static uint8_t spi_dev_null;
-
-
#define SPI_CR2 ((0 << STM_SPI_CR2_LDMA_TX) | \
(0 << STM_SPI_CR2_LDMA_RX) | \
(1 << STM_SPI_CR2_FRXTH) | \
(0 << STM_SPI_CR2_TXDMAEN) | \
(0 << STM_SPI_CR2_RXDMAEN))
+#if DEBUG
+static struct {
+ uint8_t task;
+ uint8_t which;
+ AO_TICK_TYPE tick;
+ uint16_t len;
+} spi_tasks[64];
+static uint8_t spi_task_index;
+
+static void
+validate_spi(struct stm_spi *stm_spi, int which, uint16_t len)
+{
+ uint32_t sr = stm_spi->sr;
+
+ if (stm_spi != &stm_spi2)
+ return;
+ spi_tasks[spi_task_index].task = ao_cur_task ? ao_cur_task->task_id : 0;
+ spi_tasks[spi_task_index].which = which;
+ spi_tasks[spi_task_index].tick = ao_time();
+ spi_tasks[spi_task_index].len = len;
+ spi_task_index = (spi_task_index + 1) & (63);
+ if (sr & (1 << STM_SPI_SR_FRE))
+ ao_panic(0x40 | 1);
+ if (sr & (1 << STM_SPI_SR_BSY))
+ ao_panic(0x40 | 2);
+ if (sr & (1 << STM_SPI_SR_OVR))
+ ao_panic(0x40 | 3);
+ if (sr & (1 << STM_SPI_SR_MODF))
+ ao_panic(0x40 | 4);
+ if (sr & (1 << STM_SPI_SR_UDR))
+ ao_panic(0x40 | 5);
+ if ((sr & (1 << STM_SPI_SR_TXE)) == 0)
+ ao_panic(0x40 | 6);
+ if (sr & (1 << STM_SPI_SR_RXNE))
+ ao_panic(0x40 | 7);
+ if (which != 5 && which != 6 && which != 13)
+ if (ao_cur_task->task_id != ao_spi_mutex[1])
+ ao_panic(0x40 | 8);
+}
+#else
+#define validate_spi(stm_spi, which, len) do { (void) (which); (void) (len); } while (0)
+#endif
+
+static void
+ao_spi_run(uint8_t id, uint8_t which, uint16_t len)
+{
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
+
+ validate_spi(stm_spi, which, len);
+
+ stm_spi->cr2 = SPI_CR2_DMA;
+
+ ao_dma_start(miso_dma_index);
+ ao_dma_start(mosi_dma_index);
+
+ ao_arch_critical(
+ while (!ao_dma_done[miso_dma_index])
+ ao_sleep(&ao_dma_done[miso_dma_index]);
+ );
+
+ while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0);
+ while (stm_spi->sr & (1 << STM_SPI_SR_BSY));
+
+ validate_spi(stm_spi, which+1, len);
+
+ stm_spi->cr2 = 0;
+
+ ao_dma_done_transfer(mosi_dma_index);
+ ao_dma_done_transfer(miso_dma_index);
+}
+
void
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;
- uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index;
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
/* Set up the transmit DMA to deliver data */
ao_dma_set_transfer(mosi_dma_index,
(STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
(0 << STM_DMA_CCR_TCIE));
- /* Clear RXNE */
- (void) stm_spi->dr;
-
/* Set up the receive DMA -- when this is done, we know the SPI unit
* is idle. Without this, we'd have to poll waiting for the BSY bit to
* be cleared
(STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
(1 << STM_DMA_CCR_TCIE));
- stm_spi->cr2 = SPI_CR2_DMA;
-
- ao_dma_start(miso_dma_index);
- ao_dma_start(mosi_dma_index);
- ao_arch_critical(
- while (!ao_dma_done[miso_dma_index])
- ao_sleep(&ao_dma_done[miso_dma_index]);
- );
- ao_dma_done_transfer(mosi_dma_index);
- ao_dma_done_transfer(miso_dma_index);
+ ao_spi_run(id, 1, len);
}
void
