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   1 /*
   2  * Copyright © 2016 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #include <ao.h>
  20
  21 struct ao_spi_stm_info {
  22         uint8_t miso_dma_index;
  23         uint8_t mosi_dma_index;
  24         struct stm_spi *stm_spi;
  25 };
  26
  27 static uint8_t          ao_spi_mutex[STM_NUM_SPI];
  28 static uint8_t          ao_spi_index[STM_NUM_SPI];
  29
  30 static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = {
  31         {
  32                 .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_RX),
  33                 .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX),
  34                 &stm_spi1
  35         },
  36         {
  37                 .miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_RX),
  38                 .mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_TX),
  39                 &stm_spi2
  40         }
  41 };
  42
  43 static uint8_t  spi_dev_null;
  44
  45 #define SPI_CR2 ((0 << STM_SPI_CR2_LDMA_TX) |                           \
  46                  (0 << STM_SPI_CR2_LDMA_RX) |                           \
  47                  (1 << STM_SPI_CR2_FRXTH) |                             \
  48                  (STM_SPI_CR2_DS_8 << STM_SPI_CR2_DS) |                 \
  49                  (0 << STM_SPI_CR2_TXEIE) |                             \
  50                  (0 << STM_SPI_CR2_RXNEIE) |                            \
  51                  (0 << STM_SPI_CR2_ERRIE) |                             \
  52                  (STM_SPI_CR2_FRF_MOTOROLA << STM_SPI_CR2_FRF) |        \
  53                  (0 << STM_SPI_CR2_NSSP) |                              \
  54                  (0 << STM_SPI_CR2_SSOE))
  55
  56 #define SPI_CR2_DMA     (SPI_CR2 |                      \
  57                          (1 << STM_SPI_CR2_TXDMAEN) |   \
  58                          (1 << STM_SPI_CR2_RXDMAEN))
  59
  60 #define SPI_CR2_SYNC    (SPI_CR2 |                      \
  61                          (0 << STM_SPI_CR2_TXDMAEN) |   \
  62                          (0 << STM_SPI_CR2_RXDMAEN))
  63
  64 #if DEBUG
  65 static struct {
  66         uint8_t task;
  67         uint8_t which;
  68         AO_TICK_TYPE tick;
  69         uint16_t len;
  70 } spi_tasks[64];
  71 static uint8_t  spi_task_index;
  72
  73 static void
  74 validate_spi(struct stm_spi *stm_spi, int which, uint16_t len)
  75 {
  76         uint32_t        sr = stm_spi->sr;
  77
  78         if (stm_spi != &stm_spi2)
  79                 return;
  80         spi_tasks[spi_task_index].task = ao_cur_task ? ao_cur_task->task_id : 0;
  81         spi_tasks[spi_task_index].which = which;
  82         spi_tasks[spi_task_index].tick = ao_time();
  83         spi_tasks[spi_task_index].len = len;
  84         spi_task_index = (spi_task_index + 1) & (63);
  85         if (sr & (1 << STM_SPI_SR_FRE))
  86                 ao_panic(0x40 | 1);
  87         if (sr & (1 << STM_SPI_SR_BSY))
  88                 ao_panic(0x40 | 2);
  89         if (sr & (1 << STM_SPI_SR_OVR))
  90                 ao_panic(0x40 | 3);
  91         if (sr & (1 << STM_SPI_SR_MODF))
  92                 ao_panic(0x40 | 4);
  93         if (sr & (1 << STM_SPI_SR_UDR))
  94                 ao_panic(0x40 | 5);
  95         if ((sr & (1 << STM_SPI_SR_TXE)) == 0)
  96                 ao_panic(0x40 | 6);
  97         if (sr & (1 << STM_SPI_SR_RXNE))
  98                 ao_panic(0x40 | 7);
  99         if (which != 5 && which != 6 && which != 13)
 100                 if (ao_cur_task->task_id != ao_spi_mutex[1])
 101                         ao_panic(0x40 | 8);
 102 }
 103 #else
 104 #define validate_spi(stm_spi, which, len) do { (void) (which); (void) (len); } while (0)
 105 #endif
 106
 107 static void
 108 ao_spi_run(uint8_t id, uint8_t which, uint16_t len)
 109 {
 110         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 111         uint8_t         mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
 112         uint8_t         miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
 113
 114         validate_spi(stm_spi, which, len);
 115
 116         stm_spi->cr2 = SPI_CR2_DMA;
 117
 118         ao_dma_start(miso_dma_index);
 119         ao_dma_start(mosi_dma_index);
 120
 121         ao_arch_critical(
 122                 while (!ao_dma_done[miso_dma_index])
 123                         ao_sleep(&ao_dma_done[miso_dma_index]);
 124                 );
 125
 126         while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0);
 127         while (stm_spi->sr & (1 << STM_SPI_SR_BSY));
 128
 129         validate_spi(stm_spi, which+1, len);
 130
 131         stm_spi->cr2 = 0;
 132
 133         ao_dma_done_transfer(mosi_dma_index);
 134         ao_dma_done_transfer(miso_dma_index);
