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STM32F1: Import (rogerclarkmelbourne) SPI class (#15002)

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This commit is contained in:
Tanguy Pruvot
2019-08-21 13:22:23 +02:00
committed by Scott Lahteine
parent 4be98221f6
commit 012f577bb0
4 changed files with 1161 additions and 11 deletions
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2
Marlin/src/HAL/HAL_STM32F1/HAL_spi_STM32F1.cpp
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@@ -33,7 +33,7 @@
#ifdef __STM32F1__
#include "../../inc/MarlinConfig.h"
#include <SPI.h>
#include "SPI.h"
// ------------------------
// Public functions

741
Marlin/src/HAL/HAL_STM32F1/SPI.cpp Normal file
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@@ -0,0 +1,741 @@
/******************************************************************************
* 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.
*/
#ifdef __STM32F1__
#include "SPI.h"
#include <libmaple/timer.h>
#include <libmaple/util.h>
#include <libmaple/rcc.h>
#include <boards.h>
#include <wirish.h>
/** Time in ms for DMA receive timeout */
#define DMA_TIMEOUT 100
#if CYCLES_PER_MICROSECOND != 72
#warning "Unexpected clock speed; SPI frequency calculation will be incorrect"
#endif
struct spi_pins {
uint8_t nss;
uint8_t sck;
uint8_t miso;
uint8_t mosi;
};
static const spi_pins* dev_to_spi_pins(spi_dev *dev);
static void configure_gpios(spi_dev *dev, bool as_master);
static spi_baud_rate determine_baud_rate(spi_dev *dev, uint32_t freq);
#if (BOARD_NR_SPI >= 3) && !defined(STM32_HIGH_DENSITY)
#error "The SPI library is misconfigured: 3 SPI ports only available on high density STM32 devices"
#endif
static const spi_pins board_spi_pins[] __FLASH__ = {
#if BOARD_NR_SPI >= 1
{ BOARD_SPI1_NSS_PIN,
BOARD_SPI1_SCK_PIN,
BOARD_SPI1_MISO_PIN,
BOARD_SPI1_MOSI_PIN },
#endif
#if BOARD_NR_SPI >= 2
{ BOARD_SPI2_NSS_PIN,
BOARD_SPI2_SCK_PIN,
BOARD_SPI2_MISO_PIN,
BOARD_SPI2_MOSI_PIN },
#endif
#if BOARD_NR_SPI >= 3
{ BOARD_SPI3_NSS_PIN,
BOARD_SPI3_SCK_PIN,
BOARD_SPI3_MISO_PIN,
BOARD_SPI3_MOSI_PIN },
#endif
};
#if BOARD_NR_SPI >= 1
static void (*_spi1_this);
#endif
#if BOARD_NR_SPI >= 2
static void (*_spi2_this);
#endif
#if BOARD_NR_SPI >= 3
static void (*_spi3_this);
#endif
/**
* Constructor
*/
SPIClass::SPIClass(uint32_t spi_num) {
_currentSetting=&_settings[spi_num-1];// SPI channels are called 1 2 and 3 but the array is zero indexed
switch (spi_num) {
#if BOARD_NR_SPI >= 1
case 1:
_currentSetting->spi_d = SPI1;
_spi1_this = (void*)this;
break;
#endif
#if BOARD_NR_SPI >= 2
case 2:
_currentSetting->spi_d = SPI2;
_spi2_this = (void*)this;
break;
#endif
#if BOARD_NR_SPI >= 3
case 3:
_currentSetting->spi_d = SPI3;
_spi3_this = (void*)this;
break;
#endif
default: ASSERT(0);
}
// Init things specific to each SPI device
// clock divider setup is a bit of hack, and needs to be improved at a later date.
