Cleanup PIOs and State Machines on soft reset

Author: siehputz

ports/raspberrypi/common-hal/board/__init__.c

@@ -29,6 +29,18 @@
 #include "py/runtime.h"
 #include "py/mphal.h"
 #include "common-hal/microcontroller/Pin.h"
+#include "src/rp2_common/hardware_pio/include/hardware/pio.h"
+#include "shared-module/board/__init__.h"
 
 // Pins aren't actually defined here. They are in the board specific directory
 // such as boards/arduino_zero/pins.c.
+
+// routine to reset both pios
+void board_reset_pio() {
+    for ( uint8_t sm = 0; sm < 4; sm++) {
+      pio_sm_init (pio0, sm, 0, NULL);
+      pio_sm_init (pio1, sm, 0, NULL);
+    }
+    pio_clear_instruction_memory(pio0);
+    pio_clear_instruction_memory(pio1);
+}

shared-module/board/__init__.c

@@ -28,6 +28,7 @@
 #include "supervisor/shared/translate.h"
 #include "mpconfigboard.h"
 #include "py/runtime.h"
+#include "shared-module/board/__init__.h"
 
 #if CIRCUITPY_BUSIO
 #include "shared-bindings/busio/I2C.h"
@@ -179,4 +180,7 @@ void reset_board_busses(void) {
 #if BOARD_UART
     MP_STATE_VM(shared_uart_bus) = NULL;
 #endif
+#if CIRCUITPY_RP2PIO
+    board_reset_pio();
+#endif
 }

shared-module/board/__init__.h

@@ -28,5 +28,6 @@
 #define MICROPY_INCLUDED_SHARED_MODULE_BOARD__INIT__H
 
 void reset_board_busses(void);
+void board_reset_pio(void);
 
 #endif  // MICROPY_INCLUDED_SHARED_MODULE_BOARD__INIT__H