 135 }
 136
 137 void
 138 ao_spi_send(const void *block, uint16_t len, uint8_t spi_index)
 139 {
 140         uint8_t         id = AO_SPI_INDEX(spi_index);
 141         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 142         uint8_t         mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
 143         uint8_t         miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
 144
 145         /* Set up the transmit DMA to deliver data */
 146         ao_dma_set_transfer(mosi_dma_index,
 147                             &stm_spi->dr,
 148                             (void *) block,
 149                             len,
 150                             (0 << STM_DMA_CCR_MEM2MEM) |
 151                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 152                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 153                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 154                             (1 << STM_DMA_CCR_MINC) |
 155                             (0 << STM_DMA_CCR_PINC) |
 156                             (0 << STM_DMA_CCR_CIRC) |
 157                             (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
 158                             (0 << STM_DMA_CCR_TCIE));
 159
 160         /* Set up the receive DMA -- when this is done, we know the SPI unit
 161          * is idle. Without this, we'd have to poll waiting for the BSY bit to
 162          * be cleared
 163          */
 164         ao_dma_set_transfer(miso_dma_index,
 165                             &stm_spi->dr,
 166                             &spi_dev_null,
 167                             len,
 168                             (0 << STM_DMA_CCR_MEM2MEM) |
 169                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 170                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 171                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 172                             (0 << STM_DMA_CCR_MINC) |
 173                             (0 << STM_DMA_CCR_PINC) |
 174                             (0 << STM_DMA_CCR_CIRC) |
 175                             (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
 176                             (1 << STM_DMA_CCR_TCIE));
 177
 178         ao_spi_run(id, 1, len);
 179 }
 180
 181 void
 182 ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index)
 183 {
 184         uint8_t         id = AO_SPI_INDEX(spi_index);
 185         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 186         uint8_t         mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
 187         uint8_t         miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
 188
 189         /* Set up the transmit DMA to deliver data */
 190         ao_dma_set_transfer(mosi_dma_index,
 191                             &stm_spi->dr,
 192                             &value,
 193                             len,
 194                             (0 << STM_DMA_CCR_MEM2MEM) |
 195                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 196                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 197                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 198                             (0 << STM_DMA_CCR_MINC) |
 199                             (0 << STM_DMA_CCR_PINC) |
 200                             (0 << STM_DMA_CCR_CIRC) |
 201                             (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
 202                             (0 << STM_DMA_CCR_TCIE));
 203
 204         /* Set up the receive DMA -- when this is done, we know the SPI unit
 205          * is idle. Without this, we'd have to poll waiting for the BSY bit to
 206          * be cleared
 207          */
 208         ao_dma_set_transfer(miso_dma_index,
 209                             &stm_spi->dr,
 210                             &spi_dev_null,
 211                             len,
 212                             (0 << STM_DMA_CCR_MEM2MEM) |
 213                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 214                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 215                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 216                             (0 << STM_DMA_CCR_MINC) |
 217                             (0 << STM_DMA_CCR_PINC) |
 218                             (0 << STM_DMA_CCR_CIRC) |
 219                             (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
 220                             (1 << STM_DMA_CCR_TCIE));
 221
 222         ao_spi_run(id, 3, len);
 223 }
 224
 225 void
 226 ao_spi_start_bytes(uint8_t spi_index)
 227 {
 228         uint8_t         id = AO_SPI_INDEX(spi_index);
 229         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 230
 231         stm_spi->cr2 = SPI_CR2_SYNC;
