Move SSI timing-critical read to core 1 via FIFO

- Replace hardware/sync.h with pico/multicore.h
- Implement ssi_read_core1(), setup1(), loop1() on core 1
- Core 1 owns the SSI bit-bang loop; no USB/timer IRQs interfere
- Core 0 sends packed request word over FIFO, receives lo32/hi32/duration
- Add requestSsiRead() helper on core 0 side
- Remove noInterrupts / save_and_disable_interrupts (no longer needed)
- Update startup banner to reflect dual-core architecture

src/main.cpp

@@ -1,7 +1,7 @@
 #include <Arduino.h>
 #include <Adafruit_NeoPixel.h>
-#include <hardware/sync.h>
 #include <hardware/structs/sio.h>
+#include <pico/multicore.h>
 
 // CLOCK module (TX)
 const uint8_t TX_DI = 0;
@@ -23,47 +23,86 @@ Adafruit_NeoPixel led(1, LED_PIN, NEO_GRB + NEO_KHZ800);
 const uint32_t TX_DI_MASK = 1u << TX_DI;
 const uint32_t RX_RO_MASK = 1u << RX_RO;
 
+// Inter-core protocol
+// Request:  [bits:8 | half_us:16 | reserved:8]  -> core 1
+// Response: [hi32][lo32][duration_us]            -> core 0
+struct SsiRequest {
+  uint8_t  bits;
+  uint16_t half_us;
+};
+
+struct SsiResponse {
+  uint64_t value;
+  uint32_t duration_us;
+};
+
 void setStatus(uint8_t r, uint8_t g, uint8_t b) {
   led.setPixelColor(0, led.Color(r, g, b));
   led.show();
 }
 
-// SSI read with direct register I/O and interrupts disabled.
+// =========================================================================
-// Single-cycle GPIO ops (~8 ns each) instead of ~1 us digitalWrite().
+// CORE 1: SSI worker
-// Interrupts off so USB/timer IRQs can't insert delays mid-frame.
+// =========================================================================
-uint64_t ssi_read(uint8_t bits, uint16_t half_us) {
+
+uint64_t ssi_read_core1(uint8_t bits, uint16_t half_us) {
   uint64_t value = 0;
 
-  // Save interrupt state and disable. save_and_disable_interrupts() returns
+  sio_hw->gpio_clr = TX_DI_MASK;                   // first falling edge: latch
-  // the previous state so we can restore it exactly (don't just blindly
-  // re-enable - a caller higher up the stack may have wanted them off).
-  uint32_t irq_state = save_and_disable_interrupts();
-
-  // Frame start: clock idles HIGH, drop to LOW = encoder latches position
-  sio_hw->gpio_clr = TX_DI_MASK;
   busy_wait_us_32(half_us);
 
   for (uint8_t i = 0; i < bits; i++) {
-    sio_hw->gpio_set = TX_DI_MASK;                 // rising edge: encoder shifts bit
+    sio_hw->gpio_set = TX_DI_MASK;                 // rising: encoder shifts
     busy_wait_us_32(half_us);
-    sio_hw->gpio_clr = TX_DI_MASK;                 // falling edge: sample now
+    sio_hw->gpio_clr = TX_DI_MASK;                 // falling: sample
     uint32_t bit = (sio_hw->gpio_in & RX_RO_MASK) ? 1 : 0;
     value = (value << 1) | bit;
     busy_wait_us_32(half_us);
   }
 
-  // Return clock to idle HIGH
+  sio_hw->gpio_set = TX_DI_MASK;                   // back to idle
-  sio_hw->gpio_set = TX_DI_MASK;
+  busy_wait_us_32(30);                             // monoflop
-
-  // Re-enable interrupts before the (long) monoflop wait - no need to
-  // hold them off any longer, the timing-critical part is done.
-  restore_interrupts(irq_state);
-
-  busy_wait_us_32(30);                             // monoflop reset time
 
   return value;
 }
 
+void setup1() {
+  // Core 1 setup: nothing to do, GPIOs already configured by core 0.
+  // Importantly: no Serial, no USB, no millis IRQ active here by default
+  // when running in this dual-core mode.
+}
+
+void loop1() {
+  // Block until core 0 sends a packed request word.
+  // Word layout: bits in upper 8, half_us in next 16, 8 unused
+  uint32_t req = rp2040.fifo.pop();
+  uint8_t  bits    = (req >> 24) & 0xFF;
+  uint16_t half_us = (req >> 8)  & 0xFFFF;
+
+  uint32_t t0 = time_us_32();
+  uint64_t value = ssi_read_core1(bits, half_us);
+  uint32_t took = time_us_32() - t0;
+
+  // Push three words back: low32, high32, duration
+  rp2040.fifo.push((uint32_t)(value & 0xFFFFFFFF));
+  rp2040.fifo.push((uint32_t)(value >> 32));
+  rp2040.fifo.push(took);
+}
+
+// =========================================================================
+// CORE 0: serial command handler
+// =========================================================================
+
+void requestSsiRead(uint8_t bits, uint16_t half_us, uint64_t& outValue, uint32_t& outTook) {
+  uint32_t req = ((uint32_t)bits << 24) | ((uint32_t)half_us << 8);
+  rp2040.fifo.push(req);
+
+  uint32_t lo = rp2040.fifo.pop();
+  uint32_t hi = rp2040.fifo.pop();
+  outTook    = rp2040.fifo.pop();
+  outValue = ((uint64_t)hi << 32) | lo;
+}
+
 void handleCommand(const String& cmd) {
   if (!cmd.startsWith("READ ")) {
     Serial.println("ERR unknown command. Use: READ <bits> <half_us>");
@@ -90,13 +129,13 @@ void handleCommand(const String& cmd) {
   }
 
   setStatus(0, 0, 16);                             // blue = reading
-  uint32_t t0 = micros();
+  uint64_t value;
-  uint64_t raw = ssi_read(bits, halfUs);
+  uint32_t took;
-  uint32_t elapsed = micros() - t0;
+  requestSsiRead((uint8_t)bits, (uint16_t)halfUs, value, took);
   setStatus(0, 16, 0);                             // green = idle
 
   Serial.printf("OK bits=%d half_us=%d hex=0x%llX dec=%llu took=%luus\n",
-                bits, halfUs, raw, raw, elapsed);
+                bits, halfUs, value, value, took);
 }
 
 void setup() {
@@ -110,18 +149,17 @@ void setup() {
   pinMode(RX_DI, OUTPUT);
   pinMode(RX_RO, INPUT);
 
-  digitalWrite(TX_DE, HIGH);                       // CLK module = transmit
+  digitalWrite(TX_DE, HIGH);
   digitalWrite(TX_RE, HIGH);
-  digitalWrite(RX_DE, LOW);                        // DATA module = receive
+  digitalWrite(RX_DE, LOW);
   digitalWrite(RX_RE, LOW);
   digitalWrite(RX_DI, LOW);
-  digitalWrite(TX_DI, HIGH);                       // SSI clock idles HIGH
+  digitalWrite(TX_DI, HIGH);                       // SSI idle HIGH
 
   delay(200);
   while (!Serial && millis() < 3000) { delay(10); }
-  Serial.println("\nSSI bridge ready (B+C: direct registers, IRQs off during read)");
+  Serial.println("\nSSI bridge ready (dual-core: core 1 dedicated to SSI)");
   Serial.println("Send: READ <bits> <half_us>");
-  Serial.println("Example: READ 25 5");
   setStatus(0, 16, 0);
 }