diff options
Diffstat (limited to 'wirish/comm')
| -rw-r--r-- | wirish/comm/HardwareSPI.cpp | 319 | ||||
| -rw-r--r-- | wirish/comm/HardwareSPI.h | 223 | ||||
| -rw-r--r-- | wirish/comm/HardwareSerial.cpp | 119 | ||||
| -rw-r--r-- | wirish/comm/HardwareSerial.h | 86 |
4 files changed, 0 insertions, 747 deletions
diff --git a/wirish/comm/HardwareSPI.cpp b/wirish/comm/HardwareSPI.cpp deleted file mode 100644 index 21ae180..0000000 --- a/wirish/comm/HardwareSPI.cpp +++ /dev/null @@ -1,319 +0,0 @@ -/****************************************************************************** - * 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]); -} diff --git a/wirish/comm/HardwareSPI.h b/wirish/comm/HardwareSPI.h deleted file mode 100644 index d138910..0000000 --- a/wirish/comm/HardwareSPI.h +++ /dev/null @@ -1,223 +0,0 @@ -/****************************************************************************** - * 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. - *****************************************************************************/ - -/** - * @file HardwareSPI.h - * @brief High-level SPI interface - * - * This is a "bare essentials" polling driver for now. - */ - -/* TODO [0.1.0] Remove deprecated methods. */ - -#include "libmaple_types.h" -#include "spi.h" - -#include "boards.h" - -#ifndef _HARDWARESPI_H_ -#define _HARDWARESPI_H_ - -/** - * @brief Defines the possible SPI communication speeds. - */ -typedef enum SPIFrequency { - SPI_18MHZ = 0, /**< 18 MHz */ - SPI_9MHZ = 1, /**< 9 MHz */ - SPI_4_5MHZ = 2, /**< 4.5 MHz */ - SPI_2_25MHZ = 3, /**< 2.25 MHz */ - SPI_1_125MHZ = 4, /**< 1.125 MHz */ - SPI_562_500KHZ = 5, /**< 562.500 KHz */ - SPI_281_250KHZ = 6, /**< 281.250 KHz */ - SPI_140_625KHZ = 7, /**< 140.625 KHz */ -} SPIFrequency; - -#define MAX_SPI_FREQS 8 - -#if CYCLES_PER_MICROSECOND != 72 -/* TODO [0.2.0?] something smarter than this */ -#warning "Unexpected clock speed; SPI frequency calculation will be incorrect" -#endif - -/** - * @brief Wirish SPI interface. - * - * This implementation uses software slave management, so the caller - * is responsible for controlling the slave select line. - */ -class HardwareSPI { -public: - /** - * @param spiPortNumber Number of the SPI port to manage. - */ - HardwareSPI(uint32 spiPortNumber); - - /* - * Set up/tear down - */ - - /** - * @brief Turn on a SPI port and set its GPIO pin modes for use as master. - * - * SPI port is enabled in full duplex mode, with software slave management. - * - * @param frequency Communication frequency - * @param bitOrder Either LSBFIRST (little-endian) or MSBFIRST (big-endian) - * @param mode SPI mode to use, one of SPI_MODE_0, SPI_MODE_1, - * SPI_MODE_2, and SPI_MODE_3. - */ - void begin(SPIFrequency frequency, uint32 bitOrder, uint32 mode); - - /** - * @brief Equivalent to begin(SPI_1_125MHZ, MSBFIRST, 0). - */ - void begin(void); - - /** - * @brief Turn on a SPI port and set its GPIO pin modes for use as a slave. - * - * SPI port is enabled in full duplex mode, with software slave management. - * - * @param bitOrder Either LSBFIRST (little-endian) or MSBFIRST(big-endian) - * @param mode SPI mode to use - */ - void beginSlave(uint32 bitOrder, uint32 mode); - - /** - * @brief Equivalent to beginSlave(MSBFIRST, 0). - */ - void beginSlave(void); - - /** - * @brief Disables the SPI port, but leaves its GPIO pin modes unchanged. - */ - void end(void); - - /* - * I/O - */ - - /** - * @brief Return the next unread byte. - * - * If there is no unread byte waiting, this function will block - * until one is received. - */ - uint8 read(void); - - /** - * @brief Read length bytes, storing them into buffer. - * @param buffer Buffer to store received bytes into. - * @param length Number of bytes to store in buffer. This - * function will block until the desired number of - * bytes have been read. - */ - void read(uint8 *buffer, uint32 length); - - /** - * @brief Transmit a byte. - * @param data Byte to transmit. - */ - void write(uint8 data); - - /** - * @brief Transmit multiple bytes. - * @param buffer Bytes to transmit. - * @param length Number of bytes in buffer to transmit. - */ - void write(const uint8 *buffer, uint32 length); - - /** - * @brief Transmit a byte, then return the next unread byte. - * - * This function transmits before receiving. - * - * @param data Byte to transmit. - * @return Next unread byte. - */ - uint8 transfer(uint8 data); - - /* - * Pin accessors - */ - - /** - * @brief Return the number of the MISO (master in, slave out) pin - */ - uint8 misoPin(void); - - /** - * @brief Return the number of the MOSI (master out, slave in) pin - */ - uint8 mosiPin(void); - - /** - * @brief Return the number of the SCK (serial clock) pin - */ - uint8 sckPin(void); - - /** - * @brief Return the number of the NSS (slave select) pin - */ - uint8 nssPin(void); - - /* -- The following methods are deprecated --------------------------- */ - - /** - * @brief Deprecated. - * - * Use