 232         validate_spi(stm_spi, 5, 0xffff);
 233 }
 234
 235 void
 236 ao_spi_stop_bytes(uint8_t spi_index)
 237 {
 238         uint8_t         id = AO_SPI_INDEX(spi_index);
 239         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 240
 241         while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0)
 242                 ;
 243         while (stm_spi->sr & (1 << STM_SPI_SR_BSY))
 244                 ;
 245         /* Clear the OVR flag */
 246         (void) stm_spi->dr;
 247         (void) stm_spi->sr;
 248         validate_spi(stm_spi, 6, 0xffff);
 249         stm_spi->cr2 = 0;
 250 }
 251
 252 void
 253 ao_spi_send_sync(const void *block, uint16_t len, uint8_t spi_index)
 254 {
 255         uint8_t         id = AO_SPI_INDEX(spi_index);
 256         const uint8_t   *b = block;
 257         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 258
 259         stm_spi->cr2 = SPI_CR2_SYNC;
 260
 261         validate_spi(stm_spi, 7, len);
 262         while (len--) {
 263                 while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)));
 264                 stm_spi->dr = *b++;
 265         }
 266         while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0)
 267                 ;
 268         while (stm_spi->sr & (1 << STM_SPI_SR_BSY))
 269                 ;
 270         /* Clear the OVR flag */
 271         (void) stm_spi->dr;
 272         (void) stm_spi->sr;
 273         validate_spi(stm_spi, 8, len);
 274 }
 275
 276 void
 277 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
 278 {
 279         uint8_t         id = AO_SPI_INDEX(spi_index);
 280         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 281         uint8_t         mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
 282         uint8_t         miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
 283
 284         spi_dev_null = 0xff;
 285
 286         /* Set up transmit DMA to make the SPI hardware actually run */
 287         ao_dma_set_transfer(mosi_dma_index,
 288                             &stm_spi->dr,
 289                             &spi_dev_null,
 290                             len,
 291                             (0 << STM_DMA_CCR_MEM2MEM) |
 292                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 293                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 294                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 295                             (0 << STM_DMA_CCR_MINC) |
 296                             (0 << STM_DMA_CCR_PINC) |
 297                             (0 << STM_DMA_CCR_CIRC) |
 298                             (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
 299                             (0 << STM_DMA_CCR_TCIE));
 300
 301         /* Set up the receive DMA to capture data */
 302         ao_dma_set_transfer(miso_dma_index,
 303                             &stm_spi->dr,
 304                             block,
 305                             len,
 306                             (0 << STM_DMA_CCR_MEM2MEM) |
 307                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 308                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 309                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 310                             (1 << STM_DMA_CCR_MINC) |
 311                             (0 << STM_DMA_CCR_PINC) |
 312                             (0 << STM_DMA_CCR_CIRC) |
 313                             (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
 314                             (1 << STM_DMA_CCR_TCIE));
 315
 316         ao_spi_run(id, 9, len);
 317 }
 318
 319 void
 320 ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index)
 321 {
 322         uint8_t         id = AO_SPI_INDEX(spi_index);
 323         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 324         uint8_t         mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
 325         uint8_t         miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
 326
 327         /* Set up transmit DMA to send data */
 328         ao_dma_set_transfer(mosi_dma_index,
 329                             &stm_spi->dr,
 330                             out,
 331                             len,
 332                             (0 << STM_DMA_CCR_MEM2MEM) |
 333                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 334                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 335                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 336                             (1 << STM_DMA_CCR_MINC) |
 337                             (0 << STM_DMA_CCR_PINC) |
 338                             (0 << STM_DMA_CCR_CIRC) |
 339                             (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
