRL_OUT_EN_SEL_BITS);
}

static inline void sm_config_set_mov_status(pio_sm_config *c, enum pio_mov_status_type status_sel, uint status_n) {
    valid_params_if(HARDWARE_PIO,
                    status_sel == STATUS_TX_LESSTHAN || status_sel == STATUS_RX_LESSTHAN
#if PICO_PIO_VERSION > 0
                    || status_sel == STATUS_IRQ_SET
#endif
    );
    c->execctrl = (c->execctrl
                  & ~(PIO_SM0_EXECCTRL_STATUS_SEL_BITS | PIO_SM0_EXECCTRL_STATUS_N_BITS))
                  | ((((uint)status_sel) << PIO_SM0_EXECCTRL_STATUS_SEL_LSB) & PIO_SM0_EXECCTRL_STATUS_SEL_BITS)
                  | ((status_n << PIO_SM0_EXECCTRL_STATUS_N_LSB) & PIO_SM0_EXECCTRL_STATUS_N_BITS);
}

static inline pio_sm_config pio_get_default_sm_config(void) {
    pio_sm_config c = {};
#if PICO_PIO_USE_GPIO_BASE
    c.pinhi = -1;
#endif
    sm_config_set_clkdiv_int_frac8(&c, 1, 0);
    sm_config_set_wrap(&c, 0, 31);
    sm_config_set_in_shift(&c, true, false, 32);
    sm_config_set_out_shift(&c, true, false, 32);
    return c;
}

static inline uint pio_get_gpio_base(PIO pio) {
#if PICO_PIO_USE_GPIO_BASE
    return pio->gpiobase;
#else
    ((void)pio);
    return 0;
#endif
}
 
static inline void check_pio_pin_mask(__unused PIO pio, __unused uint sm, __unused uint32_t pinmask) {
    // check no pins are set in the mask which are incompatible with the pio
#if PICO_PIO_USE_GPIO_BASE
    valid_params_if(HARDWARE_PIO, (pinmask & ~(0xffffffffu << pio_get_gpio_base(pio))) == 0);
#endif
}
 
static inline void check_pio_pin_mask64(__unused PIO pio, __unused uint sm, __unused uint64_t pinmask) {
    // check no pins are set in the mask which are incompatible with the pio
#if PICO_PIO_USE_GPIO_BASE
    valid_params_if(HARDWARE_PIO, (pinmask & ~(0xffffffffull << pio_get_gpio_base(pio))) == 0);
#else
    valid_params_if(HARDWARE_PIO, (pinmask & ~0xffffffffull) == 0);
#endif
}

static inline int pio_sm_set_config(PIO pio, uint sm, const pio_sm_config *config) {
    check_pio_param(pio);
    check_sm_param(sm);
    pio->sm[sm].clkdiv = config->clkdiv;
    pio->sm[sm].shiftctrl = config->shiftctrl;
#if PICO_PIO_USE_GPIO_BASE
    // definition of the 5-bit fields within config->pinhi:
    // 0b11111 - corresponding field not specified
    // 0b00000 - pin is in range 0-15
    // 0b00001 - pin is in range 16-31
    // 0b00010 - pin is in range 32-47
 
    // boolean (in bit 0 of each field) 1=field_used
    uint32_t field_used_flags = (~config->pinhi >> 4) & PINHI_ALL_PIN_LSBS;
    // note: if the field is used and no pins are used in the range 16-47, then by convention, pins 0-15 must be used
    // boolean (in bit 0 of each field) 1=some_used_pins_0_to_15
    uint32_t gpio_0_15_used_flags = (~config->pinhi) & (~config->pinhi >> 1) & field_used_flags;
    // boolean (in bit 0 of each field) 1=some_used_pins_32_to_47
    uint32_t gpio_32_47_used_flags = (config->pinhi >> 1) & field_used_flags;
    uint gpio_base = pio_get_gpio_base(pio);
    invalid_params_if_and_return(HARDWARE_PIO, gpio_0_15_used_flags && gpio_base, PICO_ERROR_BAD_ALIGNMENT);
    invalid_params_if_and_return(HARDWARE_PIO, gpio_32_47_used_flags && !gpio_base, PICO_ERROR_BAD_ALIGNMENT);
    // flip bit 4 of used (execctrl/pinctrl) values if gpio_base is non-zero (i.e. 16), to turn:
    //  pin  | pin & 32 | pin & 0x1f || base | pin_value
    //       |          |  (stored)  ||      | (configured)
    // 16-31 |     0    +    16-31   -> 16   + 0-15
    // 32-47 |     32   +    0-15    -> 16   + 16-31
    //
    // note, that for gpio_base of zero we have:
    //  pin  | pin & 32 | pin & 0x1f || base | pin_value
    //       |          |  (stored)  ||      | (configured)
    // 0-15  |     0    +    0-15    -> 0    + 0-15
    // 16-31 |     0    +    16-31   -> 0    + 16-31
 
