git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@1256 35acf78f-673a-0410-8e92-d51de3d6d3f4

os/io/platforms/STM32/spi_lld.c

@@ -47,24 +47,116 @@ static uint16_t dummytx;
 /* Low Level Driver local functions.                                         */
 /*===========================================================================*/
 
+static void spi_stop(SPIDriver *spip, msg_t msg) {
+
+  /* Stops RX and TX DMA channels.*/
+  spip->spd_dmarx->CCR = 0;
+  spip->spd_dmatx->CCR = 0;
+
+  /* Stops SPI operations.*/
+  spip->spd_spi->CR1 &= ~SPI_CR1_SPE;
+
+  chSchReadyI(spip->spd_thread)->p_msg = msg;
+}
+
+static void dma_start(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
+  uint32_t ccr;
+
+  /* Common DMA setup.*/
+  ccr = spip->spd_dmaprio;
+  if ((spip->spd_config->spc_cr1 & SPI_CR1_DFF) != 0)
+    ccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0; /* 16 bits transfer.*/
+
+  /* RX DMA setup.*/
+  spip->spd_dmarx->CMAR = (uint32_t)rxbuf;
+  spip->spd_dmarx->CNDTR = (uint32_t)n;
+  spip->spd_dmarx->CCR |= ccr;
+
+  /* TX DMA setup.*/
+  spip->spd_dmatx->CMAR = (uint32_t)txbuf;
+  spip->spd_dmatx->CNDTR = (uint32_t)n;
+  spip->spd_dmatx->CCR |= ccr;
+}
+
+static msg_t spi_start_wait(SPIDriver *spip) {
+  msg_t msg;
+
+  chSysLock();
+  spip->spd_spi->CR1 |= SPI_CR1_SPE;    /* SPI enable.*/
+  spip->spd_thread = currp;
+  chSchGoSleepS(PRSUSPENDED);           /* Wait for completion event.*/
+  spip->spd_thread = NULL;
+  msg = currp->p_rdymsg;
+  chSysUnlock();
+  return msg;
+}
+
 /*===========================================================================*/
 /* Low Level Driver interrupt handlers.                                      */
 /*===========================================================================*/
 
 #if USE_STM32_SPI1 || defined(__DOXYGEN__)
+/**
+ * @brief SPI1 RX DMA interrupt handler (channel 2).
+ */
 CH_IRQ_HANDLER(Vector70) {
 
   CH_IRQ_PROLOGUE();
 
+  if ((DMA1->ISR & DMA_ISR_TCIF2) != 0)
+    spi_stop(&SPID1, RDY_OK);
+  else
+    spi_stop(&SPID1, RDY_RESET);
+  DMA1->IFCR |= DMA_IFCR_CGIF2  | DMA_IFCR_CTCIF2 |
+                DMA_IFCR_CHTIF2 | DMA_IFCR_CTEIF2;
+
+  CH_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief SPI1 TX DMA interrupt handler (channel 3).
+ */
+CH_IRQ_HANDLER(Vector74) {
+
+  CH_IRQ_PROLOGUE();
+
+  spi_stop(&SPID1, RDY_RESET);
+  DMA1->IFCR |= DMA_IFCR_CGIF3  | DMA_IFCR_CTCIF3 |
+                DMA_IFCR_CHTIF3 | DMA_IFCR_CTEIF3;
+
   CH_IRQ_EPILOGUE();
 }
 #endif
 
 #if USE_STM32_SPI2 || defined(__DOXYGEN__)
+/**
+ * @brief SPI2 RX DMA interrupt handler (channel 4).
+ */
 CH_IRQ_HANDLER(Vector78) {
 
   CH_IRQ_PROLOGUE();
 
+  if ((DMA1->ISR & DMA_ISR_TCIF2) != 0)
+    spi_stop(&SPID2, RDY_OK);
+  else
+    spi_stop(&SPID2, RDY_RESET);
+  DMA2->IFCR |= DMA_IFCR_CGIF4  | DMA_IFCR_CTCIF4 |
+                DMA_IFCR_CHTIF4 | DMA_IFCR_CTEIF4;
+
+  CH_IRQ_EPILOGUE();
+}
+
+/**
+ * @brief SPI2 TX DMA interrupt handler (channel 5).
+ */
+CH_IRQ_HANDLER(Vector7C) {
+
+  CH_IRQ_PROLOGUE();
+
+  spi_stop(&SPID2, RDY_RESET);
+  DMA2->IFCR |= DMA_IFCR_CGIF5  | DMA_IFCR_CTCIF5 |
+                DMA_IFCR_CHTIF5 | DMA_IFCR_CTEIF5;
+
   CH_IRQ_EPILOGUE();
 }
 #endif
@@ -78,10 +170,11 @@ CH_IRQ_HANDLER(Vector78) {
  */
 void spi_lld_init(void) {
 
