altos: Mark STM ao_spi_send as taking const pointer

[fw/altos] / src / stm / ao_spi_stm.c

diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c
index 7b4af96443f28af949669e2d1cf18c2a49d2db49..7eaa392418438ea56c9c7c4ae774ef6a52b0bed1 100644 (file)
--- a/src/stm/ao_spi_stm.c
+++ b/src/stm/ao_spi_stm.c
@@ -42,7 +42,7 @@ static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = {
 static uint8_t spi_dev_null;
 
 void
-ao_spi_send(void *block, uint16_t len, uint8_t spi_index)
+ao_spi_send(const void *block, uint16_t len, uint8_t spi_index)
 {
        struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi;
        uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index;
@@ -51,7 +51,7 @@ ao_spi_send(void *block, uint16_t len, uint8_t spi_index)
        /* Set up the transmit DMA to deliver data */
        ao_dma_set_transfer(mosi_dma_index,
                            &stm_spi->dr,
-                           block,
+                           (void *) block,
                            len,
                            (0 << STM_DMA_CCR_MEM2MEM) |
                            (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
@@ -153,6 +153,28 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index)
        ao_dma_done_transfer(miso_dma_index);
 }
 
+void
+ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index)
+{
+       uint8_t         *b = block;
+       struct stm_spi  *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi;
+
+       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 */
+       (void) stm_spi->dr;
+
+       while (len--) {
+               while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)));
+               stm_spi->dr = *b++;
+       }
+}
+
 void
 ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
 {
@@ -160,6 +182,8 @@ ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
        uint8_t mosi_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].mosi_dma_index;
        uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index;
 
+       spi_dev_null = 0xff;
+
        /* Set up transmit DMA to make the SPI hardware actually run */
        ao_dma_set_transfer(mosi_dma_index,
                            &stm_spi->dr,
@@ -354,13 +378,11 @@ ao_spi_enable_index(uint8_t spi_index)
        }
 }
 
-void
-ao_spi_get(uint8_t spi_index, uint32_t speed)
+static void
+ao_spi_config(uint8_t spi_index, uint32_t speed)
 {
        uint8_t         id = AO_SPI_INDEX(spi_index);
        struct stm_spi  *stm_spi = ao_spi_stm_info[id].stm_spi;
-
-       ao_mutex_get(&ao_spi_mutex[id]);
        stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) |                   /* Three wire mode */
                        (0 << STM_SPI_CR1_BIDIOE) |
                        (0 << STM_SPI_CR1_CRCEN) |                      /* CRC disabled */
@@ -376,7 +398,7 @@ ao_spi_get(uint8_t spi_index, uint32_t speed)
                        (0 << STM_SPI_CR1_CPOL) |                       /* Format 0 */
                        (0 << STM_SPI_CR1_CPHA));
        if (spi_index != ao_spi_index[id]) {
-               
+
                /* Disable old config
                 */
                ao_spi_disable_index(ao_spi_index[id]);
@@ -384,13 +406,32 @@ ao_spi_get(uint8_t spi_index, uint32_t speed)
                /* Enable new config
                 */
                ao_spi_enable_index(spi_index);
-               
+
                /* Remember current config
                 */
                ao_spi_index[id] = spi_index;
        }
 }
 
+uint8_t
+ao_spi_try_get(uint8_t spi_index, uint32_t speed, uint8_t task_id)
+{
+       uint8_t         id = AO_SPI_INDEX(spi_index);
+
+       if (!ao_mutex_try(&ao_spi_mutex[id], task_id))
+               return 0;
+       ao_spi_config(spi_index, speed);
+       return 1;
+}
+
+void
+ao_spi_get(uint8_t spi_index, uint32_t speed)
+{
+       uint8_t         id = AO_SPI_INDEX(spi_index);
+       ao_mutex_get(&ao_spi_mutex[id]);
+       ao_spi_config(spi_index, speed);
+}
+
 void
 ao_spi_put(uint8_t spi_index)
 {