LibrePilot/flight/PiOS/STM32F10x/pios_spi.c

/**
 ******************************************************************************
 * @addtogroup PIOS PIOS Core hardware abstraction layer
 * @{
 * @addtogroup   PIOS_SPI SPI Functions
 * @brief PIOS interface to read and write from SPI ports
 * @{
 *
 * @file       pios_spi.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
 * @brief      Hardware Abstraction Layer for SPI ports of STM32
 * @see        The GNU Public License (GPL) Version 3
 * @notes
 *
 * Note that additional chip select lines can be easily added by using
 * the remaining free GPIOs of the core module. Shared SPI ports should be
 * arbitrated with (FreeRTOS based) Mutexes to avoid collisions!
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <pios.h>

#if defined(PIOS_INCLUDE_SPI)

#include <pios_spi_priv.h>

static struct pios_spi_dev *find_spi_dev_by_id(uint8_t spi)
{
	if (spi >= pios_spi_num_devices) {
		/* Undefined SPI port for this board (see pios_board.c) */
		return NULL;
	}

	/* Get a handle for the device configuration */
	return &(pios_spi_devs[spi]);
}

/**
* Initialises SPI pins
* \param[in] mode currently only mode 0 supported
* \return < 0 if initialisation failed
*/
int32_t PIOS_SPI_Init(void)
{
	struct pios_spi_dev *spi_dev;
	uint8_t i;

	for (i = 0; i < pios_spi_num_devices; i++) {
		/* Get a handle for the device configuration */
		spi_dev = find_spi_dev_by_id(i);
		PIOS_DEBUG_Assert(spi_dev);

		/* Disable callback function */
		spi_dev->callback = NULL;

		/* Set rx/tx dummy bytes to a known value */
		spi_dev->rx_dummy_byte = 0xFF;
		spi_dev->tx_dummy_byte = 0xFF;

		switch (spi_dev->cfg->init.SPI_NSS) {
		case SPI_NSS_Soft:
			if (spi_dev->cfg->init.SPI_Mode == SPI_Mode_Master) {
				/* We're a master in soft NSS mode, make sure we see NSS high at all times. */
				SPI_NSSInternalSoftwareConfig(spi_dev->cfg->regs, SPI_NSSInternalSoft_Set);
				/* Since we're driving the SSEL pin in software, ensure that the slave is deselected */
				GPIO_SetBits(spi_dev->cfg->ssel.gpio, spi_dev->cfg->ssel.init.GPIO_Pin);
				GPIO_Init(spi_dev->cfg->ssel.gpio, &(spi_dev->cfg->ssel.init));
			} else {
				/* We're a slave in soft NSS mode, make sure we see NSS low at all times. */
				SPI_NSSInternalSoftwareConfig(spi_dev->cfg->regs, SPI_NSSInternalSoft_Reset);
			}
			break;
		case SPI_NSS_Hard:
			/* FIXME: Should this also call SPI_SSOutputCmd()? */
			GPIO_Init(spi_dev->cfg->ssel.gpio, &(spi_dev->cfg->ssel.init));
			break;
		default:
			PIOS_DEBUG_Assert(0);
		}

		/* Initialize the GPIO pins */
		GPIO_Init(spi_dev->cfg->sclk.gpio, &(spi_dev->cfg->sclk.init));
		GPIO_Init(spi_dev->cfg->mosi.gpio, &(spi_dev->cfg->mosi.init));
		GPIO_Init(spi_dev->cfg->miso.gpio, &(spi_dev->cfg->miso.init));

		/* Enable the associated peripheral clock */
		switch ((uint32_t) spi_dev->cfg->regs) {
		case (uint32_t) SPI1:
			/* Enable SPI peripheral clock (APB2 == high speed) */
			RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
			break;
		case (uint32_t) SPI2:
			/* Enable SPI peripheral clock (APB1 == slow speed) */
			RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI2, ENABLE);
			break;
		case (uint32_t) SPI3:
			/* Enable SPI peripheral clock (APB1 == slow speed) */
			RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
			break;
		}

		/* Enable DMA clock */
		RCC_AHBPeriphClockCmd(spi_dev->cfg->dma.ahb_clk, ENABLE);

		/* Configure DMA for SPI Rx */
		DMA_Cmd(spi_dev->cfg->dma.rx.channel, DISABLE);
		DMA_Init(spi_dev->cfg->dma.rx.channel, &(spi_dev->cfg->dma.rx.init));