-  dummyrx = dummytx = 0xFFFF;
+  dummytx = 0xFFFF;
 
 #if USE_STM32_SPI1
   spiObjectInit(&SPID1);
+  SPID1.spd_thread  = NULL;
   SPID1.spd_spi     = SPI1;
   SPID1.spd_dmarx   = DMA1_Channel2;
   SPID1.spd_dmatx   = DMA1_Channel3;
@@ -92,6 +185,7 @@ void spi_lld_init(void) {
 
 #if USE_STM32_SPI2
   spiObjectInit(&SPID2);
+  SPID2.spd_thread  = NULL;
   SPID2.spd_spi     = SPI2;
   SPID2.spd_dmarx   = DMA1_Channel4;
   SPID2.spd_dmatx   = DMA1_Channel5;
@@ -115,6 +209,20 @@ void spi_lld_setup(SPIDriver *spip) {
   /* DMA setup.*/
   spip->spd_dmarx->CPAR  = (uint32_t)&spip->spd_spi->DR;
   spip->spd_dmatx->CPAR  = (uint32_t)&spip->spd_spi->DR;
+
+  /*
+   * If specified in the configuration then emits a pulses train on
+   * the SPI clock line without asserting any slave.
+   */
+  if (spip->spd_config->spc_initcnt > 0) {
+    spip->spd_dmarx->CCR = DMA_CCR1_TCIE |
+                           DMA_CCR1_TEIE | DMA_CCR1_EN;
+    spip->spd_dmatx->CCR = DMA_CCR1_DIR  |
+                           DMA_CCR1_TEIE | DMA_CCR1_EN;
+    dma_start(spip, (size_t)spip->spd_config->spc_initcnt,
+              &dummyrx, &dummytx);
+    (void) spi_start_wait(spip);
+  }
 }
 
 /**
@@ -143,48 +251,70 @@ void spi_lld_unselect(SPIDriver *spip) {
  * @details This function performs a simultaneous transmit/receive operation.
  *
  * @param[in] spip pointer to the @p SPIDriver object
- * @param n number of words to be exchanged
+ * @param n number of words to exchange
- * @param rxbuf the pointer to the receive buffer, if @p NULL is specified then
+ * @param rxbuf the pointer to the receive buffer
- *              the input data is discarded.
+ * @param txbuf the pointer to the transmit buffer
- *              Note that the buffer is organized as an uint8_t array for
+ * @return The operation status is returned.
- *              data sizes below or equal to 8 bits else it is organized as
+ * @retval RDY_OK operation complete.
- *              an uint16_t array.
+ * @retval RDY_RESET hardware failure.
- * @param txbuf the pointer to the transmit buffer, if @p NULL is specified all
+ *
- *              ones are transmitted.
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
- *              Note that the buffer is organized as an uint8_t array for
+ *       equal to 8 bits else it is organized as uint16_t arrays.
- *              data sizes below or equal to 8 bits else it is organized as
- *              an uint16_t array.
  */
-void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
+msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
-  uint32_t baseccr, ccr;
 
-  /* Common DMA setup.*/
+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE | DMA_CCR1_MINC |
-  baseccr = spip->spd_dmaprio;
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
-  if ((spip->spd_config->spc_cr1 & SPI_CR1_DFF) != 0)
+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  | DMA_CCR1_MINC |
-    baseccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0;    /* 16 bits transfer.*/
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
+  dma_start(spip, n, rxbuf, txbuf);
+  return spi_start_wait(spip);
+}
 
-  /* RX DMA setup.*/
+/**
-  ccr = baseccr | DMA_CCR1_TCIE | DMA_CCR1_TEIE | DMA_CCR1_EN;
+ * @brief Sends data ever the SPI bus.
-  if (rxbuf == NULL)
+ *
-    rxbuf = &dummyrx;
+ * @param[in] spip pointer to the @p SPIDriver object
-  else
+ * @param n number of words to send
-    ccr |= DMA_CCR1_MINC;
+ * @param txbuf the pointer to the transmit buffer
-  spip->spd_dmarx->CMAR = (uint32_t)rxbuf;
+ * @return The operation status is returned.
-  spip->spd_dmarx->CNDTR = (uint32_t)n;
+ * @retval RDY_OK operation complete.
-  spip->spd_dmarx->CCR = ccr;
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spi_lld_send(SPIDriver *spip, size_t n, void *txbuf) {
 