    // note we already checked (above) via static_assert( (1u << PINHI_EXECCTRL_LSB) > (PINHI_ALL_PINCTRL_LSBS * 0x1f), "")
    // that PINHI_EXECTTRL_LSB is above all the pinctrl fields...
 
    // ... so shift pinctrl bits off the bottom, and flip EXECCTRL_JMP_PIN_MSB if used
    pio->sm[sm].execctrl = config->execctrl ^ (gpio_base ? ((field_used_flags >> PINHI_EXECCTRL_LSB) << PIO_SM0_EXECCTRL_JMP_PIN_MSB) : 0);
    // ... so shift execctrl bits off the top, and flip pinctrl MSBs if used
    pio->sm[sm].pinctrl = config->pinctrl ^ (gpio_base ? ((field_used_flags << (32 - PINHI_EXECCTRL_LSB)) >> (32 - PINHI_EXECCTRL_LSB - 4)) : 0);
#else
    pio->sm[sm].execctrl = config->execctrl;
    pio->sm[sm].pinctrl = config->pinctrl;
#endif
    return PICO_OK;
}

static inline uint pio_get_index(PIO pio) {
    check_pio_param(pio);
    return PIO_NUM(pio);
}

static inline uint pio_get_funcsel(PIO pio) {
    check_pio_param(pio);
    return PIO_FUNCSEL_NUM(pio, 0); // note GPIO currently unused, so won't bother updating API
}

static inline PIO pio_get_instance(uint instance) {
    invalid_params_if(HARDWARE_PIO, instance >= NUM_PIOS);
    return PIO_INSTANCE(instance);
}

static inline void pio_gpio_init(PIO pio, uint pin) {
    check_pio_param(pio);
    valid_params_if(HARDWARE_PIO, pin < NUM_BANK0_GPIOS);
    gpio_set_function(pin, PIO_FUNCSEL_NUM(pio, pin));
}

static inline uint pio_get_dreq(PIO pio, uint sm, bool is_tx) {
    check_pio_param(pio);
    check_sm_param(sm);
    return PIO_DREQ_NUM(pio, sm, is_tx);
}

typedef struct pio_program {
    const uint16_t *instructions;   
    uint8_t length;                 
    int8_t origin;                  
    uint8_t pio_version;            
#if PICO_PIO_VERSION > 0
    uint8_t used_gpio_ranges;       
#endif
} pio_program_t;

int pio_set_gpio_base(PIO pio, uint gpio_base);

bool pio_can_add_program(PIO pio, const pio_program_t *program);

bool pio_can_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset);

int pio_add_program(PIO pio, const pio_program_t *program);

int pio_add_program_at_offset(PIO pio, const pio_program_t *program, uint offset);

void pio_remove_program(PIO pio, const pio_program_t *program, uint loaded_offset);

void pio_clear_instruction_memory(PIO pio);

int pio_sm_init(PIO pio, uint sm, uint initial_pc, const pio_sm_config *config);

static inline void pio_sm_set_enabled(PIO pio, uint sm, bool enabled) {
    check_pio_param(pio);
    check_sm_param(sm);
    pio->ctrl = (pio->ctrl & ~(1u << sm)) | (bool_to_bit(enabled) << sm);
}

static inline void pio_set_sm_mask_enabled(PIO pio, uint32_t mask, bool enabled) {
    check_pio_param(pio);
    check_sm_mask(mask);
    pio->ctrl = (pio->ctrl & ~mask) | (enabled ? mask : 0u);
}
 
