From 5db25232840ec8f0922a79e3a1a19a86f5397207 Mon Sep 17 00:00:00 2001 From: stevstrong Date: Mon, 31 Oct 2016 22:29:40 +0100 Subject: [PATCH] improve SPI low level functions - optimize code and run-time --- STM32F1/cores/maple/libmaple/spi.c | 6 +- STM32F1/libraries/SPI/src/SPI.cpp | 180 ++++++++++------------------- STM32F1/libraries/SPI/src/SPI.h | 25 ++-- 3 files changed, 75 insertions(+), 136 deletions(-) diff --git a/STM32F1/cores/maple/libmaple/spi.c b/STM32F1/cores/maple/libmaple/spi.c index 1020c5b..64f06d3 100644 --- a/STM32F1/cores/maple/libmaple/spi.c +++ b/STM32F1/cores/maple/libmaple/spi.c @@ -84,7 +84,7 @@ void spi_slave_enable(spi_dev *dev, spi_mode mode, uint32 flags) { } /** - * @brief Nonblocking SPI transmit. + * @brief Blocking SPI transmit. * @param dev SPI port to use for transmission * @param buf Buffer to transmit. The sizeof buf's elements are * inferred from dev's data frame format (i.e., are @@ -95,7 +95,8 @@ void spi_slave_enable(spi_dev *dev, spi_mode mode, uint32 flags) { uint32 spi_tx(spi_dev *dev, const void *buf, uint32 len) { uint32 txed = 0; uint8 byte_frame = spi_dff(dev) == SPI_DFF_8_BIT; - while (spi_is_tx_empty(dev) && (txed < len)) { + while ( txed < len ) { + while ( spi_is_tx_empty(dev)==0 ); // wait Tx to be empty if (byte_frame) { dev->regs->DR = ((const uint8*)buf)[txed++]; } else { @@ -162,5 +163,6 @@ static void spi_reconfigure(spi_dev *dev, uint32 cr1_config) { spi_irq_disable(dev, SPI_INTERRUPTS_ALL); if ( (dev->regs->CR1&MASK)!=(cr1_config&MASK) ) spi_peripheral_disable(dev); dev->regs->CR1 = cr1_config; + //spi_rx_dma_enable(dev); spi_peripheral_enable(dev); } diff --git a/STM32F1/libraries/SPI/src/SPI.cpp b/STM32F1/libraries/SPI/src/SPI.cpp index 4eeec38..0832791 100644 --- a/STM32F1/libraries/SPI/src/SPI.cpp +++ b/STM32F1/libraries/SPI/src/SPI.cpp @@ -41,6 +41,8 @@ #include "boards.h" //#include "HardwareSerial.h" +/** Time in ms for DMA receive timeout */ +#define DMA_TIMEOUT 100 #if CYCLES_PER_MICROSECOND != 72 /* TODO [0.2.0?] something smarter than this */ @@ -304,138 +306,110 @@ void SPIClass::endTransaction(void) * I/O */ -uint8 SPIClass::read(void) { - uint8 buf[1]; - this->read(buf, 1); - return buf[0]; +uint8 SPIClass::read(void) +{ + while ( spi_is_rx_nonempty(_currentSetting->spi_d)==0 ) ; + return (uint8)spi_rx_reg(_currentSetting->spi_d); } -void SPIClass::read(uint8 *buf, uint32 len) { +void SPIClass::read(uint8 *buf, uint32 len) +{ + spi_reg_map * regs = _currentSetting->spi_d->regs; + uint8 b = (regs->DR); // clear the RX buffer in case a byte is waiting on it. uint32 rxed = 0; - while (rxed < len) { - while (!spi_is_rx_nonempty(_currentSetting->spi_d)) - ; - buf[rxed++] = (uint8)spi_rx_reg(_currentSetting->spi_d); + // start sequence + while ( rxed < len) { + regs->DR = 0x00FF; // " write the data item to be transmitted into the SPI_DR register (this clears the TXE flag)." + while ( (regs->SR & SPI_SR_RXNE)==0 ) ; // wait till data is available in the Rx register + buf[rxed++] = (uint8)(regs->DR); // read and store the received byte } } -void SPIClass::write(uint16 data) { - // this->write(&data, 1); - +void SPIClass::write(uint16 data) +{ /* Added for 16bit data Victor Perez. Roger Clark - * Improved speed by just directly writing the single byte to the SPI data reg and wait for completion, * by taking the Tx code from transfer(byte) - * The original method, of calling write(*data, length) . + * Improved speed by just directly writing the single byte to the SPI data reg and wait for completion, + * by taking the Tx code from transfer(byte) * This almost doubles the speed of this function. */ - spi_tx_reg(_currentSetting->spi_d, data); // "2. Write the first data item to be transmitted into the SPI_DR register (this clears the TXE flag)." while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." } -//void SPIClass::write(uint8 byte) { - // this->write(&byte, 1); - - /* Roger Clark - * Improved speed by just directly writing the single byte