-  /* TX DMA setup.*/
+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE |
-  ccr = baseccr | DMA_CCR1_DIR | DMA_CCR1_TEIE | DMA_CCR1_EN;
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
-  if (txbuf == NULL)
+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  | DMA_CCR1_MINC |
-    txbuf = &dummytx;
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
-  else
+  dma_start(spip, n, &dummyrx, txbuf);
-    ccr |= DMA_CCR1_PINC;
+  return spi_start_wait(spip);
-  spip->spd_dmatx->CMAR = (uint32_t)txbuf;
+}
-  spip->spd_dmatx->CNDTR = (uint32_t)n;
-  spip->spd_dmatx->CCR = ccr;
 
-  /* SPI enable.*/
+/**
-  spip->spd_spi->CR1 != SPI_CR1_SPE;
+ * @brief Receives data from the SPI bus.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param n number of words to receive
+ * @param rxbuf the pointer to the receive buffer
+ * @return The operation status is returned.
+ * @retval RDY_OK operation complete.
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
+
+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE | DMA_CCR1_MINC |
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  |
+                         DMA_CCR1_TEIE | DMA_CCR1_EN;
+  dma_start(spip, n, rxbuf, &dummytx);
+  return spi_start_wait(spip);
 }
 
 /** @} */

os/io/platforms/STM32/spi_lld.h

@@ -58,7 +58,7 @@
 #endif
 
 /**
- * @brief SPI1 DMA priority (0..3).
+ * @brief SPI1 DMA priority (0..3|lowest..highest).
  * @note The priority level is used for both the TX and RX DMA channels but
  *       because of the channels ordering the RX channel has always priority
  *       over the TX channel.
@@ -68,7 +68,7 @@
 #endif
 
 /**
- * @brief SPI2 DMA priority (0..3).
+ * @brief SPI2 DMA priority (0..3|lowest..highest).
  * @note The priority level is used for both the TX and RX DMA channels but
  *       because of the channels ordering the RX channel has always priority
  *       over the TX channel.
@@ -97,7 +97,7 @@ typedef struct {
   /**
    * @brief Clock pulses to be generated after initialization.
    */
-  cnt_t                 spc_clkpulses;
+  cnt_t                 spc_initcnt;
   /* End of the mandatory fields.*/
   /**
    * @brief The chip select line port.
@@ -136,6 +136,10 @@ typedef struct {
    */
   const SPIConfig       *spd_config;
   /* End of the mandatory fields.*/
+  /**
+   * @brief Thread waiting for I/O completion.
+   */
+  Thread                *spd_thread;
   /**
    * @brief Pointer to the SPIx registers block.
    */
@@ -174,7 +178,9 @@ extern "C" {
   void spi_lld_setup(SPIDriver *spip);
   void spi_lld_select(SPIDriver *spip);
   void spi_lld_unselect(SPIDriver *spip);
-  void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spi_lld_send(SPIDriver *spip, size_t n, void *txbuf);
+  msg_t spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
 #ifdef __cplusplus
 }
 #endif

os/io/spi.c

@@ -59,6 +59,7 @@ void spiObjectInit(SPIDriver *spip) {
  */
 void spiSetup(SPIDriver *spip, const SPIConfig *config) {
 
+  chDbgCheck((spip != NULL) && (config != NULL), "spiSetup");
   chDbgAssert(spip->spd_state == SPI_IDLE,
               "spiSetup(), #1",
               "not idle");
@@ -74,6 +75,8 @@ void spiSetup(SPIDriver *spip, const SPIConfig *config) {
  */
 void spiSelect(SPIDriver *spip) {
 
+  chDbgCheck(spip != NULL, "spiSelect");
+
   chSysLock();
 
   chDbgAssert(spip->spd_state == SPI_IDLE,
@@ -93,6 +96,8 @@ void spiSelect(SPIDriver *spip) {
  */
 void spiUnselect(SPIDriver *spip) {
 
+  chDbgCheck(spip != NULL, "spiUnselect");
+
   chSysLock();
 
   chDbgAssert(spip->spd_state == SPI_ACTIVE,
@@ -121,13 +126,63 @@ void spiUnselect(SPIDriver *spip) {
  *              data sizes below or equal to 8 bits else it is organized as
  *              an uint16_t array.
  */
-void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
+msg_t spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
 
+  chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL) && (txbuf != NULL),
+             "spiExchange");
   chDbgAssert(spip->spd_state == SPI_ACTIVE,
               "spiExchange(), #1",
               "not active");
 