HardwareSPI::transfer() instead. - * - * @see HardwareSPI::transfer() - */ - uint8 send(uint8 data); - - /** - * @brief Deprecated. - * - * Use HardwareSPI::write() in combination with - * HardwareSPI::read() (or HardwareSPI::transfer()) instead. - * - * @see HardwareSPI::write() - * @see HardwareSPI::read() - * @see HardwareSPI::transfer() - */ - uint8 send(uint8 *data, uint32 length); - - /** - * @brief Deprecated. - * - * Use HardwareSPI::read() instead. - * - * @see HardwareSPI::read() - */ - uint8 recv(void); -private: - spi_dev *spi_d; -}; - -#endif - diff --git a/wirish/comm/HardwareSerial.cpp b/wirish/comm/HardwareSerial.cpp deleted file mode 100644 index 6ef9222..0000000 --- a/wirish/comm/HardwareSerial.cpp +++ /dev/null @@ -1,119 +0,0 @@ -/****************************************************************************** - * 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. - *****************************************************************************/ - -/** - * @file HardwareSerial.cpp - * @brief Wirish serial port implementation. - */ - -#include "libmaple.h" -#include "gpio.h" -#include "timer.h" - -#include "HardwareSerial.h" -#include "boards.h" - -#define TX1 BOARD_USART1_TX_PIN -#define RX1 BOARD_USART1_RX_PIN -#define TX2 BOARD_USART2_TX_PIN -#define RX2 BOARD_USART2_RX_PIN -#define TX3 BOARD_USART3_TX_PIN -#define RX3 BOARD_USART3_RX_PIN -#if defined STM32_HIGH_DENSITY && !defined(BOARD_maple_RET6) -#define TX4 BOARD_UART4_TX_PIN -#define RX4 BOARD_UART4_RX_PIN -#define TX5 BOARD_UART5_TX_PIN -#define RX5 BOARD_UART5_RX_PIN -#endif - -HardwareSerial Serial1(USART1, TX1, RX1, STM32_PCLK2); -HardwareSerial Serial2(USART2, TX2, RX2, STM32_PCLK1); -HardwareSerial Serial3(USART3, TX3, RX3, STM32_PCLK1); -#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6) -HardwareSerial Serial4(UART4, TX4, RX4, STM32_PCLK1); -HardwareSerial Serial5(UART5, TX5, RX5, STM32_PCLK1); -#endif - -HardwareSerial::HardwareSerial(usart_dev *usart_device, - uint8 tx_pin, - uint8 rx_pin, - uint32 clock_speed) { - this->usart_device = usart_device; - this->clock_speed = clock_speed; - this->tx_pin = tx_pin; - this->rx_pin = rx_pin; -} - -/* - * Set up/tear down - */ - -void HardwareSerial::begin(uint32 baud) { - ASSERT(baud <= usart_device->max_baud); - - if (baud > usart_device->max_baud) { - return; - } - - const stm32_pin_info *txi = &PIN_MAP[tx_pin]; - const stm32_pin_info *rxi = &PIN_MAP[rx_pin]; - - gpio_set_mode(txi->gpio_device, txi->gpio_bit, GPIO_AF_OUTPUT_PP); - gpio_set_mode(rxi->gpio_device, rxi->gpio_bit, GPIO_INPUT_FLOATING); - - if (txi->timer_device != NULL) { - /* Turn off any PWM if there's a conflict on this GPIO bit. */ - timer_set_mode(txi->timer_device, txi->timer_channel, TIMER_DISABLED); - } - - usart_init(usart_device); - usart_set_baud_rate(usart_device, clock_speed, baud); - usart_enable(usart_device); -} - -void HardwareSerial::end(void) { - usart_disable(usart_device); -} - -/* - * I/O - */ - -uint8 HardwareSerial::read(void) { - return usart_getc(usart_device); -} - -uint32 HardwareSerial::available(void) { - return usart_data_available(usart_device); -} - -void HardwareSerial::write(unsigned char ch) { - usart_putc(usart_device, ch); -} - -void HardwareSerial::flush(void) { - usart_reset_rx(usart_device); -} diff --git a/wirish/comm/HardwareSerial.h b/wirish/comm/HardwareSerial.h deleted file mode 100644 index f69b67a..0000000 --- a/wirish/comm/HardwareSerial.h +++ /dev/null @@ -1,86 +0,0 @@ -/****************************************************************************** - * 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. - *****************************************************************************/ - -/** - * @file HardwareSerial.h - * @brief Wirish serial port interface. - */ - -#ifndef _HARDWARESERIAL_H_ -#define _HARDWARESERIAL_H_ - -#include "libmaple_types.h" -#include "usart.h" - -#include "Print.h" - -/* - * IMPORTANT: - * - * This class documented "by hand" (i.e., not using Doxygen) in the - * leaflabs-docs/ repository. - * - * If you alter the public HardwareSerial interface, you MUST update - * the documentation accordingly. - */ - -class HardwareSerial : public Print { -public: - HardwareSerial(usart_dev *usart_device, - uint8 tx_pin, - uint8 rx_pin, - uint32 clock_speed); - - /* Set up/tear down */ - void begin(uint32 baud); - void end(void); - - /* I/O */ - uint32 available(void); - uint8 read(void); - void flush(void); - virtual void write(unsigned char); - using Print::write; - - /* Pin accessors */ - int txPin(void) { return this->tx_pin; } - int rxPin(void) { return this->rx_pin; } -private: - usart_dev *usart_device; - uint8 tx_pin; - uint8 rx_pin; - uint32 clock_speed; -}; - -extern HardwareSerial Serial1; -extern HardwareSerial Serial2; -extern HardwareSerial Serial3; -#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6) -extern HardwareSerial Serial4; -extern HardwareSerial Serial5; -#endif - -#endif |