altos/arm: Align data so that gcc 5.4 doesn't do byte-accesses. Add -Wcast-align

[fw/altos] / src / stm / ao_arch_funcs.h

diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 8393898de33d47b0272574eb3e8e591048ad41a9..a9d0fa34f02fed0ab58159eb6f7293f059a00a16 100644 (file)
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -82,6 +83,12 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index);
 void
 ao_spi_send_sync(const void *block, uint16_t len, uint8_t spi_index);
 
+void
+ao_spi_start_bytes(uint8_t spi_index);
+
+void
+ao_spi_stop_bytes(uint8_t spi_index);
+
 static inline void
 ao_spi_send_byte(uint8_t byte, uint8_t spi_index)
 {
@@ -96,25 +103,41 @@ ao_spi_send_byte(uint8_t byte, uint8_t spi_index)
                break;
        }
 
-       stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
-                       (0 << STM_SPI_CR2_RXNEIE) |
-                       (0 << STM_SPI_CR2_ERRIE) |
-                       (0 << STM_SPI_CR2_SSOE) |
-                       (0 << STM_SPI_CR2_TXDMAEN) |
-                       (0 << STM_SPI_CR2_RXDMAEN));
-
-       /* Clear RXNE */
+       while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)))
+               ;
+       stm_spi->dr = byte;
+       while (!(stm_spi->sr & (1 << STM_SPI_SR_RXNE)))
+               ;
        (void) stm_spi->dr;
+}
 
-       while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)));
-       stm_spi->dr = byte;
+static inline uint8_t
+ao_spi_recv_byte(uint8_t spi_index)
+{
+       struct stm_spi  *stm_spi;
+
+       switch (AO_SPI_INDEX(spi_index)) {
+       case 0:
+               stm_spi = &stm_spi1;
+               break;
+       case 1:
+               stm_spi = &stm_spi2;
+               break;
+       }
+
+       while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)))
+               ;
+       stm_spi->dr = 0xff;
+       while (!(stm_spi->sr & (1 << STM_SPI_SR_RXNE)))
+               ;
+       return stm_spi->dr;
 }
 
 void
 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index);
 
 void
-ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index);
+ao_spi_duplex(const void *out, void *in, uint16_t len, uint8_t spi_index);
 
 extern uint16_t        ao_spi_speed[STM_NUM_SPI];
 
@@ -352,7 +375,7 @@ ao_arch_irq_check(void) {
 static inline void
 ao_arch_init_stack(struct ao_task *task, void *start)
 {
-       uint32_t        *sp = (uint32_t *) (task->stack + AO_STACK_SIZE);
+       uint32_t        *sp = (uint32_t *) ((void*) task->stack + AO_STACK_SIZE);
        uint32_t        a = (uint32_t) start;
        int             i;
 
@@ -390,16 +413,11 @@ static inline void ao_arch_save_stack(void) {
        uint32_t        *sp;
        asm("mov %0,sp" : "=&r" (sp) );
        ao_cur_task->sp = (sp);
-       if ((uint8_t *) sp < &ao_cur_task->stack[0])
-               ao_panic (AO_PANIC_STACK);
 }
 
 static inline void ao_arch_restore_stack(void) {
-       uint32_t        sp;
-       sp = (uint32_t) ao_cur_task->sp;
-
        /* Switch stacks */
-       asm("mov sp, %0" : : "r" (sp) );
+       asm("mov sp, %0" : : "r" (ao_cur_task->sp) );
 
        /* Restore PRIMASK */
        asm("pop {r0}");