-  spi_lld_exchange(spip, n, rxbuf, txbuf);
+  return spi_lld_exchange(spip, n, rxbuf, txbuf);
+}
+
+/**
+ * @brief Sends data ever the SPI bus.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param n number of words to send
+ * @param txbuf the pointer to the transmit buffer
+ * @return The operation status is returned.
+ * @retval RDY_OK operation complete.
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spiSend(SPIDriver *spip, size_t n, void *txbuf) {
+
+  chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL),
+             "spiSend");
+  chDbgAssert(spip->spd_state == SPI_ACTIVE,
+              "spiSend(), #1",
+              "not active");
+
+  return spi_lld_send(spip, n, txbuf);
+}
+
+/**
+ * @brief Receives data from the SPI bus.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param n number of words to receive
+ * @param rxbuf the pointer to the receive buffer
+ * @return The operation status is returned.
+ * @retval RDY_OK operation complete.
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
+
+  chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
+             "spiReceive");
+  chDbgAssert(spip->spd_state == SPI_ACTIVE,
+              "spiReceive(), #1",
+              "not active");
+
+  return spi_lld_receive(spip, n, rxbuf);
 }
 
 #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
@@ -143,6 +198,8 @@ void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
  */
 void spiAcquireBus(SPIDriver *spip) {
 
+  chDbgCheck(spip != NULL, "spiAcquireBus");
+
 #if CH_USE_MUTEXES
   chMtxLock(&spip->spd_mutex);
 #elif CH_USE_SEMAPHORES
@@ -160,6 +217,8 @@ void spiAcquireBus(SPIDriver *spip) {
  */
 void spiReleaseBus(SPIDriver *spip) {
 
+  chDbgCheck(spip != NULL, "spiReleaseBus");
+
 #if CH_USE_MUTEXES
   (void)spip;
   chMtxUnlock();

os/io/spi.h

@@ -48,7 +48,9 @@ extern "C" {
   void spiSetup(SPIDriver *spip, const SPIConfig *config);
   void spiSelect(SPIDriver *spip);
   void spiUnselect(SPIDriver *spip);
-  void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spiSend(SPIDriver *spip, size_t n, void *txbuf);
+  msg_t spiReceive(SPIDriver *spip, size_t n, void *rxbuf);
 #if SPI_USE_MUTUAL_EXCLUSION
   void spiAcquireBus(SPIDriver *spip);
   void spiReleaseBus(SPIDriver *spip);

os/io/templates/spi_lld.c

@@ -79,19 +79,51 @@ void spi_lld_unselect(SPIDriver *spip) {
  * @details This function performs a simultaneous transmit/receive operation.
  *
  * @param[in] spip pointer to the @p SPIDriver object
- * @param n number of words to be exchanged
+ * @param n number of words to exchange
- * @param rxbuf the pointer to the receive buffer, if @p NULL is specified then
+ * @param rxbuf the pointer to the receive buffer
- *              the input data is discarded.
+ * @param txbuf the pointer to the transmit buffer
- *              Note that the buffer is organized as an uint8_t array for
+ * @return The operation status is returned.
- *              data sizes below or equal to 8 bits else it is organized as
+ * @retval RDY_OK operation complete.
- *              an uint16_t array.
+ * @retval RDY_RESET hardware failure.
- * @param txbuf the pointer to the transmit buffer, if @p NULL is specified all
+ *
- *              ones are transmitted.
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
- *              Note that the buffer is organized as an uint8_t array for
+ *       equal to 8 bits else it is organized as uint16_t arrays.
- *              data sizes below or equal to 8 bits else it is organized as
- *              an uint16_t array.
  */
-void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
+msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
+
+}
+
+/**
+ * @brief Sends data ever the SPI bus.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param n number of words to send
+ * @param txbuf the pointer to the transmit buffer
+ * @return The operation status is returned.
+ * @retval RDY_OK operation complete.
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spi_lld_send(SPIDriver *spip, size_t n, void *txbuf) {
+
+}
+
+/**
+ * @brief Receives data from the SPI bus.
+ *
+ * @param[in] spip pointer to the @p SPIDriver object
+ * @param n number of words to receive
+ * @param rxbuf the pointer to the receive buffer
+ * @return The operation status is returned.
+ * @retval RDY_OK operation complete.
+ * @retval RDY_RESET hardware failure.
+ *
+ * @note The buffers are organized as uint8_t arrays for data sizes below or
+ *       equal to 8 bits else it is organized as uint16_t arrays.
+ */
+msg_t spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {
 
 }
 

os/io/templates/spi_lld.h

@@ -62,7 +62,7 @@ typedef struct {
   /**
    * @brief Clock pulses to be generated after initialization.
    */
-  cnt_t                 spc_clkpulses;
+  cnt_t                 spc_initcnt;
   /* End of the mandatory fields.*/
 } SPIConfig;
 
@@ -102,7 +102,9 @@ extern "C" {
   void spi_lld_setup(SPIDriver *spip);
   void spi_lld_select(SPIDriver *spip);
   void spi_lld_unselect(SPIDriver *spip);
-  void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);
+  msg_t spi_lld_send(SPIDriver *spip, size_t n, void *txbuf);
+  msg_t spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);
 #ifdef __cplusplus
 }
 #endif