		/* Configure DMA for SPI Tx */
		DMA_Cmd(spi_dev->cfg->dma.tx.channel, DISABLE);
		DMA_Init(spi_dev->cfg->dma.tx.channel, &(spi_dev->cfg->dma.tx.init));

		/* Initialize the SPI block */
		SPI_Init(spi_dev->cfg->regs, &(spi_dev->cfg->init));

		/* Configure CRC calculation */
		if (spi_dev->cfg->use_crc) {
			SPI_CalculateCRC(spi_dev->cfg->regs, ENABLE);
		} else {
			SPI_CalculateCRC(spi_dev->cfg->regs, DISABLE);
		}

		/* Enable SPI */
		SPI_Cmd(spi_dev->cfg->regs, ENABLE);

		/* Enable SPI interrupts to DMA */
		SPI_I2S_DMACmd(spi_dev->cfg->regs, SPI_I2S_DMAReq_Tx | SPI_I2S_DMAReq_Rx, ENABLE);

		/* Configure DMA interrupt */
		NVIC_Init(&(spi_dev->cfg->dma.irq.init));
	}

	return 0;
}

/**
* (Re-)initialises SPI peripheral clock rate
*
* \param[in] spi SPI number (0 or 1)
* \param[in] spi_prescaler configures the SPI speed:
* <UL>
*   <LI>PIOS_SPI_PRESCALER_2: sets clock rate 27.7~ nS @ 72 MHz (36 MBit/s) (only supported for spi==0, spi1 uses 4 instead)
*   <LI>PIOS_SPI_PRESCALER_4: sets clock rate 55.5~ nS @ 72 MHz (18 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_8: sets clock rate 111.1~ nS @ 72 MHz (9 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_16: sets clock rate 222.2~ nS @ 72 MHz (4.5 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_32: sets clock rate 444.4~ nS @ 72 MHz (2.25 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_64: sets clock rate 888.8~ nS @ 72 MHz (1.125 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_128: sets clock rate 1.7~ nS @ 72 MHz (0.562 MBit/s)
*   <LI>PIOS_SPI_PRESCALER_256: sets clock rate 3.5~ nS @ 72 MHz (0.281 MBit/s)
* </UL>
* \return 0 if no error
* \return -1 if disabled SPI port selected
* \return -2 if unsupported SPI port selected
* \return -3 if invalid spi_prescaler selected
*/
int32_t PIOS_SPI_SetClockSpeed(uint8_t spi, SPIPrescalerTypeDef spi_prescaler)
{
	struct pios_spi_dev *spi_dev;
	SPI_InitTypeDef SPI_InitStructure;

	/* Get a handle for the device configuration */
	spi_dev = find_spi_dev_by_id(spi);

	if (!spi_dev) {
		/* Undefined SPI port for this board (see pios_board.c) */
		return -2;
	}

	if (spi_prescaler >= 8) {
		/* Invalid prescaler selected */
		return -3;
	}

	/* Start with a copy of the default configuration for the peripheral */
	SPI_InitStructure = spi_dev->cfg->init;

	/* Adjust the prescaler for the peripheral's clock */
	SPI_InitStructure.SPI_BaudRatePrescaler = ((uint16_t) spi_prescaler & 7) << 3;

	/* Write back the new configuration */
	SPI_Init(spi_dev->cfg->regs, &SPI_InitStructure);

	PIOS_SPI_TransferByte(spi, 0xFF);
	return 0;
}

/**
* Controls the RC (Register Clock alias Chip Select) pin of a SPI port
* \param[in] spi SPI number (0 or 1)
* \param[in] pin_value 0 or 1
* \return 0 if no error
* \return -1 if disabled SPI port selected
* \return -2 if unsupported SPI port selected
*/
int32_t PIOS_SPI_RC_PinSet(uint8_t spi, uint8_t pin_value)
{
	struct pios_spi_dev *spi_dev;

	/* Get a handle for the device configuration */
	spi_dev = find_spi_dev_by_id(spi);

	if (!spi_dev) {
		/* Undefined SPI port for this board (see pios_board.c) */
		return -2;
	}

	if (pin_value) {
		GPIO_SetBits(spi_dev->cfg->ssel.gpio, spi_dev->cfg->ssel.init.GPIO_Pin);
	} else {
		GPIO_ResetBits(spi_dev->cfg->ssel.gpio, spi_dev->cfg->ssel.init.GPIO_Pin);
	}

	return 0;
}

/**
* Transfers a byte to SPI output and reads back the return value from SPI input
* \param[in] spi SPI number (0 or 1)
* \param[in] b the byte which should be transfered
*/
int32_t PIOS_SPI_TransferByte(uint8_t spi, uint8_t b)
{
	struct pios_spi_dev *spi_dev;
	uint8_t dummy;
	uint8_t rx_byte;