#if BOARD_NR_SPI >= 1
_settings[0].spi_d = SPI1;
_settings[0].clockDivider = determine_baud_rate(_settings[0].spi_d, _settings[0].clock);
_settings[0].spiDmaDev = DMA1;
_settings[0].spiTxDmaChannel = DMA_CH3;
_settings[0].spiRxDmaChannel = DMA_CH2;
#endif
#if BOARD_NR_SPI >= 2
_settings[1].spi_d = SPI2;
_settings[1].clockDivider = determine_baud_rate(_settings[1].spi_d, _settings[1].clock);
_settings[1].spiDmaDev = DMA1;
_settings[1].spiTxDmaChannel = DMA_CH5;
_settings[1].spiRxDmaChannel = DMA_CH4;
#endif
#if BOARD_NR_SPI >= 3
_settings[2].spi_d = SPI3;
_settings[2].clockDivider = determine_baud_rate(_settings[2].spi_d, _settings[2].clock);
_settings[2].spiDmaDev = DMA2;
_settings[2].spiTxDmaChannel = DMA_CH2;
_settings[2].spiRxDmaChannel = DMA_CH1;
#endif
// added for DMA callbacks.
_currentSetting->state = SPI_STATE_IDLE;
}
/*
* Set up/tear down
*/
void SPIClass::updateSettings() {
uint32_t flags = ((_currentSetting->bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB) | _currentSetting->dataSize | SPI_SW_SLAVE | SPI_SOFT_SS);
spi_master_enable(_currentSetting->spi_d, (spi_baud_rate)_currentSetting->clockDivider, (spi_mode)_currentSetting->dataMode, flags);
}
void SPIClass::begin() {
spi_init(_currentSetting->spi_d);
configure_gpios(_currentSetting->spi_d, 1);
updateSettings();
// added for DMA callbacks.
_currentSetting->state = SPI_STATE_READY;
}
void SPIClass::beginSlave() {
spi_init(_currentSetting->spi_d);
configure_gpios(_currentSetting->spi_d, 0);
uint32_t flags = ((_currentSetting->bitOrder == MSBFIRST ? SPI_FRAME_MSB : SPI_FRAME_LSB) | _currentSetting->dataSize);
spi_slave_enable(_currentSetting->spi_d, (spi_mode)_currentSetting->dataMode, flags);
// added for DMA callbacks.
_currentSetting->state = SPI_STATE_READY;
}
void SPIClass::end() {
if (!spi_is_enabled(_currentSetting->spi_d))
return;
// Follows RM0008's sequence for disabling a SPI in master/slave
// full duplex mode.
while (spi_is_rx_nonempty(_currentSetting->spi_d)) {
// FIXME [0.1.0] remove this once you have an interrupt based driver
volatile uint16_t rx __attribute__((unused)) = spi_rx_reg(_currentSetting->spi_d);
}
while (!spi_is_tx_empty(_currentSetting->spi_d)) {};
while (spi_is_busy(_currentSetting->spi_d)) {};
spi_peripheral_disable(_currentSetting->spi_d);
// added for DMA callbacks.
// Need to add unsetting the callbacks for the DMA channels.
_currentSetting->state = SPI_STATE_IDLE;
}
/* Roger Clark added 3 functions */
void SPIClass::setClockDivider(uint32_t clockDivider) {
_currentSetting->clockDivider = clockDivider;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_BR);
_currentSetting->spi_d->regs->CR1 = cr1 | (clockDivider & SPI_CR1_BR);
}
void SPIClass::setBitOrder(BitOrder bitOrder) {
_currentSetting->bitOrder = bitOrder;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_LSBFIRST);
if (bitOrder == LSBFIRST) cr1 |= SPI_CR1_LSBFIRST;
_currentSetting->spi_d->regs->CR1 = cr1;
}
/* Victor Perez. Added to test changing datasize from 8 to 16 bit modes on the fly.
* Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word.