#if PICO_PIO_VERSION > 0
static inline void pio_set_sm_multi_mask_enabled(PIO pio, uint32_t mask_prev, uint32_t mask, uint32_t mask_next, bool enabled) {
    check_pio_param(pio);
    check_sm_mask(mask_prev);
    check_sm_mask(mask);
    check_sm_mask(mask_next);
    pio->ctrl = (pio->ctrl & ~(mask << PIO_CTRL_SM_ENABLE_LSB)) |
                (enabled ? ((mask << PIO_CTRL_SM_ENABLE_LSB) & PIO_CTRL_SM_ENABLE_BITS) : 0) |
                (enabled ? PIO_CTRL_NEXTPREV_SM_ENABLE_BITS : PIO_CTRL_NEXTPREV_SM_DISABLE_BITS) |
                ((mask_prev << PIO_CTRL_PREV_PIO_MASK_LSB) & PIO_CTRL_PREV_PIO_MASK_BITS) |
                ((mask_next << PIO_CTRL_NEXT_PIO_MASK_LSB) & PIO_CTRL_NEXT_PIO_MASK_BITS);
 
}
#endif

static inline void pio_sm_restart(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    hw_set_bits(&pio->ctrl, 1u << (PIO_CTRL_SM_RESTART_LSB + sm));
}

static inline void pio_restart_sm_mask(PIO pio, uint32_t mask) {
    check_pio_param(pio);
    check_sm_mask(mask);
    hw_set_bits(&pio->ctrl, (mask << PIO_CTRL_SM_RESTART_LSB) & PIO_CTRL_SM_RESTART_BITS);
}

static inline void pio_sm_clkdiv_restart(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    hw_set_bits(&pio->ctrl, 1u << (PIO_CTRL_CLKDIV_RESTART_LSB + sm));
}

static inline void pio_clkdiv_restart_sm_mask(PIO pio, uint32_t mask) {
    check_pio_param(pio);
    check_sm_mask(mask);
    hw_set_bits(&pio->ctrl, (mask << PIO_CTRL_CLKDIV_RESTART_LSB) & PIO_CTRL_CLKDIV_RESTART_BITS);
}
 
#if PICO_PIO_VERSION > 0
static inline void pio_clkdiv_restart_sm_multi_mask(PIO pio, uint32_t mask_prev, uint32_t mask, uint32_t mask_next) {
    check_pio_param(pio);
    check_sm_mask(mask_prev);
    check_sm_mask(mask);
    check_sm_mask(mask_next);
    hw_set_bits(&pio->ctrl, ((mask << PIO_CTRL_CLKDIV_RESTART_LSB) & PIO_CTRL_CLKDIV_RESTART_BITS) |
                            PIO_CTRL_NEXTPREV_CLKDIV_RESTART_BITS |
                            ((mask_prev << PIO_CTRL_PREV_PIO_MASK_LSB) & PIO_CTRL_PREV_PIO_MASK_BITS) |
                            ((mask_next << PIO_CTRL_NEXT_PIO_MASK_LSB) & PIO_CTRL_NEXT_PIO_MASK_BITS));
}
#endif

static inline void pio_enable_sm_mask_in_sync(PIO pio, uint32_t mask) {
    check_pio_param(pio);
    check_sm_mask(mask);
    hw_set_bits(&pio->ctrl,
        ((mask << PIO_CTRL_CLKDIV_RESTART_LSB) & PIO_CTRL_CLKDIV_RESTART_BITS) |
        ((mask << PIO_CTRL_SM_ENABLE_LSB) & PIO_CTRL_SM_ENABLE_BITS));
}
 
#if PICO_PIO_VERSION > 0
static inline void pio_enable_sm_multi_mask_in_sync(PIO pio, uint32_t mask_prev, uint32_t mask, uint32_t mask_next) {
    check_pio_param(pio);
    check_sm_mask(mask_prev);
    check_sm_mask(mask);
    check_sm_mask(mask_next);
    hw_set_bits(&pio->ctrl, ((mask << PIO_CTRL_CLKDIV_RESTART_LSB) & PIO_CTRL_CLKDIV_RESTART_BITS) |
                            ((mask << PIO_CTRL_SM_ENABLE_LSB) & PIO_CTRL_SM_ENABLE_BITS) |
                            PIO_CTRL_NEXTPREV_CLKDIV_RESTART_BITS | PIO_CTRL_NEXTPREV_SM_ENABLE_BITS |
                            ((mask_prev << PIO_CTRL_PREV_PIO_MASK_LSB) & PIO_CTRL_PREV_PIO_MASK_BITS) |
                            ((mask_next << PIO_CTRL_NEXT_PIO_MASK_LSB) & PIO_CTRL_NEXT_PIO_MASK_BITS));
}
#endif