ao_spi_send_fixed(uint8_t value, 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;
- uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index;
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
/* Set up the transmit DMA to deliver data */
ao_dma_set_transfer(mosi_dma_index,
(STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
(0 << STM_DMA_CCR_TCIE));
- /* Clear RXNE */
- (void) stm_spi->dr;
-
/* Set up the receive DMA -- when this is done, we know the SPI unit
* is idle. Without this, we'd have to poll waiting for the BSY bit to
* be cleared
(STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
(1 << STM_DMA_CCR_TCIE));
- stm_spi->cr2 = SPI_CR2_DMA;
- ao_dma_start(miso_dma_index);
- ao_dma_start(mosi_dma_index);
- ao_arch_critical(
- while (!ao_dma_done[miso_dma_index])
- ao_sleep(&ao_dma_done[miso_dma_index]);
- );
- ao_dma_done_transfer(mosi_dma_index);
- ao_dma_done_transfer(miso_dma_index);
+ ao_spi_run(id, 3, len);
}
void
-ao_spi_send_sync(void *block, uint16_t len, uint8_t spi_index)
+ao_spi_start_bytes(uint8_t spi_index)
{
- uint8_t *b = block;
- struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi;
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
stm_spi->cr2 = SPI_CR2_SYNC;
+ validate_spi(stm_spi, 5, 0xffff);
+}
- /* Clear RXNE */
+void
+ao_spi_stop_bytes(uint8_t spi_index)
+{
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+
+ while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0)
+ ;
+ while (stm_spi->sr & (1 << STM_SPI_SR_BSY))
+ ;
+ /* Clear the OVR flag */
(void) stm_spi->dr;
+ (void) stm_spi->sr;
+ validate_spi(stm_spi, 6, 0xffff);
+ stm_spi->cr2 = 0;
+}
+void
+ao_spi_send_sync(const void *block, uint16_t len, uint8_t spi_index)
+{
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ const uint8_t *b = block;
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+
+ stm_spi->cr2 = SPI_CR2_SYNC;
+
+ validate_spi(stm_spi, 7, len);
while (len--) {
while (!(stm_spi->sr & (1 << STM_SPI_SR_TXE)));
stm_spi->dr = *b++;
}
+ while ((stm_spi->sr & (1 << STM_SPI_SR_TXE)) == 0)
+ ;
+ while (stm_spi->sr & (1 << STM_SPI_SR_BSY))
+ ;
+ /* Clear the OVR flag */
+ (void) stm_spi->dr;
+ (void) stm_spi->sr;
+ validate_spi(stm_spi, 8, len);
}
void
ao_spi_recv(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;
- uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index;
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
spi_dev_null = 0xff;
(STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
(0 << STM_DMA_CCR_TCIE));
- /* Clear RXNE */
- (void) stm_spi->dr;
-
/* Set up the receive DMA to capture data */
ao_dma_set_transfer(miso_dma_index,
&stm_spi->dr,
(STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
(1 << STM_DMA_CCR_TCIE));
- stm_spi->cr2 = SPI_CR2_DMA;
- ao_dma_start(miso_dma_index);
- ao_dma_start(mosi_dma_index);
-
- /* Wait until the SPI unit is done */
- ao_arch_critical(
- while (!ao_dma_done[miso_dma_index])
- ao_sleep(&ao_dma_done[miso_dma_index]);
- );
-
- ao_dma_done_transfer(mosi_dma_index);