*
*/
void SPIClass::setDataSize(uint32_t datasize) {
_currentSetting->dataSize = datasize;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_DFF);
uint8_t en = spi_is_enabled(_currentSetting->spi_d);
spi_peripheral_disable(_currentSetting->spi_d);
_currentSetting->spi_d->regs->CR1 = cr1 | (datasize & SPI_CR1_DFF) | en;
}
void SPIClass::setDataMode(uint8_t dataMode) {
/* Notes:
As far as I can tell, the AVR numbers for dataMode appear to match the numbers required by the STM32
From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4
SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge
0 0 0 Falling Rising
1 0 1 Rising Falling
2 1 0 Rising Falling
3 1 1 Falling Rising
On the STM32 it appears to be
bit 1 - CPOL : Clock polarity
(This bit should not be changed when communication is ongoing)
0 : CLK to 0 when idle
1 : CLK to 1 when idle
bit 0 - CPHA : Clock phase
(This bit should not be changed when communication is ongoing)
0 : The first clock transition is the first data capture edge
1 : The second clock transition is the first data capture edge
If someone finds this is not the case or sees a logic error with this let me know ;-)
*/
_currentSetting->dataMode = dataMode;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_CPOL|SPI_CR1_CPHA);
_currentSetting->spi_d->regs->CR1 = cr1 | (dataMode & (SPI_CR1_CPOL|SPI_CR1_CPHA));
}
void SPIClass::beginTransaction(uint8_t pin, SPISettings settings) {
setBitOrder(settings.bitOrder);
setDataMode(settings.dataMode);
setDataSize(settings.dataSize);
setClockDivider(determine_baud_rate(_currentSetting->spi_d, settings.clock));
begin();
}
void SPIClass::beginTransactionSlave(SPISettings settings) {
setBitOrder(settings.bitOrder);
setDataMode(settings.dataMode);
setDataSize(settings.dataSize);
beginSlave();
}
void SPIClass::endTransaction() { }
/*
* I/O
*/
uint16_t SPIClass::read() {
while ( spi_is_rx_nonempty(_currentSetting->spi_d)==0 ) ;
return (uint16)spi_rx_reg(_currentSetting->spi_d);
}
void SPIClass::read(uint8_t *buf, uint32_t len) {
if (len == 0) return;
spi_rx_reg(_currentSetting->spi_d); // clear the RX buffer in case a byte is waiting on it.
spi_reg_map * regs = _currentSetting->spi_d->regs;
// start sequence: write byte 0
regs->DR = 0x00FF; // write the first byte
// main loop
while ( (--len) ) {
while( !(regs->SR & SPI_SR_TXE) ); // wait for TXE flag
noInterrupts(); // go atomic level - avoid interrupts to surely get the previously received data
regs->DR = 0x00FF; // write the next data item to be transmitted into the SPI_DR register. This clears the TXE flag.
while ( !(regs->SR & SPI_SR_RXNE) ); // wait till data is available in the DR register
*buf++ = (uint8)(regs->DR); // read and store the received byte. This clears the RXNE flag.
interrupts(); // let systick do its job
}
// read remaining last byte
while ( !(regs->SR & SPI_SR_RXNE) ) {} // wait till data is available in the Rx register
*buf++ = (uint8)(regs->DR); // read and store the received byte
}
void SPIClass::write(uint16_t 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)
* This almost doubles the speed of this function.
*/
spi_tx_reg(_currentSetting->spi_d, data); // write the data 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::write16(uint16_t data) {
// Added by stevestrong: write two consecutive bytes in 8 bit mode (DFF=0)
spi_tx_reg(_currentSetting->spi_d, data>>8); // write high byte
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // Wait until TXE=1
spi_tx_reg(_currentSetting->spi_d, data); // write low byte
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // Wait until TXE=1
while (spi_is_busy(_currentSetting->spi_d) != 0); // wait until BSY=0
}
void SPIClass::write(uint16_t data, uint32_t n) {
// Added by stevstrong: Repeatedly send same data by the specified number of times
spi_reg_map * regs = _currentSetting->spi_d->regs;
while ( (n--)>0 ) {
regs->DR = data; // write the data to be transmitted into the SPI_DR register (this clears the TXE flag)
while ( (regs->SR & SPI_SR_TXE)==0 ) ; // wait till Tx empty
}
while ( (regs->SR & SPI_SR_BSY) != 0); // wait until BSY=0 before returning
}
void SPIClass::write(const void *data, uint32_t length) {
spi_dev * spi_d = _currentSetting->spi_d;
spi_tx(spi_d, data, length); // data can be array of bytes or words
while (spi_is_tx_empty(spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
}
uint8_t SPIClass::transfer(uint8_t byte) const {
spi_dev * spi_d = _currentSetting->spi_d;
spi_rx_reg(spi_d); // read any previous data
spi_tx_reg(spi_d, byte); // Write the data item to be transmitted into the SPI_DR register
while (spi_is_tx_empty(spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
return (uint8)spi_rx_reg(spi_d); // "... and read the last received data."