typedef enum pio_interrupt_source {
    pis_interrupt0 = PIO_INTR_SM0_LSB,                        
    pis_interrupt1 = PIO_INTR_SM1_LSB,                        
    pis_interrupt2 = PIO_INTR_SM2_LSB,                        
    pis_interrupt3 = PIO_INTR_SM3_LSB,                        
#if PICO_PIO_VERSION > 0
    pis_interrupt4 = PIO_INTR_SM4_LSB,                        
    pis_interrupt5 = PIO_INTR_SM5_LSB,                        
    pis_interrupt6 = PIO_INTR_SM6_LSB,                        
    pis_interrupt7 = PIO_INTR_SM7_LSB,                        
#endif
    pis_sm0_tx_fifo_not_full = PIO_INTR_SM0_TXNFULL_LSB,      
    pis_sm1_tx_fifo_not_full = PIO_INTR_SM1_TXNFULL_LSB,      
    pis_sm2_tx_fifo_not_full = PIO_INTR_SM2_TXNFULL_LSB,      
    pis_sm3_tx_fifo_not_full = PIO_INTR_SM3_TXNFULL_LSB,      
    pis_sm0_rx_fifo_not_empty = PIO_INTR_SM0_RXNEMPTY_LSB,    
    pis_sm1_rx_fifo_not_empty = PIO_INTR_SM1_RXNEMPTY_LSB,    
    pis_sm2_rx_fifo_not_empty = PIO_INTR_SM2_RXNEMPTY_LSB,    
    pis_sm3_rx_fifo_not_empty = PIO_INTR_SM3_RXNEMPTY_LSB,    
} pio_interrupt_source_t;

static inline void pio_set_irq0_source_enabled(PIO pio, pio_interrupt_source_t source, bool enabled) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, source >= 32u || (1u << source) > PIO_INTR_BITS);
    if (enabled)
        hw_set_bits(&pio->inte0, 1u << source);
    else
        hw_clear_bits(&pio->inte0, 1u << source);
}

static inline void pio_set_irq1_source_enabled(PIO pio, pio_interrupt_source_t source, bool enabled) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, source >= 32 || (1u << source) > PIO_INTR_BITS);
    if (enabled)
        hw_set_bits(&pio->inte1, 1u << source);
    else
        hw_clear_bits(&pio->inte1, 1u << source);
}

static inline void pio_set_irq0_source_mask_enabled(PIO pio, uint32_t source_mask, bool enabled) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, source_mask > PIO_INTR_BITS);
    if (enabled) {
        hw_set_bits(&pio->inte0, source_mask);
    } else {
        hw_clear_bits(&pio->inte0, source_mask);
    }
}

static inline void pio_set_irq1_source_mask_enabled(PIO pio, uint32_t source_mask, bool enabled) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, source_mask > PIO_INTR_BITS);
    if (enabled) {
        hw_set_bits(&pio->inte1, source_mask);
    } else {
        hw_clear_bits(&pio->inte1, source_mask);
    }
}

static inline void pio_set_irqn_source_enabled(PIO pio, uint irq_index, pio_interrupt_source_t source, bool enabled) {
    invalid_params_if(HARDWARE_PIO, irq_index >= NUM_PIO_IRQS);
    invalid_params_if(HARDWARE_PIO, source >= 32 || (1u << source) > PIO_INTR_BITS);
    if (enabled)
        hw_set_bits(&pio->irq_ctrl[irq_index].inte, 1u << source);
    else
        hw_clear_bits(&pio->irq_ctrl[irq_index].inte, 1u << source);
}

static inline void pio_set_irqn_source_mask_enabled(PIO pio, uint irq_index, uint32_t source_mask, bool enabled) {
    invalid_params_if(HARDWARE_PIO, irq_index >= NUM_PIO_IRQS);
    static_assert(NUM_PIO_IRQS == 2, "");
    invalid_params_if(HARDWARE_PIO, source_mask > PIO_INTR_BITS);
    if (enabled) {
        hw_set_bits(&pio->irq_ctrl[irq_index].inte, source_mask);
    } else {
        hw_clear_bits(&pio->irq_ctrl[irq_index].inte, source_mask);
    }
}