to the SPI data reg and wait for completion, * by taking the Tx code from transfer(byte) - * The original method, of calling write(*data, length) . - * This almost doubles the speed of this function. - */ - -// spi_tx_reg(_currentSetting->spi_d, byte); // "2. Write the first data item to be transmitted into the SPI_DR register (this clears the TXE flag)." -// while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." -// while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." -//} - -void SPIClass::write(const uint8 *data, uint32 length) { - uint32 txed = 0; - while (txed < length) { - txed += spi_tx(_currentSetting->spi_d, data + txed, length - txed); - } - while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "4. After writing the last data item into the SPI_DR register, wait until TXE=1 ..." - while (spi_is_busy(_currentSetting->spi_d) != 0); // "... then wait until BSY=0, this indicates that the transmission of the last data is complete." +void SPIClass::write(const void *data, uint32 length) +{ + spi_tx(_currentSetting->spi_d, data, length); // data can be array of bytes or words + while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." + while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." // taken from SdSpiSTM32F1.cpp - Victor's lib, and adapted to support device selection - if (spi_is_rx_nonempty(_currentSetting->spi_d)) { - uint8_t b = spi_rx_reg(_currentSetting->spi_d); - } + uint16 b = spi_rx_reg(_currentSetting->spi_d); // dummy read, needed, don't remove! } uint16_t SPIClass::transfer16(uint16_t wr_data) const { spi_tx_reg(_currentSetting->spi_d, wr_data); // "2. Write the first data item to be transmitted into the SPI_DR register (this clears the TXE flag)." - while (spi_is_rx_nonempty(_currentSetting->spi_d) == 0); // "4. Wait until RXNE=1 ..." - uint16_t rd_data = spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." -// while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." -// while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." - return rd_data; + while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." + while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." + return (uint16)spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." } uint8 SPIClass::transfer(uint8 byte) const { spi_tx_reg(_currentSetting->spi_d, byte); // "2. Write the first data item to be transmitted into the SPI_DR register (this clears the TXE flag)." - while (spi_is_rx_nonempty(_currentSetting->spi_d) == 0); // "4. Wait until RXNE=1 ..." - uint8 b = spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." - while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." - while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." - return b; + while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." + while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." + return (uint8)spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." } + /* Roger Clark and Victor Perez, 2015 * Performs a DMA SPI transfer with at least a receive buffer. -* If a TX buffer is not provided, FF is sent over and over for the lenght of the transfer. -* On exit TX buffer is not modified, and RX buffer cotains the received data. +* If a TX buffer is not provided, FF is sent over and over for the length of the transfer. +* On exit TX buffer is not modified, and RX buffer contains the received data. * Still in progress. */ -uint8 SPIClass::dmaTransfer(uint8 *transmitBuf, uint8 *receiveBuf, uint16 length) { +uint8 SPIClass::dmaTransfer(void * transmitBuf, void * receiveBuf, uint16 length) +{ if (length == 0) return 0; uint8 b = 0; - if (spi_is_rx_nonempty(_currentSetting->spi_d) == 1) b = spi_rx_reg(_currentSetting->spi_d); //Clear the RX buffer in case a byte is waiting on it. + spi_rx_reg(_currentSetting->spi_d); //Clear the RX buffer in case a byte is waiting on it. // dma1_ch3_Active=true; dma_init(_currentSetting->spiDmaDev); // dma_attach_interrupt(DMA1, DMA_CH3, &SPIClass::DMA1_CH3_Event); - + // RX