}
uint16_t SPIClass::transfer16(uint16_t data) const {
// Modified by stevestrong: write & read two consecutive bytes in 8 bit mode (DFF=0)
// This is more effective than two distinct byte transfers
spi_dev * spi_d = _currentSetting->spi_d;
spi_rx_reg(spi_d); // read any previous data
spi_tx_reg(spi_d, data>>8); // write high byte
while (spi_is_tx_empty(spi_d) == 0); // wait until TXE=1
while (spi_is_busy(spi_d) != 0); // wait until BSY=0
uint16_t ret = spi_rx_reg(spi_d)<<8; // read and shift high byte
spi_tx_reg(spi_d, data); // write low byte
while (spi_is_tx_empty(spi_d) == 0); // wait until TXE=1
while (spi_is_busy(spi_d) != 0); // wait until BSY=0
ret += spi_rx_reg(spi_d); // read low byte
return ret;
}
/* 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.
* Still in progress.
*/
void SPIClass::dmaTransferSet(const void *transmitBuf, void *receiveBuf) {
dma_init(_currentSetting->spiDmaDev);
//spi_rx_dma_enable(_currentSetting->spi_d);
//spi_tx_dma_enable(_currentSetting->spi_d);
dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS;
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
if (!transmitBuf) {
transmitBuf = &ff;
dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR,
dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, (DMA_FROM_MEM));// Transmit FF repeatedly
}
else {
dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR,
dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, (DMA_MINC_MODE | DMA_FROM_MEM ));// Transmit buffer DMA
}
dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, DMA_PRIORITY_LOW);
dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, DMA_PRIORITY_VERY_HIGH);
}
uint8_t SPIClass::dmaTransferRepeat(uint16_t length) {
if (length == 0) return 0;
if (spi_is_rx_nonempty(_currentSetting->spi_d) == 1) spi_rx_reg(_currentSetting->spi_d);
_currentSetting->state = SPI_STATE_TRANSFER;
dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, length);
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
spi_rx_dma_enable(_currentSetting->spi_d);
spi_tx_dma_enable(_currentSetting->spi_d);
if (_currentSetting->receiveCallback)
return 0;
//uint32_t m = millis();
uint8_t b = 0;
uint32_t m = millis();
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1) == 0) {
//Avoid interrupts and just loop waiting for the flag to be set.
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}
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."
spi_tx_dma_disable(_currentSetting->spi_d);
spi_rx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
_currentSetting->state = SPI_STATE_READY;
return b;
}
/* 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 length of the transfer.
* On exit TX buffer is not modified, and RX buffer contains the received data.
* Still in progress.
*/
uint8_t SPIClass::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_t length) {
dmaTransferSet(transmitBuf, receiveBuf);
return dmaTransferRepeat(length);
}
/* Roger Clark and Victor Perez, 2015
* 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
*/
void SPIClass::dmaSendSet(const void * transmitBuf, bool minc) {
uint32_t flags = ( (DMA_MINC_MODE*minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT);
dma_init(_currentSetting->spiDmaDev);
dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS;
dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR, dma_bit_size,
(volatile void*)transmitBuf, dma_bit_size, flags);// Transmit buffer DMA
dma_set_priority(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, DMA_PRIORITY_LOW);
}
uint8_t SPIClass::dmaSendRepeat(uint16_t length) {
if (length == 0) return 0;
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length);
_currentSetting->state = SPI_STATE_TRANSMIT;
dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit
spi_tx_dma_enable(_currentSetting->spi_d);
if (_currentSetting->transmitCallback)
return 0;
uint32_t m = millis();
uint8_t b = 0;
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)==0) {
//Avoid interrupts and just loop waiting for the flag to be set.
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}
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."
spi_tx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
_currentSetting->state = SPI_STATE_READY;
return b;
}
uint8_t SPIClass::dmaSend(const void * transmitBuf, uint16_t length, bool minc) {
dmaSendSet(transmitBuf, minc);
return dmaSendRepeat(length);
}
uint8_t SPIClass::dmaSendAsync(const void * transmitBuf, uint16_t length, bool minc) {
uint8_t b = 0;
if (_currentSetting->state != SPI_STATE_READY) {
uint32_t m = millis();
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)==0) {
//Avoid interrupts and just loop waiting for the flag to be set.