static inline bool pio_interrupt_get(PIO pio, uint pio_interrupt_num) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, pio_interrupt_num >= 8);
    return pio->irq & (1u << pio_interrupt_num);
}

static inline void pio_interrupt_clear(PIO pio, uint pio_interrupt_num) {
    check_pio_param(pio);
    invalid_params_if(HARDWARE_PIO, pio_interrupt_num >= 8);
    pio->irq = (1u << pio_interrupt_num);
}

static inline uint8_t pio_sm_get_pc(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return (uint8_t) pio->sm[sm].addr;
}

inline static void pio_sm_exec(PIO pio, uint sm, uint instr) {
    check_pio_param(pio);
    check_sm_param(sm);
    pio->sm[sm].instr = instr;
}

static inline bool pio_sm_is_exec_stalled(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return pio->sm[sm].execctrl & PIO_SM0_EXECCTRL_EXEC_STALLED_BITS;
}

static inline void pio_sm_exec_wait_blocking(PIO pio, uint sm, uint instr) {
    check_pio_param(pio);
    check_sm_param(sm);
    pio_sm_exec(pio, sm, instr);
    while (pio_sm_is_exec_stalled(pio, sm)) tight_loop_contents();
}

static inline void pio_sm_set_wrap(PIO pio, uint sm, uint wrap_target, uint wrap) {
    check_pio_param(pio);
    check_sm_param(sm);
    valid_params_if(HARDWARE_PIO, wrap < PIO_INSTRUCTION_COUNT);
    valid_params_if(HARDWARE_PIO, wrap_target < PIO_INSTRUCTION_COUNT);
    pio->sm[sm].execctrl =
            (pio->sm[sm].execctrl & ~(PIO_SM0_EXECCTRL_WRAP_TOP_BITS | PIO_SM0_EXECCTRL_WRAP_BOTTOM_BITS)) |
            (wrap_target << PIO_SM0_EXECCTRL_WRAP_BOTTOM_LSB) |
            (wrap << PIO_SM0_EXECCTRL_WRAP_TOP_LSB);
}

static inline void pio_sm_set_out_pins(PIO pio, uint sm, uint out_base, uint out_count) {
    check_pio_param(pio);
    check_sm_param(sm);
#if PICO_PIO_USE_GPIO_BASE
    out_base -= pio_get_gpio_base(pio);
#endif
    valid_params_if(HARDWARE_PIO, out_base < 32);
    valid_params_if(HARDWARE_PIO, out_count <= 32);
    pio->sm[sm].pinctrl = (pio->sm[sm].pinctrl & ~(PIO_SM0_PINCTRL_OUT_BASE_BITS | PIO_SM0_PINCTRL_OUT_COUNT_BITS)) |
                 (out_base << PIO_SM0_PINCTRL_OUT_BASE_LSB) |
                 (out_count << PIO_SM0_PINCTRL_OUT_COUNT_LSB);
}
 

static inline void pio_sm_set_set_pins(PIO pio, uint sm, uint set_base, uint set_count) {
    check_pio_param(pio);
    check_sm_param(sm);
#if PICO_PIO_USE_GPIO_BASE
    set_base -= pio_get_gpio_base(pio);
#endif
    valid_params_if(HARDWARE_PIO, set_base < 32);
    valid_params_if(HARDWARE_PIO, set_count <= 5);
    pio->sm[sm].pinctrl = (pio->sm[sm].pinctrl & ~(PIO_SM0_PINCTRL_SET_BASE_BITS | PIO_SM0_PINCTRL_SET_COUNT_BITS)) |
                 (set_base << PIO_SM0_PINCTRL_SET_BASE_LSB) |
                 (set_count << PIO_SM0_PINCTRL_SET_COUNT_LSB);
}

static inline void pio_sm_set_in_pins(PIO pio, uint sm, uint in_base) {
    check_pio_param(pio);
    check_sm_param(sm);
#if PICO_PIO_USE_GPIO_BASE
    in_base -= pio_get_gpio_base(pio);
#endif
    valid_params_if(HARDWARE_PIO, in_base < 32);
    pio->sm[sm].pinctrl = (pio->sm[sm].pinctrl & ~PIO_SM0_PINCTRL_IN_BASE_BITS) |
                 (in_base << PIO_SM0_PINCTRL_IN_BASE_LSB);
}