	/* Get a handle for the device configuration */
	spi_dev = find_spi_dev_by_id(spi);
	PIOS_DEBUG_Assert(spi_dev);

	/*
	 * Procedure taken from STM32F10xxx Reference Manual section 23.3.5
	 */

	/* Make sure the RXNE flag is cleared by reading the DR register */
	dummy = spi_dev->cfg->regs->DR;

	/* Start the transfer */
	spi_dev->cfg->regs->DR = b;

	/* Wait until there is a byte to read */
	while (!(spi_dev->cfg->regs->SR & SPI_I2S_FLAG_RXNE)) ;

	/* Read the rx'd byte */
	rx_byte = spi_dev->cfg->regs->DR;

	/* Wait until the TXE goes high */
	while (!(spi_dev->cfg->regs->SR & SPI_I2S_FLAG_TXE)) ;

	/* Wait for SPI transfer to have fully completed */
	while (spi_dev->cfg->regs->SR & SPI_I2S_FLAG_BSY) ;

	/* Return received byte */
	return rx_byte;
}

/**
* Transfers a block of bytes via DMA.
* \param[in] spi SPI number (0 or 1)
* \param[in] send_buffer pointer to buffer which should be sent.<BR>
* If NULL, 0xff (all-one) will be sent.
* \param[in] receive_buffer pointer to buffer which should get the received values.<BR>
* If NULL, received bytes will be discarded.
* \param[in] len number of bytes which should be transfered
* \param[in] callback pointer to callback function which will be executed
* from DMA channel interrupt once the transfer is finished.
* If NULL, no callback function will be used, and PIOS_SPI_TransferBlock() will
* block until the transfer is finished.
* \return >= 0 if no error during transfer
* \return -1 if disabled SPI port selected
* \return -2 if unsupported SPI port selected
* \return -3 if function has been called during an ongoing DMA transfer
*/
int32_t PIOS_SPI_TransferBlock(uint8_t spi, const uint8_t * send_buffer, uint8_t * receive_buffer, uint16_t len, void *callback)
{
	struct pios_spi_dev *spi_dev;
	DMA_InitTypeDef dma_init;

	/* Get a handle for the device configuration */
	spi_dev = find_spi_dev_by_id(spi);

	if (!spi_dev) {
		/* Undefined SPI port for this board (see pios_board.c) */
		return -2;
	}

	/* Exit if ongoing transfer */
	if (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) {
		return -3;
	}

	/* Disable the SPI peripheral */
	SPI_Cmd(spi_dev->cfg->regs, DISABLE);

	/* Disable the DMA channels */
	DMA_Cmd(spi_dev->cfg->dma.rx.channel, DISABLE);
	DMA_Cmd(spi_dev->cfg->dma.tx.channel, DISABLE);

	/* Set callback function */
	spi_dev->callback = callback;

	/*
	 * Configure Rx channel
	 */

	/* Start with the default configuration for this peripheral */
	dma_init = spi_dev->cfg->dma.rx.init;

	if (receive_buffer != NULL) {
		/* Enable memory addr. increment - bytes written into receive buffer */
		dma_init.DMA_MemoryBaseAddr = (uint32_t) receive_buffer;
		dma_init.DMA_MemoryInc = DMA_MemoryInc_Enable;
	} else {
		/* Disable memory addr. increment - bytes written into dummy buffer */
		spi_dev->rx_dummy_byte = 0xFF;
		dma_init.DMA_MemoryBaseAddr = (uint32_t) & spi_dev->rx_dummy_byte;
		dma_init.DMA_MemoryInc = DMA_MemoryInc_Disable;
	}
	if (spi_dev->cfg->use_crc) {
		/* Make sure the CRC error flag is cleared before we start */
		SPI_I2S_ClearFlag(spi_dev->cfg->regs, SPI_FLAG_CRCERR);
	}

	dma_init.DMA_BufferSize = len;
	DMA_Init(spi_dev->cfg->dma.rx.channel, &(dma_init));