//delayMicroseconds(10);
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}
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."
spi_tx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
_currentSetting->state = SPI_STATE_READY;
}
if (length == 0) return 0;
uint32_t flags = ( (DMA_MINC_MODE*minc) | DMA_FROM_MEM | DMA_TRNS_CMPLT);
dma_init(_currentSetting->spiDmaDev);
// TX
dma_xfer_size dma_bit_size = (_currentSetting->dataSize==DATA_SIZE_16BIT) ? DMA_SIZE_16BITS : DMA_SIZE_8BITS;
dma_setup_transfer(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &_currentSetting->spi_d->regs->DR,
dma_bit_size, (volatile void*)transmitBuf, dma_bit_size, flags);// Transmit buffer DMA
dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length);
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit
spi_tx_dma_enable(_currentSetting->spi_d);
_currentSetting->state = SPI_STATE_TRANSMIT;
return b;
}
/**
* New functions added to manage callbacks.
* Victor Perez 2017
*/
void SPIClass::onReceive(void(*callback)(void)) {
_currentSetting->receiveCallback = callback;
if (callback) {
switch (_currentSetting->spi_d->clk_id) {
#if BOARD_NR_SPI >= 1
case RCC_SPI1:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi1EventCallback);
break;
#endif
#if BOARD_NR_SPI >= 2
case RCC_SPI2:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi2EventCallback);
break;
#endif
#if BOARD_NR_SPI >= 3
case RCC_SPI3:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel, &SPIClass::_spi3EventCallback);
break;
#endif
default:
ASSERT(0);
}
}
else {
dma_detach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);
}
}
void SPIClass::onTransmit(void(*callback)(void)) {
_currentSetting->transmitCallback = callback;
if (callback) {
switch (_currentSetting->spi_d->clk_id) {
#if BOARD_NR_SPI >= 1
case RCC_SPI1:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi1EventCallback);
break;
#endif
#if BOARD_NR_SPI >= 2
case RCC_SPI2:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi2EventCallback);
break;
#endif
#if BOARD_NR_SPI >= 3
case RCC_SPI3:
dma_attach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, &SPIClass::_spi3EventCallback);
break;
#endif
default:
ASSERT(0);
}
}
else {
dma_detach_interrupt(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
}
}
/**
* TODO: check if better to first call the customer code, next disable the DMA requests.
* Also see if we need to check whether callbacks are set or not, may be better to be checked
* during the initial setup and only set the callback to EventCallback if they are set.
*/
void SPIClass::EventCallback() {
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"
switch (_currentSetting->state) {
case SPI_STATE_TRANSFER:
while (spi_is_rx_nonempty(_currentSetting->spi_d));
_currentSetting->state = SPI_STATE_READY;
spi_tx_dma_disable(_currentSetting->spi_d);
spi_rx_dma_disable(_currentSetting->spi_d);
//dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
//dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiRxDmaChannel);
if (_currentSetting->receiveCallback)
_currentSetting->receiveCallback();
break;
case SPI_STATE_TRANSMIT:
_currentSetting->state = SPI_STATE_READY;
spi_tx_dma_disable(_currentSetting->spi_d);
//dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
if (_currentSetting->transmitCallback)
_currentSetting->transmitCallback();
break;
default:
break;
}
}
void SPIClass::attachInterrupt() {
// Should be enableInterrupt()
}
void SPIClass::detachInterrupt() {
// Should be disableInterrupt()
}
/*
* Pin accessors
*/
uint8_t SPIClass::misoPin() {
return dev_to_spi_pins(_currentSetting->spi_d)->miso;
}
uint8_t SPIClass::mosiPin() {
return dev_to_spi_pins(_currentSetting->spi_d)->mosi;
}
uint8_t SPIClass::sckPin() {
return dev_to_spi_pins(_currentSetting->spi_d)->sck;
}
uint8_t SPIClass::nssPin() {
return dev_to_spi_pins(_currentSetting->spi_d)->nss;
}
/*
* Deprecated functions
*/
uint8_t SPIClass::send(uint8_t data) {
this->write(data);
return 1;
}
uint8_t SPIClass::send(uint8_t *buf, uint32_t len) {
this->write(buf, len);
return len;
}
uint8_t SPIClass::recv() {
return this->read();
}
/*
* DMA call back functions, one per port.