- ao_dma_done_transfer(miso_dma_index);
+ ao_spi_run(id, 9, len);
}
void
ao_spi_duplex(void *out, void *in, 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;
- uint8_t miso_dma_index = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].miso_dma_index;
+ uint8_t id = AO_SPI_INDEX(spi_index);
+ struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ uint8_t mosi_dma_index = ao_spi_stm_info[id].mosi_dma_index;
+ uint8_t miso_dma_index = ao_spi_stm_info[id].miso_dma_index;
/* Set up transmit DMA to send data */
ao_dma_set_transfer(mosi_dma_index,
(STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR) |
(0 << STM_DMA_CCR_TCIE));
- /* Clear RXNE */
- (void) stm_spi->dr;
-
/* Set up the receive DMA to capture data */
ao_dma_set_transfer(miso_dma_index,
&stm_spi->dr,
(STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR) |
(1 << STM_DMA_CCR_TCIE));
- stm_spi->cr2 = SPI_CR2_DMA;
- ao_dma_start(miso_dma_index);
- ao_dma_start(mosi_dma_index);
-
- /* Wait until the SPI unit is done */
- ao_arch_critical(
- while (!ao_dma_done[miso_dma_index])
- ao_sleep(&ao_dma_done[miso_dma_index]);
- );
-
- ao_dma_done_transfer(mosi_dma_index);
- ao_dma_done_transfer(miso_dma_index);
+ ao_spi_run(id, 11, len);
}
static void
{
/* Disable current config
*/
- switch (AO_SPI_INDEX(spi_index)) {
- case STM_SPI_INDEX(1):
- switch (spi_index) {
- case AO_SPI_1_PA5_PA6_PA7:
- stm_gpio_set(&stm_gpioa, 5, 1);
- stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
- stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
- stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
- break;
- case AO_SPI_1_PB3_PB4_PB5:
- stm_gpio_set(&stm_gpiob, 3, 1);
- stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
- stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
- stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
- break;
- }
+ switch (spi_index) {
+ case AO_SPI_1_PA5_PA6_PA7:
+ stm_gpio_set(&stm_gpioa, 5, 1);
+ stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
break;
- case STM_SPI_INDEX(2):
- switch (spi_index) {
- case AO_SPI_2_PB13_PB14_PB15:
- stm_gpio_set(&stm_gpiob, 13, 1);
- stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
- stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
- stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
- break;
- }
+ case AO_SPI_1_PB3_PB4_PB5:
+ stm_gpio_set(&stm_gpiob, 3, 1);
+ stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
+ break;
+ case AO_SPI_2_PB13_PB14_PB15:
+ stm_gpio_set(&stm_gpiob, 13, 1);
+ stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
+ stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
+ stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
break;
}
}
static void
ao_spi_enable_index(uint8_t spi_index)
{
- switch (AO_SPI_INDEX(spi_index)) {
- case STM_SPI_INDEX(1):
- switch (spi_index) {
- case AO_SPI_1_PA5_PA6_PA7:
- stm_afr_set(&stm_gpioa, 5, STM_AFR_AF0);
- stm_afr_set(&stm_gpioa, 6, STM_AFR_AF0);
- stm_afr_set(&stm_gpioa, 7, STM_AFR_AF0);
- break;