static inline void pio_sm_set_sideset_pins(PIO pio, uint sm, uint sideset_base) {
    check_pio_param(pio);
    check_sm_param(sm);
#if PICO_PIO_USE_GPIO_BASE
    sideset_base -= pio_get_gpio_base(pio);
#endif
    valid_params_if(HARDWARE_PIO, sideset_base < 32);
    pio->sm[sm].pinctrl = (pio->sm[sm].pinctrl & ~PIO_SM0_PINCTRL_SIDESET_BASE_BITS) |
                 (sideset_base << PIO_SM0_PINCTRL_SIDESET_BASE_LSB);
}

 
static inline void pio_sm_set_jmp_pin(PIO pio, uint sm, uint pin) {
    check_pio_param(pio);
    check_sm_param(sm);
#if PICO_PIO_USE_GPIO_BASE
    pin -= pio_get_gpio_base(pio);
#endif
    valid_params_if(HARDWARE_PIO, pin < 32);
    pio->sm[sm].execctrl =
        (pio->sm[sm].execctrl & ~PIO_SM0_EXECCTRL_JMP_PIN_BITS)
        | (pin << PIO_SM0_EXECCTRL_JMP_PIN_LSB);
}

static inline void pio_sm_put(PIO pio, uint sm, uint32_t data) {
    check_pio_param(pio);
    check_sm_param(sm);
    pio->txf[sm] = data;
}

static inline uint32_t pio_sm_get(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return pio->rxf[sm];
}

static inline bool pio_sm_is_rx_fifo_full(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return (pio->fstat & (1u << (PIO_FSTAT_RXFULL_LSB + sm))) != 0;
}

static inline bool pio_sm_is_rx_fifo_empty(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return (pio->fstat & (1u << (PIO_FSTAT_RXEMPTY_LSB + sm))) != 0;
}

static inline uint pio_sm_get_rx_fifo_level(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    uint bitoffs = PIO_FLEVEL_RX0_LSB + sm * (PIO_FLEVEL_RX1_LSB - PIO_FLEVEL_RX0_LSB);
    const uint32_t mask = PIO_FLEVEL_RX0_BITS >> PIO_FLEVEL_RX0_LSB;
    return (pio->flevel >> bitoffs) & mask;
}

static inline bool pio_sm_is_tx_fifo_full(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return (pio->fstat & (1u << (PIO_FSTAT_TXFULL_LSB + sm))) != 0;
}

static inline bool pio_sm_is_tx_fifo_empty(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    return (pio->fstat & (1u << (PIO_FSTAT_TXEMPTY_LSB + sm))) != 0;
}

static inline uint pio_sm_get_tx_fifo_level(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    unsigned int bitoffs = PIO_FLEVEL_TX0_LSB + sm * (PIO_FLEVEL_TX1_LSB - PIO_FLEVEL_TX0_LSB);
    const uint32_t mask = PIO_FLEVEL_TX0_BITS >> PIO_FLEVEL_TX0_LSB;
    return (pio->flevel >> bitoffs) & mask;
}

static inline void pio_sm_put_blocking(PIO pio, uint sm, uint32_t data) {
    check_pio_param(pio);
    check_sm_param(sm);
    while (pio_sm_is_tx_fifo_full(pio, sm)) tight_loop_contents();
    pio_sm_put(pio, sm, data);
}

static inline uint32_t pio_sm_get_blocking(PIO pio, uint sm) {
    check_pio_param(pio);
    check_sm_param(sm);
    while (pio_sm_is_rx_fifo_empty(pio, sm)) tight_loop_contents();
    return pio_sm_get(pio, sm);
}

void pio_sm_drain_tx_fifo(PIO pio, uint sm);

static inline void pio_sm_set_clkdiv_int_frac8(PIO pio, uint sm, uint32_t div_int, uint8_t div_frac8) {
    check_pio_param(pio);
    check_sm_param(sm);
    static_assert(REG_FIELD_WIDTH(PIO_SM0_CLKDIV_INT) == 16, "");
    invalid_params_if(HARDWARE_PIO, div_int >> 16);
    invalid_params_if(HARDWARE_PIO, div_int == 0 && div_frac8 != 0);
    static_assert(REG_FIELD_WIDTH(PIO_SM0_CLKDIV_FRAC) == 8, "");
    pio->sm[sm].clkdiv =
            (((uint)div_frac8) << PIO_SM0_CLKDIV_FRAC_LSB) |
            (((uint)div_int) << PIO_SM0_CLKDIV_INT_LSB);
}
 