 340                             (0 << STM_DMA_CCR_TCIE));
 341
 342         /* Set up the receive DMA to capture data */
 343         ao_dma_set_transfer(miso_dma_index,
 344                             &stm_spi->dr,
 345                             in,
 346                             len,
 347                             (0 << STM_DMA_CCR_MEM2MEM) |
 348                             (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
 349                             (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
 350                             (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
 351                             (1 << STM_DMA_CCR_MINC) |
 352                             (0 << STM_DMA_CCR_PINC) |
 353                             (0 << STM_DMA_CCR_CIRC) |
 354                             (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
 355                             (1 << STM_DMA_CCR_TCIE));
 356
 357         ao_spi_run(id, 11, len);
 358 }
 359
 360 static void
 361 ao_spi_disable_index(uint8_t spi_index)
 362 {
 363         /* Disable current config
 364          */
 365         switch (spi_index) {
 366         case AO_SPI_1_PA5_PA6_PA7:
 367                 stm_gpio_set(&stm_gpioa, 5, 1);
 368                 stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
 369                 stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
 370                 stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
 371                 break;
 372         case AO_SPI_1_PB3_PB4_PB5:
 373                 stm_gpio_set(&stm_gpiob, 3, 1);
 374                 stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
 375                 stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
 376                 stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
 377                 break;
 378         case AO_SPI_2_PB13_PB14_PB15:
 379                 stm_gpio_set(&stm_gpiob, 13, 1);
 380                 stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
 381                 stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
 382                 stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
 383                 break;
 384         }
 385 }
 386
 387 static void
 388 ao_spi_enable_index(uint8_t spi_index)
 389 {
 390         switch (spi_index) {
 391         case AO_SPI_1_PA5_PA6_PA7:
 392                 stm_afr_set(&stm_gpioa, 5, STM_AFR_AF0);
 393                 stm_afr_set(&stm_gpioa, 6, STM_AFR_AF0);
 394                 stm_afr_set(&stm_gpioa, 7, STM_AFR_AF0);
 395                 break;
 396         case AO_SPI_1_PB3_PB4_PB5:
 397                 stm_afr_set(&stm_gpiob, 3, STM_AFR_AF0);
 398                 stm_afr_set(&stm_gpiob, 4, STM_AFR_AF0);
 399                 stm_afr_set(&stm_gpiob, 5, STM_AFR_AF0);
 400                 break;
 401         case AO_SPI_2_PB13_PB14_PB15:
 402                 stm_afr_set(&stm_gpiob, 13, STM_AFR_AF0);
 403                 stm_afr_set(&stm_gpiob, 14, STM_AFR_AF0);
 404                 stm_afr_set(&stm_gpiob, 15, STM_AFR_AF0);
 405                 break;
 406         }
 407 }
 408
 409 static void
 410 ao_spi_config(uint8_t spi_index, uint32_t speed)
 411 {
 412         uint8_t         id = AO_SPI_INDEX(spi_index);
 413         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 414
 415         if (spi_index != ao_spi_index[id]) {
 416
 417                 /* Disable old config
 418                  */
 419                 ao_spi_disable_index(ao_spi_index[id]);
 420
 421                 /* Enable new config
 422                  */
 423                 ao_spi_enable_index(spi_index);
 424
 425                 /* Remember current config
 426                  */
 427                 ao_spi_index[id] = spi_index;
 428         }
 429         stm_spi->cr2 = SPI_CR2;
 430         stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) |                   /* Three wire mode */
 431                         (0 << STM_SPI_CR1_BIDIOE) |
 432                         (0 << STM_SPI_CR1_CRCEN) |                      /* CRC disabled */
 433                         (0 << STM_SPI_CR1_CRCNEXT) |
 434                         (0 << STM_SPI_CR1_CRCL) |
 435                         (0 << STM_SPI_CR1_RXONLY) |
 436                         (1 << STM_SPI_CR1_SSM) |                        /* Software SS handling */
 437                         (1 << STM_SPI_CR1_SSI) |                        /*  ... */
 438                         (0 << STM_SPI_CR1_LSBFIRST) |                   /* Big endian */
 439                         (1 << STM_SPI_CR1_SPE) |                        /* Enable SPI unit */
 440                         (speed << STM_SPI_CR1_BR) |                     /* baud rate to pclk/4 */
 441                         (1 << STM_SPI_CR1_MSTR) |