*/
#if BOARD_NR_SPI >= 1
void SPIClass::_spi1EventCallback() {
reinterpret_cast<class SPIClass*>(_spi1_this)->EventCallback();
}
#endif
#if BOARD_NR_SPI >= 2
void SPIClass::_spi2EventCallback() {
reinterpret_cast<class SPIClass*>(_spi2_this)->EventCallback();
}
#endif
#if BOARD_NR_SPI >= 3
void SPIClass::_spi3EventCallback() {
reinterpret_cast<class SPIClass*>(_spi3_this)->EventCallback();
}
#endif
/*
* Auxiliary functions
*/
static const spi_pins* dev_to_spi_pins(spi_dev *dev) {
switch (dev->clk_id) {
#if BOARD_NR_SPI >= 1
case RCC_SPI1: return board_spi_pins;
#endif
#if BOARD_NR_SPI >= 2
case RCC_SPI2: return board_spi_pins + 1;
#endif
#if BOARD_NR_SPI >= 3
case RCC_SPI3: return board_spi_pins + 2;
#endif
default: return NULL;
}
}
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],
*scki = &PIN_MAP[pins->sck],
*misoi = &PIN_MAP[pins->miso],
*mosii = &PIN_MAP[pins->mosi];
disable_pwm(nssi);
disable_pwm(scki);
disable_pwm(misoi);
disable_pwm(mosii);
spi_config_gpios(dev, 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[8] __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, uint32_t freq) {
uint32_t clock = 0;
switch (rcc_dev_clk(dev->clk_id)) {
case RCC_AHB:
case RCC_APB2: clock = STM32_PCLK2; break; // 72 Mhz
case RCC_APB1: clock = STM32_PCLK1; break; // 36 Mhz
}
clock >>= 1;
uint8_t i = 0;
while (i < 7 && freq < clock) { clock >>= 1; i++; }
return baud_rates[i];
}
SPIClass SPI(1);
#endif // __STM32F1__

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Marlin/src/HAL/HAL_STM32F1/SPI.h Normal file
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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.
*****************************************************************************/
#pragma once
#include <libmaple/libmaple_types.h>
#include <libmaple/spi.h>
#include <libmaple/dma.h>
#include <boards.h>
#include <stdint.h>
#include <wirish.h>
// SPI_HAS_TRANSACTION means SPI has
// - beginTransaction()
// - endTransaction()
// - usingInterrupt()
// - SPISetting(clock, bitOrder, dataMode)
//#define SPI_HAS_TRANSACTION
#define SPI_CLOCK_DIV2 SPI_BAUD_PCLK_DIV_2
#define SPI_CLOCK_DIV4 SPI_BAUD_PCLK_DIV_4
#define SPI_CLOCK_DIV8 SPI_BAUD_PCLK_DIV_8
#define SPI_CLOCK_DIV16 SPI_BAUD_PCLK_DIV_16
#define SPI_CLOCK_DIV32 SPI_BAUD_PCLK_DIV_32
#define SPI_CLOCK_DIV64 SPI_BAUD_PCLK_DIV_64
#define SPI_CLOCK_DIV128 SPI_BAUD_PCLK_DIV_128
#define SPI_CLOCK_DIV256 SPI_BAUD_PCLK_DIV_256
/*
* Roger Clark. 20150106
* Commented out redundant AVR defined
*
#define SPI_MODE_MASK 0x0C // CPOL = bit 3, CPHA = bit 2 on SPCR
#define SPI_CLOCK_MASK 0x03 // SPR1 = bit 1, SPR0 = bit 0 on SPCR
#define SPI_2XCLOCK_MASK 0x01 // SPI2X = bit 0 on SPSR
// define SPI_AVR_EIMSK for AVR boards with external interrupt pins
#if defined(EIMSK)
#define SPI_AVR_EIMSK EIMSK
#elif defined(GICR)
#define SPI_AVR_EIMSK GICR
#elif defined(GIMSK)
#define SPI_AVR_EIMSK GIMSK
#endif
*/
#ifndef STM32_LSBFIRST
#define STM32_LSBFIRST 0
#endif
#ifndef STM32_MSBFIRST
#define STM32_MSBFIRST 1
#endif
// PC13 or PA4
#define BOARD_SPI_DEFAULT_SS PA4
//#define BOARD_SPI_DEFAULT_SS PC13
#define SPI_MODE0 SPI_MODE_0
#define SPI_MODE1 SPI_MODE_1
#define SPI_MODE2 SPI_MODE_2