// backwards compatibility
static inline void pio_sm_set_clkdiv_int_frac(PIO pio, uint sm, uint16_t div_int, uint8_t div_frac8) {
    pio_sm_set_clkdiv_int_frac8(pio, sm, div_int, div_frac8);
}

static inline void pio_sm_set_clkdiv(PIO pio, uint sm, float div) {
    check_pio_param(pio);
    check_sm_param(sm);
    uint32_t div_int;
    uint8_t div_frac8;
    pio_calculate_clkdiv8_from_float(div, &div_int, &div_frac8);
    pio_sm_set_clkdiv_int_frac8(pio, sm, div_int, div_frac8);
}

static inline void pio_sm_clear_fifos(PIO pio, uint sm) {
    // changing the FIFO join state clears the fifo
    check_pio_param(pio);
    check_sm_param(sm);
    hw_xor_bits(&pio->sm[sm].shiftctrl, PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS);
    hw_xor_bits(&pio->sm[sm].shiftctrl, PIO_SM0_SHIFTCTRL_FJOIN_RX_BITS);
}

void pio_sm_set_pins(PIO pio, uint sm, uint32_t pin_values);

void pio_sm_set_pins64(PIO pio, uint sm, uint64_t pin_values);

void pio_sm_set_pins_with_mask(PIO pio, uint sm, uint32_t pin_values, uint32_t pin_mask);

void pio_sm_set_pins_with_mask64(PIO pio, uint sm, uint64_t pin_values, uint64_t pin_mask);

void pio_sm_set_pindirs_with_mask(PIO pio, uint sm, uint32_t pin_dirs, uint32_t pin_mask);

void pio_sm_set_pindirs_with_mask64(PIO pio, uint sm, uint64_t pin_dirs, uint64_t pin_mask);

int pio_sm_set_consecutive_pindirs(PIO pio, uint sm, uint pins_base, uint pin_count, bool is_out);

void pio_set_input_sync_bypass_with_mask(PIO pio, uint32_t bypass_enables, uint32_t pin_mask);

void pio_set_input_sync_bypass_with_mask64(PIO pio, uint64_t bypass_enables, uint64_t pin_mask);

void pio_sm_claim(PIO pio, uint sm);

void pio_claim_sm_mask(PIO pio, uint sm_mask);

void pio_sm_unclaim(PIO pio, uint sm);

int pio_claim_unused_sm(PIO pio, bool required);

bool pio_sm_is_claimed(PIO pio, uint sm);

bool pio_claim_free_sm_and_add_program(const pio_program_t *program, PIO *pio_out, uint *sm_out, uint *offset_out);

bool pio_claim_free_sm_and_add_program_for_gpio_range(const pio_program_t *program, PIO *pio_out, uint *sm_out, uint *offset_out, uint gpio_start, uint gpio_count, bool set_gpio_base);

void pio_remove_program_and_unclaim_sm(const pio_program_t *program, PIO pio, uint sm, uint offset);

static inline int pio_get_irq_num(PIO pio, uint irqn) {
    check_pio_param(pio);
    valid_params_if(HARDWARE_PIO, irqn < NUM_PIO_IRQS);
    return PIO_IRQ_NUM(pio, irqn);
}

static inline pio_interrupt_source_t pio_get_tx_fifo_not_full_interrupt_source(uint sm) {
    check_sm_param(sm);
    return ((pio_interrupt_source_t)(pis_sm0_tx_fifo_not_full + sm));
}

static inline pio_interrupt_source_t pio_get_rx_fifo_not_empty_interrupt_source(uint sm) {
    check_sm_param(sm);
    return ((pio_interrupt_source_t)(pis_sm0_rx_fifo_not_empty + sm));
}
 
#ifdef __cplusplus
}
#endif
 
#endif // _PIO_H_