 442                         (0 << STM_SPI_CR1_CPOL) |                       /* Format 0 */
 443                         (0 << STM_SPI_CR1_CPHA));
 444 }
 445
 446 uint8_t
 447 ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id)
 448 {
 449         uint8_t         id = AO_SPI_INDEX(spi_index);
 450
 451         if (!ao_mutex_try(&ao_spi_mutex[id], task_id))
 452                 return 0;
 453         ao_spi_config(spi_index, speed);
 454         return 1;
 455 }
 456
 457 void
 458 ao_spi_get(uint8_t spi_index, uint32_t speed)
 459 {
 460         uint8_t         id = AO_SPI_INDEX(spi_index);
 461         ao_mutex_get(&ao_spi_mutex[id]);
 462         ao_spi_config(spi_index, speed);
 463 }
 464
 465 void
 466 ao_spi_put(uint8_t spi_index)
 467 {
 468         uint8_t         id = AO_SPI_INDEX(spi_index);
 469         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 470
 471         stm_spi->cr1 = 0;
 472         ao_mutex_put(&ao_spi_mutex[id]);
 473 }
 474
 475 static void
 476 ao_spi_channel_init(uint8_t spi_index)
 477 {
 478         uint8_t         id = AO_SPI_INDEX(spi_index);
 479         struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
 480
 481         ao_spi_disable_index(spi_index);
 482
 483         stm_spi->cr1 = 0;
 484         stm_spi->cr2 = SPI_CR2_SYNC;
 485
 486         /* Clear any pending data and error flags */
 487         (void) stm_spi->dr;
 488         (void) stm_spi->sr;
 489 }
 490
 491 #if DEBUG
 492 void
 493 ao_spi_dump_cmd(void)
 494 {
 495         int s;
 496
 497         for (s = 0; s < 64; s++) {
 498                 int i = (spi_task_index + s) & 63;
 499                 if (spi_tasks[i].which) {
 500                         int t;
 501                         const char *name = "(none)";
 502                         for (t = 0; t < ao_num_tasks; t++)
 503                                 if (ao_tasks[t]->task_id == spi_tasks[i].task) {
 504                                         name = ao_tasks[t]->name;
 505                                         break;
 506                                 }
 507                         printf("%2d: %5d task %2d which %2d len %5d %s\n",
 508                                s,
 509                                spi_tasks[i].tick,
 510                                spi_tasks[i].task,
 511                                spi_tasks[i].which,
 512                                spi_tasks[i].len,
 513                                name);
 514                 }
 515         }
 516         for (s = 0; s < STM_NUM_SPI; s++) {
 517                 struct stm_spi *spi = ao_spi_stm_info[s].stm_spi;
 518
 519                 printf("%1d: mutex %2d index %3d miso dma %3d mosi dma %3d",
 520                        s, ao_spi_mutex[s], ao_spi_index[s],
 521                        ao_spi_stm_info[s].miso_dma_index,
 522                        ao_spi_stm_info[s].mosi_dma_index);
 523                 printf(" cr1 %04x cr2 %02x sr %03x\n",
 524                        spi->cr1, spi->cr2, spi->sr);
 525         }
 526
 527 }
 528
 529 static const struct ao_cmds ao_spi_cmds[] = {
 530         { ao_spi_dump_cmd,      "S\0Dump SPI status" },
 531         { 0, NULL }
 532 };
 533 #endif
 534
 535 void
 536 ao_spi_init(void)
 537 {
 538 #if HAS_SPI_1
 539 #ifndef SPI_1_PA5_PA6_PA7
 540 #error SPI_1_PA5_PA6_PA7 undefined
 541 #endif
 542 # if SPI_1_PA5_PA6_PA7
 543         stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPAEN);
 544         stm_ospeedr_set(&stm_gpioa, 5, SPI_1_OSPEEDR);
 545         stm_ospeedr_set(&stm_gpioa, 6, SPI_1_OSPEEDR);
 546         stm_ospeedr_set(&stm_gpioa, 7, SPI_1_OSPEEDR);
 547 # endif
 548 # ifndef SPI_1_PB3_PB4_PB5
 549 # error SPI_1_PB3_PB4_PB5 undefined
 550 # endif
 551 # if SPI_1_PB3_PB4_PB5
 552         stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPBEN);
 553         stm_ospeedr_set(&stm_gpiob, 3, SPI_1_OSPEEDR);
 554         stm_ospeedr_set(&stm_gpiob, 4, SPI_1_OSPEEDR);
 555         stm_ospeedr_set(&stm_gpiob, 5, SPI_1_OSPEEDR);
 556 # endif
 557         stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN);
 558         ao_spi_index[0] = AO_SPI_CONFIG_NONE;
 559         ao_spi_channel_init(STM_SPI_INDEX(1));
 560 #endif
 561
 562 #if HAS_SPI_2
 563 # if SPI_2_PB10_PB13_PB14
 564         stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_IOPBEN);
 565         stm_ospeedr_set(&stm_gpiob, 13, SPI_2_OSPEEDR);
 566         stm_ospeedr_set(&stm_gpiob, 14, SPI_2_OSPEEDR);
 567         stm_ospeedr_set(&stm_gpiob, 15, SPI_2_OSPEEDR);
 568 # endif
 569         stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN);
 570         ao_spi_index[1] = AO_SPI_CONFIG_NONE;
 571         ao_spi_channel_init(STM_SPI_INDEX(2));
 572 #endif
 573 #if DEBUG
 574         ao_cmd_register(&ao_spi_cmds[0]);
 575 #endif
 576 }