#define SPI_MODE3 SPI_MODE_3
#define DATA_SIZE_8BIT SPI_CR1_DFF_8_BIT
#define DATA_SIZE_16BIT SPI_CR1_DFF_16_BIT
typedef enum {
SPI_STATE_IDLE,
SPI_STATE_READY,
SPI_STATE_RECEIVE,
SPI_STATE_TRANSMIT,
SPI_STATE_TRANSFER
} spi_mode_t;
class SPISettings {
public:
SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode) {
if (__builtin_constant_p(clock))
init_AlwaysInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT);
else
init_MightInline(clock, bitOrder, dataMode, DATA_SIZE_8BIT);
}
SPISettings(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) {
if (__builtin_constant_p(clock))
init_AlwaysInline(clock, bitOrder, dataMode, dataSize);
else
init_MightInline(clock, bitOrder, dataMode, dataSize);
}
SPISettings(uint32_t clock) {
if (__builtin_constant_p(clock))
init_AlwaysInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
else
init_MightInline(clock, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
}
SPISettings() {
init_AlwaysInline(4000000, MSBFIRST, SPI_MODE0, DATA_SIZE_8BIT);
}
private:
void init_MightInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) {
init_AlwaysInline(clock, bitOrder, dataMode, dataSize);
}
void init_AlwaysInline(uint32_t clock, BitOrder bitOrder, uint8_t dataMode, uint32_t dataSize) __attribute__((__always_inline__)) {
this->clock = clock;
this->bitOrder = bitOrder;
this->dataMode = dataMode;
this->dataSize = dataSize;
}
uint32_t clock;
uint32_t dataSize;
uint32_t clockDivider;
BitOrder bitOrder;
uint8_t dataMode;
uint8_t _SSPin;
volatile spi_mode_t state;
spi_dev *spi_d;
dma_channel spiRxDmaChannel, spiTxDmaChannel;
dma_dev* spiDmaDev;
void (*receiveCallback)(void) = NULL;
void (*transmitCallback)(void) = NULL;
friend class SPIClass;
};
/*
* Kept for compat.
*/
static const uint8_t ff = 0xFF;
/**
* @brief Wirish SPI interface.
*
* This implementation uses software slave management, so the caller
* is responsible for controlling the slave select line.
*/
class SPIClass {
public:
/**
* @param spiPortNumber Number of the SPI port to manage.
*/
SPIClass(uint32_t spiPortNumber);
/**
* @brief Equivalent to begin(SPI_1_125MHZ, MSBFIRST, 0).
*/
void begin();
/**
* @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_t bitOrder, uint32_t mode);
/**
* @brief Equivalent to beginSlave(MSBFIRST, 0).
*/
void beginSlave();
/**
* @brief Disables the SPI port, but leaves its GPIO pin modes unchanged.
*/
void end();
void beginTransaction(SPISettings settings) { beginTransaction(BOARD_SPI_DEFAULT_SS, settings); }
void beginTransaction(uint8_t pin, SPISettings settings);
void endTransaction();
void beginTransactionSlave(SPISettings settings);
void setClockDivider(uint32_t clockDivider);
void setBitOrder(BitOrder bitOrder);
void setDataMode(uint8_t dataMode);
// SPI Configuration methods
void attachInterrupt();
void detachInterrupt();
/* Victor Perez. Added to change datasize from 8 to 16 bit modes on the fly.
* Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word.
* Requires an added function spi_data_size on STM32F1 / cores / maple / libmaple / spi.c
*/
void setDataSize(uint32_t ds);
/* Victor Perez 2017. Added to set and clear callback functions for callback
* on DMA transfer completion.