spi_rx_dma_enable(_currentSetting->spi_d); - dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &_currentSetting->spi_d->regs->DR, DMA_SIZE_8BITS, - receiveBuf, DMA_SIZE_8BITS, (DMA_MINC_MODE | DMA_TRNS_CMPLT));// receive buffer DMA + dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_8BIT) ? DMA_SIZE_8BITS : DMA_SIZE_16BITS; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &_currentSetting->spi_d->regs->DR, dma_bit_size, + receiveBuf, dma_bit_size, (DMA_MINC_MODE | DMA_TRNS_CMPLT));// receive buffer DMA dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, length); - + // TX + uint32 flags = (DMA_MINC_MODE | DMA_FROM_MEM | DMA_TRNS_CMPLT); spi_tx_dma_enable(_currentSetting->spi_d); - if (!transmitBuf) { - static uint8_t ff = 0XFF; - transmitBuf = &ff; - dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, DMA_SIZE_8BITS, - transmitBuf, DMA_SIZE_8BITS, (DMA_FROM_MEM | DMA_TRNS_CMPLT));// Transmit FF repeatedly - } - else { - dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, DMA_SIZE_8BITS, - transmitBuf, DMA_SIZE_8BITS, (DMA_MINC_MODE | DMA_FROM_MEM | DMA_TRNS_CMPLT));// Transmit buffer DMA + if ( transmitBuf==0 ) { + static uint8_t ff = 0XFF; + transmitBuf = &ff; + flags ^= DMA_MINC_MODE; // remove increment mode } + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, dma_bit_size, + transmitBuf, dma_bit_size, flags);// Transmit buffer DMA dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);// enable receive dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit -// while (dma1_ch3_Active); -// if (receiveBuf) { uint32_t m = millis(); while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & 0x2)==0) {//Avoid interrupts and just loop waiting for the flag to be set. - if ((millis() - m) > 100) { -// dma1_ch3_Active = 0; - b = 2; - break; - } + if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; } } dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); -// } while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel); spi_rx_dma_disable(_currentSetting->spi_d); // And disable generation of DMA request from the SPI port so other peripherals can use the channels spi_tx_dma_disable(_currentSetting->spi_d); - if (spi_is_rx_nonempty(_currentSetting->spi_d) != 0){; // "4. Wait until RXNE=1 ..." - uint8 x = spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." - } + uint16 x = spi_rx_reg(_currentSetting->spi_d); // dummy read, needed, don't remove! return b; } @@ -443,10 +417,12 @@ uint8 SPIClass::dmaTransfer(uint8 *transmitBuf, uint8 *receiveBuf, uint16 length * Performs a DMA SPI send using a TX buffer. * On exit TX buffer is not modified. * Still in progress. +* 2016 - stevstrong - reworked to automatically detect bit size from SPI setting */ -uint8 SPIClass::dmaSend(uint8 *transmitBuf, uint16 length, bool minc) { +uint8 SPIClass::dmaSend(void * transmitBuf, uint16 length) +{ if (length == 0) return 0; - uint32 flags = ((DMA_MINC_MODE * minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT); + uint32 flags = (DMA_MINC_MODE | DMA_FROM_MEM | DMA_TRNS_CMPLT); uint8 b = 0; // dma1_ch3_Active=true; dma_init(_currentSetting->spiDmaDev); @@ -454,55 +430,27 @@ uint8 SPIClass::dmaSend(uint8 *transmitBuf, uint16 length, bool minc) { // TX spi_tx_dma_enable(_currentSetting->spi_d); - dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, DMA_SIZE_8BITS, - transmitBuf, DMA_SIZE_8BITS, flags);// Transmit buffer DMA + dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_8BIT) ? DMA_SIZE_8BITS : DMA_SIZE_16BITS; + dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, dma_bit_size, + transmitBuf, dma_bit_size, flags);// Transmit buffer DMA dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit - + // while (dma1_ch3_Active); - while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & 0x2)==0); //Avoid interrupts and just loop waiting for the flag to be set. + uint32_t m = millis(); + while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & 0x2)==0) {//Avoid