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-rw-r--r--wirish/comm/HardwareSPI.cpp319
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diff --git a/wirish/comm/HardwareSPI.cpp b/wirish/comm/HardwareSPI.cpp
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--- a/wirish/comm/HardwareSPI.cpp
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-/******************************************************************************
- * The MIT License
- *
- * Copyright (c) 2010 Perry Hung.
- *
- * Permission is hereby granted, free of charge, to any person
- * obtaining a copy of this software and associated documentation
- * files (the "Software"), to deal in the Software without
- * restriction, including without limitation the rights to use, copy,
- * modify, merge, publish, distribute, sublicense, and/or sell copies
- * of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be
- * included in all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
- * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
- * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
- *****************************************************************************/
-
-/**
- * @author Marti Bolivar <mbolivar@leaflabs.com>
- * @brief Wirish SPI implementation.
- */
-
-#include "HardwareSPI.h"
-
-#include "timer.h"
-#include "util.h"
-#include "rcc.h"
-
-#include "wirish.h"
-#include "boards.h"
-
-struct spi_pins {
- uint8 nss;
- uint8 sck;
- uint8 miso;
- uint8 mosi;
-};
-
-static const spi_pins* dev_to_spi_pins(spi_dev *dev);
-
-static void enable_device(spi_dev *dev,
- bool as_master,
- SPIFrequency frequency,
- spi_cfg_flag endianness,
- spi_mode mode);
-
-static const spi_pins board_spi_pins[] __FLASH__ = {
- {BOARD_SPI1_NSS_PIN,
- BOARD_SPI1_SCK_PIN,
- BOARD_SPI1_MISO_PIN,
- BOARD_SPI1_MOSI_PIN},
- {BOARD_SPI2_NSS_PIN,
- BOARD_SPI2_SCK_PIN,
- BOARD_SPI2_MISO_PIN,
- BOARD_SPI2_MOSI_PIN},
-#ifdef STM32_HIGH_DENSITY
- {BOARD_SPI3_NSS_PIN,
- BOARD_SPI3_SCK_PIN,
- BOARD_SPI3_MISO_PIN,
- BOARD_SPI3_MOSI_PIN},
-#endif
-};
-
-
-/*
- * Constructor
- */
-
-HardwareSPI::HardwareSPI(uint32 spi_num) {
- switch (spi_num) {
- case 1:
- this->spi_d = SPI1;
- break;
- case 2:
- this->spi_d = SPI2;
- break;
-#ifdef STM32_HIGH_DENSITY
- case 3:
- this->spi_d = SPI3;
- break;
-#endif
- default:
- ASSERT(0);
- }
-}
-
-/*
- * Set up/tear down
- */
-
-void HardwareSPI::begin(SPIFrequency frequency, uint32 bitOrder, uint32 mode) {
- if (mode >= 4) {
- ASSERT(0);
- return;
- }
- spi_cfg_flag end = bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB;
- spi_mode m = (spi_mode)mode;
- enable_device(this->spi_d, true, frequency, end, m);
-}
-
-void HardwareSPI::begin(void) {
- this->begin(SPI_1_125MHZ, MSBFIRST, 0);
-}
-
-void HardwareSPI::beginSlave(uint32 bitOrder, uint32 mode) {
- if (mode >= 4) {
- ASSERT(0);
- return;
- }
- spi_cfg_flag end = bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB;
- spi_mode m = (spi_mode)mode;
- enable_device(this->spi_d, false, (SPIFrequency)0, end, m);
-}
-
-void HardwareSPI::beginSlave(void) {
- this->beginSlave(MSBFIRST, 0);
-}
-
-void HardwareSPI::end(void) {
- if (!spi_is_enabled(this->spi_d)) {
- return;
- }
-
- // Follows RM0008's sequence for disabling a SPI in master/slave
- // full duplex mode.