* onReceive used to set the callback in case of dmaTransfer (tx/rx), once rx is completed
* onTransmit used to set the callback in case of dmaSend (tx only). That function
* will NOT be called in case of TX/RX
*/
void onReceive(void(*)(void));
void onTransmit(void(*)(void));
/*
* I/O
*/
/**
* @brief Return the next unread byte/word.
*
* If there is no unread byte/word waiting, this function will block
* until one is received.
*/
uint16_t read();
/**
* @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_t *buffer, uint32_t length);
/**
* @brief Transmit one byte/word.
* @param data to transmit.
*/
void write(uint16_t data);
void write16(uint16_t data); // write 2 bytes in 8 bit mode (DFF=0)
/**
* @brief Transmit one byte/word a specified number of times.
* @param data to transmit.
*/
void write(uint16_t data, uint32_t n);
/**
* @brief Transmit multiple bytes/words.
* @param buffer Bytes/words to transmit.
* @param length Number of bytes/words in buffer to transmit.
*/
void write(const void * buffer, uint32_t 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_t transfer(uint8_t data) const;
uint16_t transfer16(uint16_t data) const;
/**
* @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.
*
* @param transmitBuf buffer Bytes to transmit. If passed as 0, it sends FF repeatedly for "length" bytes
* @param receiveBuf buffer Bytes to save received data.
* @param length Number of bytes in buffer to transmit.
*/
uint8_t dmaTransfer(const void * transmitBuf, void * receiveBuf, uint16_t length);
void dmaTransferSet(const void *transmitBuf, void *receiveBuf);
uint8_t dmaTransferRepeat(uint16_t length);
/**
* @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 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, clear to use Circular mode.
*/
uint8_t dmaSend(const void * transmitBuf, uint16_t length, bool minc = 1);
void dmaSendSet(const void * transmitBuf, bool minc);
uint8_t dmaSendRepeat(uint16_t length);
uint8_t dmaSendAsync(const void * transmitBuf, uint16_t length, bool minc = 1);
/*
* Pin accessors
*/
/**
* @brief Return the number of the MISO (master in, slave out) pin
*/
uint8_t misoPin();
/**
* @brief Return the number of the MOSI (master out, slave in) pin
*/
uint8_t mosiPin();
/**
* @brief Return the number of the SCK (serial clock) pin
*/
uint8_t sckPin();
/**
* @brief Return the number of the NSS (slave select) pin
*/
uint8_t nssPin();
/* Escape hatch */
/**
* @brief Get a pointer to the underlying libmaple spi_dev for
* this HardwareSPI instance.
*/
spi_dev* c_dev(void) { return _currentSetting->spi_d; }
spi_dev* dev() { return _currentSetting->spi_d; }
/**
* @brief Sets the number of the SPI peripheral to be used by
* this HardwareSPI instance.
*
* @param spi_num Number of the SPI port. 1-2 in low density devices
* or 1-3 in high density devices.
*/
void setModule(int spi_num) {
_currentSetting=&_settings[spi_num-1];// SPI channels are called 1 2 and 3 but the array is zero indexed
}
/* -- The following methods are deprecated --------------------------- */
/**
* @brief Deprecated.
*
* Use HardwareSPI::transfer() instead.
*
* @see HardwareSPI::transfer()
*/
uint8_t send(uint8_t 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_t send(uint8_t *data, uint32_t length);
/**
* @brief Deprecated.
*
* Use HardwareSPI::read() instead.
*
* @see HardwareSPI::read()
*/
uint8_t recv();
private:
SPISettings _settings[BOARD_NR_SPI];
SPISettings *_currentSetting;
void updateSettings();
/*
* Functions added for DMA transfers with Callback.
* Experimental.
*/
void EventCallback();
#if BOARD_NR_SPI >= 1
static void _spi1EventCallback();
#endif
#if BOARD_NR_SPI >= 2
static void _spi2EventCallback();
#endif
#if BOARD_NR_SPI >= 3
static void _spi3EventCallback();
#endif
/*
spi_dev *spi_d;
uint8_t _SSPin;
uint32_t clockDivider;
uint8_t dataMode;
BitOrder bitOrder;
*/
};
extern SPIClass SPI;