interrupts and just loop waiting for the flag to be set. + if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; } + } dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); spi_tx_dma_disable(_currentSetting->spi_d); - if (spi_is_rx_nonempty(_currentSetting->spi_d) != 0){; // "4. Wait until RXNE=1 ..." - uint8 x = spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." - } + uint16 x = spi_rx_reg(_currentSetting->spi_d); // dummy read, needed, don't remove! return b; } -uint8 SPIClass::dmaSend(uint16 *transmitBuf, uint16 length, bool minc) { - if (length == 0) return 0; - uint32 flags = ((DMA_MINC_MODE * minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT); - uint8 b; - dma1_ch3_Active=true; - dma_init(_currentSetting->spiDmaDev); -// dma_attach_interrupt(DMA1, DMA_CH3, &SPIClass::DMA1_CH3_Event); - - // TX - spi_tx_dma_enable(_currentSetting->spi_d); - dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, DMA_SIZE_16BITS, - transmitBuf, DMA_SIZE_16BITS, flags);// Transmit buffer DMA - dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length); - dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit - -// while (dma1_ch3_Active); - while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & 0x2)==0); //Avoid interrupts and just loop waiting for the flag to be set. - dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); - - while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..." - while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI." - dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); - spi_tx_dma_disable(_currentSetting->spi_d); - if (spi_is_rx_nonempty(_currentSetting->spi_d) != 0){; // "4. Wait until RXNE=1 ..." - b = spi_rx_reg(_currentSetting->spi_d); // "... and read the last received data." - } - return b; -} - - void SPIClass::attachInterrupt(void) { // Should be enableInterrupt() } diff --git a/STM32F1/libraries/SPI/src/SPI.h b/STM32F1/libraries/SPI/src/SPI.h index e949051..0f8497a 100644 --- a/STM32F1/libraries/SPI/src/SPI.h +++ b/STM32F1/libraries/SPI/src/SPI.h @@ -249,7 +249,7 @@ public: * @param buffer Bytes to transmit. * @param length Number of bytes in buffer to transmit. */ - void write(const uint8 *buffer, uint32 length); + void write(const void * buffer, uint32 length); /** * @brief Transmit a byte, then return the next unread byte. @@ -264,6 +264,7 @@ public: /** * @brief Sets up a DMA Transfer for "length" bytes. + * The transfer mode (8 or 16 bit mode) is evaluated from the SPI peripheral setting. * * This function transmits and receives to buffers. * @@ -271,30 +272,18 @@ public: * @param receiveBuf buffer Bytes to save received data. * @param length Number of bytes in buffer to transmit. */ - uint8 dmaTransfer(uint8 *transmitBuf, uint8 *receiveBuf, uint16 length); + uint8 dmaTransfer(void * transmitBuf, void * receiveBuf, uint16 length); /** - * @brief Sets up a DMA Transmit for bytes. + * @brief Sets up a DMA Transmit for SPI 8 or 16 bit transfer mode. + * The transfer mode (8 or 16 bit mode) is evaluated from the SPI peripheral setting. * - * This function transmits and does not care about the RX fifo. - * - * @param transmitBuf buffer Bytes to transmit, - * @param length Number of bytes in buffer to transmit. - * @param minc Set to use Memory Increment mode, clear to use Circular mode. - */ - uint8 dmaSend(uint8 *transmitBuf, uint16 length, bool minc = 1); - - /** - * @brief Sets up a DMA Transmit for half words. - * SPI PERFIPHERAL MUST BE SET TO 16 BIT MODE BEFORE - * - * This function transmits and does not care about the RX fifo. + * This function only transmits and does not care about the RX fifo. * * @param data buffer half words to transmit, * @param length Number of bytes in buffer to transmit. - * @param minc Set to use Memory Increment mode (default if blank), clear to use Circular mode. */ - uint8 dmaSend(uint16 *transmitBuf, uint16 length, bool minc = 1); + uint8 dmaSend(void * transmitBuf, uint16 length); /* * Pin accessors