- while (spi_is_rx_nonempty(this->spi_d)) {
- // FIXME [0.1.0] remove this once you have an interrupt based driver
- volatile uint16 rx __attribute__((unused)) = spi_rx_reg(this->spi_d);
- }
- while (!spi_is_tx_empty(this->spi_d))
- ;
- while (spi_is_busy(this->spi_d))
- ;
- spi_peripheral_disable(this->spi_d);
-}
-
-/*
- * I/O
- */
-
-uint8 HardwareSPI::read(void) {
- uint8 buf[1];
- this->read(buf, 1);
- return buf[0];
-}
-
-void HardwareSPI::read(uint8 *buf, uint32 len) {
- uint32 rxed = 0;
- while (rxed < len) {
- while (!spi_is_rx_nonempty(this->spi_d))
- ;
- buf[rxed++] = (uint8)spi_rx_reg(this->spi_d);
- }
-}
-
-void HardwareSPI::write(uint8 byte) {
- this->write(&byte, 1);
-}
-
-void HardwareSPI::write(const uint8 *data, uint32 length) {
- uint32 txed = 0;
- while (txed < length) {
- txed += spi_tx(this->spi_d, data + txed, length - txed);
- }
-}
-
-uint8 HardwareSPI::transfer(uint8 byte) {
- this->write(byte);
- return this->read();
-}
-
-/*
- * Pin accessors
- */
-
-uint8 HardwareSPI::misoPin(void) {
- return dev_to_spi_pins(this->spi_d)->miso;
-}
-
-uint8 HardwareSPI::mosiPin(void) {
- return dev_to_spi_pins(this->spi_d)->mosi;
-}
-
-uint8 HardwareSPI::sckPin(void) {
- return dev_to_spi_pins(this->spi_d)->sck;
-}
-
-uint8 HardwareSPI::nssPin(void) {
- return dev_to_spi_pins(this->spi_d)->nss;
-}
-
-/*
- * Deprecated functions
- */
-
-uint8 HardwareSPI::send(uint8 data) {
- uint8 buf[] = {data};
- return this->send(buf, 1);
-}
-
-uint8 HardwareSPI::send(uint8 *buf, uint32 len) {
- uint32 txed = 0;
- uint8 ret = 0;
- while (txed < len) {
- this->write(buf[txed++]);
- ret = this->read();
- }
- return ret;
-}
-
-uint8 HardwareSPI::recv(void) {
- return this->read();
-}
-
-/*
- * Auxiliary functions
- */
-
-static void configure_gpios(spi_dev *dev, bool as_master);
-static spi_baud_rate determine_baud_rate(spi_dev *dev, SPIFrequency freq);
-
-static const spi_pins* dev_to_spi_pins(spi_dev *dev) {
- switch (dev->clk_id) {
- case RCC_SPI1: return board_spi_pins;
- case RCC_SPI2: return board_spi_pins + 1;
-#ifdef STM32_HIGH_DENSITY
- case RCC_SPI3: return board_spi_pins + 2;
-#endif
- default: return NULL;
- }
-}
-
-/* Enables the device in master or slave full duplex mode. If you
- * change this code, you must ensure that appropriate changes are made
- * to HardwareSPI::end(). */
-static void enable_device(spi_dev *dev,
- bool as_master,
- SPIFrequency freq,
- spi_cfg_flag endianness,
- spi_mode mode) {
- spi_baud_rate baud = determine_baud_rate(dev, freq);
- uint32 cfg_flags = (endianness | SPI_DFF_8_BIT | SPI_SW_SLAVE |
- (as_master ? SPI_SOFT_SS : 0));
-
- spi_init(dev);
- configure_gpios(dev, as_master);
- if (as_master) {
- spi_master_enable(dev, baud, mode, cfg_flags);
- } else {
- spi_slave_enable(dev, mode, cfg_flags);
- }
-}
-
-static void disable_pwm(const stm32_pin_info *i) {
- if (i->timer_device) {
- timer_set_mode(i->timer_device, i->timer_channel, TIMER_DISABLED);
- }
-}
-
-static void configure_gpios(spi_dev *dev, bool as_master) {
- const spi_pins *pins = dev_to_spi_pins(dev);
-
- if (!pins) {
- return;
- }
-
- const stm32_pin_info *nssi = &PIN_MAP[pins->nss];
- const stm32_pin_info *scki = &PIN_MAP[pins->sck];
- const stm32_pin_info *misoi = &PIN_MAP[pins->miso];
- const stm32_pin_info *mosii = &PIN_MAP[pins->mosi];
-
- disable_pwm(nssi);
- disable_pwm(scki);
- disable_pwm(misoi);
- disable_pwm(mosii);
-
- spi_gpio_cfg(as_master,
- nssi->gpio_device,
- nssi->gpio_bit,
- scki->gpio_device,
- scki->gpio_bit,
- misoi->gpio_bit,
- mosii->gpio_bit);
-}
-
-static const spi_baud_rate baud_rates[MAX_SPI_FREQS] __FLASH__ = {
- SPI_BAUD_PCLK_DIV_2,
- SPI_BAUD_PCLK_DIV_4,
- SPI_BAUD_PCLK_DIV_8,
- SPI_BAUD_PCLK_DIV_16,
- SPI_BAUD_PCLK_DIV_32,
- SPI_BAUD_PCLK_DIV_64,
- SPI_BAUD_PCLK_DIV_128,
- SPI_BAUD_PCLK_DIV_256,
-};
-
-/*
- * Note: This assumes you're on a LeafLabs-style board
- * (CYCLES_PER_MICROSECOND == 72, APB2 at 72MHz, APB1 at 36MHz).
- */
-static spi_baud_rate determine_baud_rate(spi_dev *dev, SPIFrequency freq) {
- if (rcc_dev_clk(dev->clk_id) == RCC_APB2 && freq == SPI_140_625KHZ) {
- /* APB2 peripherals are too fast for 140.625 KHz */
- ASSERT(0);
- return (spi_baud_rate)~0;
- }
- return (rcc_dev_clk(dev->clk_id) == RCC_APB2 ?
- baud_rates[freq + 1] :
- baud_rates[freq]);
-}
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