- case AO_SPI_1_PB3_PB4_PB5:
- stm_afr_set(&stm_gpiob, 3, STM_AFR_AF0);
- stm_afr_set(&stm_gpiob, 4, STM_AFR_AF0);
- stm_afr_set(&stm_gpiob, 5, STM_AFR_AF0);
- break;
- }
+ switch (spi_index) {
+ case AO_SPI_1_PA5_PA6_PA7:
+ stm_afr_set(&stm_gpioa, 5, STM_AFR_AF0);
+ stm_afr_set(&stm_gpioa, 6, STM_AFR_AF0);
+ stm_afr_set(&stm_gpioa, 7, STM_AFR_AF0);
break;
- case STM_SPI_INDEX(2):
- switch (spi_index) {
- case AO_SPI_2_PB13_PB14_PB15:
- stm_afr_set(&stm_gpiob, 13, STM_AFR_AF0);
- stm_afr_set(&stm_gpiob, 14, STM_AFR_AF0);
- stm_afr_set(&stm_gpiob, 15, STM_AFR_AF0);
- break;
- }
+ case AO_SPI_1_PB3_PB4_PB5:
+ stm_afr_set(&stm_gpiob, 3, STM_AFR_AF0);
+ stm_afr_set(&stm_gpiob, 4, STM_AFR_AF0);
+ stm_afr_set(&stm_gpiob, 5, STM_AFR_AF0);
+ break;
+ case AO_SPI_2_PB13_PB14_PB15:
+ stm_afr_set(&stm_gpiob, 13, STM_AFR_AF0);
+ stm_afr_set(&stm_gpiob, 14, STM_AFR_AF0);
+ stm_afr_set(&stm_gpiob, 15, STM_AFR_AF0);
break;
}
}
uint8_t id = AO_SPI_INDEX(spi_index);
struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi;
+ if (spi_index != ao_spi_index[id]) {
+
+ /* Disable old config
+ */
+ ao_spi_disable_index(ao_spi_index[id]);
+
+ /* Enable new config
+ */
+ ao_spi_enable_index(spi_index);
+
+ /* Remember current config
+ */
+ ao_spi_index[id] = spi_index;
+ }
stm_spi->cr2 = SPI_CR2;
stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) | /* Three wire mode */
(0 << STM_SPI_CR1_BIDIOE) |
(1 << STM_SPI_CR1_MSTR) |
(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]);
-
- /* Enable new config
- */
- ao_spi_enable_index(spi_index);
-
- /* Remember current config
- */
- ao_spi_index[id] = spi_index;
- }
}
uint8_t
ao_spi_disable_index(spi_index);
stm_spi->cr1 = 0;
- (void) stm_spi->sr;
stm_spi->cr2 = SPI_CR2_SYNC;
+
+ /* Clear any pending data and error flags */
+ (void) stm_spi->dr;
+ (void) stm_spi->sr;
}
+#if DEBUG
+void
+ao_spi_dump_cmd(void)
+{
+ int s;
+
+ for (s = 0; s < 64; s++) {
+ int i = (spi_task_index + s) & 63;
+ if (spi_tasks[i].which) {
+ int t;
+ const char *name = "(none)";
+ for (t = 0; t < ao_num_tasks; t++)
+ if (ao_tasks[t]->task_id == spi_tasks[i].task) {
+ name = ao_tasks[t]->name;
+ break;
+ }
+ printf("%2d: %5d task %2d which %2d len %5d %s\n",
+ s,
+ spi_tasks[i].tick,
+ spi_tasks[i].task,
+ spi_tasks[i].which,
+ spi_tasks[i].len,
+ name);
+ }
+ }
+ for (s = 0; s < STM_NUM_SPI; s++) {
+ struct stm_spi *spi = ao_spi_stm_info[s].stm_spi;
+
+ printf("%1d: mutex %2d index %3d miso dma %3d mosi dma %3d",
+ s, ao_spi_mutex[s], ao_spi_index[s],
+ ao_spi_stm_info[s].miso_dma_index,
+ ao_spi_stm_info[s].mosi_dma_index);
+ printf(" cr1 %04x cr2 %02x sr %03x\n",
+ spi->cr1, spi->cr2, spi->sr);
+ }
+
+}
+
+static const struct ao_cmds ao_spi_cmds[] = {
+ { ao_spi_dump_cmd, "S\0Dump SPI status" },
+ { 0, NULL }
+};
+#endif
+
void
ao_spi_init(void)
{
ao_spi_index[1] = AO_SPI_CONFIG_NONE;
ao_spi_channel_init(STM_SPI_INDEX(2));
#endif
+#if DEBUG
+ ao_cmd_register(&ao_spi_cmds[0]);
+#endif
}
projects / fw / altos / blobdiff