	/*
	 * Configure Tx channel
	 */

	/* Start with the default configuration for this peripheral */
	dma_init = spi_dev->cfg->dma.tx.init;

	if (send_buffer != NULL) {
		/* Enable memory addr. increment - bytes written into receive buffer */
		dma_init.DMA_MemoryBaseAddr = (uint32_t) send_buffer;
		dma_init.DMA_MemoryInc = DMA_MemoryInc_Enable;
	} else {
		/* Disable memory addr. increment - bytes written into dummy buffer */
		spi_dev->tx_dummy_byte = 0xFF;
		dma_init.DMA_MemoryBaseAddr = (uint32_t) & spi_dev->tx_dummy_byte;
		dma_init.DMA_MemoryInc = DMA_MemoryInc_Disable;
	}

	if (spi_dev->cfg->use_crc) {
		/* The last byte of the payload will be replaced with the CRC8 */
		dma_init.DMA_BufferSize = len - 1;
	} else {
		dma_init.DMA_BufferSize = len;
	}

	DMA_Init(spi_dev->cfg->dma.tx.channel, &(dma_init));

	/* Enable DMA interrupt if callback function active */
	DMA_ITConfig(spi_dev->cfg->dma.rx.channel, DMA_IT_TC, (callback != NULL) ? ENABLE : DISABLE);

	/* Flush out the CRC registers */
	SPI_CalculateCRC(spi_dev->cfg->regs, DISABLE);
	(void)SPI_GetCRC(spi_dev->cfg->regs, SPI_CRC_Rx);
	SPI_I2S_ClearFlag(spi_dev->cfg->regs, SPI_FLAG_CRCERR);

	/* Make sure to flush out the receive buffer */
	(void)SPI_I2S_ReceiveData(spi_dev->cfg->regs);

	if (spi_dev->cfg->use_crc) {
		/* Need a 0->1 transition to reset the CRC logic */
		SPI_CalculateCRC(spi_dev->cfg->regs, ENABLE);
	}

	/* Start DMA transfers */
	DMA_Cmd(spi_dev->cfg->dma.rx.channel, ENABLE);
	DMA_Cmd(spi_dev->cfg->dma.tx.channel, ENABLE);

	/* Reenable the SPI device */
	SPI_Cmd(spi_dev->cfg->regs, ENABLE);

	if (callback) {
		/* User has requested a callback, don't wait for the transfer to complete. */
		return 0;
	}

	/* Wait until all bytes have been transmitted/received */
	while (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) ;

	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
	while (!(SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_TXE))) ;

	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
	while (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_BSY)) ;

	/* Check the CRC on the transfer if enabled. */
	if (spi_dev->cfg->use_crc) {
		/* Check the SPI CRC error flag */
		if (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_FLAG_CRCERR)) {
			return -4;
		}
	}

	/* No error */
	return 0;
}

/**
* Check if a transfer is in progress
* \param[in] spi SPI number (0 or 1)
* \return >= 0 if no transfer is in progress
* \return -1 if disabled SPI port selected
* \return -2 if unsupported SPI port selected
* \return -3 if function has been called during an ongoing DMA transfer
*/
int32_t PIOS_SPI_Busy(uint8_t spi)
{
	struct pios_spi_dev * spi_dev;

	/* Get a handle for the device configuration */
	spi_dev = find_spi_dev_by_id(spi);

	if (!spi_dev) {
		/* Undefined SPI port for this board (see pios_board.c) */
		return -2;
	}

	/* DMA buffer has data or SPI transmit register not empty or SPI is busy*/
	if (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel) ||
		!SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_TXE) ||
		SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_BSY))
	{
		return -3;
	}

	return(0);
}





void PIOS_SPI_IRQ_Handler(uint8_t spi)
{
	struct pios_spi_dev *spi_dev;

	spi_dev = find_spi_dev_by_id(spi);
	PIOS_DEBUG_Assert(spi_dev);

	DMA_ClearFlag(spi_dev->cfg->dma.irq.flags);

	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
	while (!(SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_TXE))) ;

	/* Wait for the final bytes of the transfer to complete, including CRC byte(s). */
	while (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_I2S_FLAG_BSY)) ;

	if (spi_dev->callback != NULL) {
		bool crc_ok = TRUE;
		uint8_t crc_val;

		if (SPI_I2S_GetFlagStatus(spi_dev->cfg->regs, SPI_FLAG_CRCERR)) {
			crc_ok = FALSE;
			SPI_I2S_ClearFlag(spi_dev->cfg->regs, SPI_FLAG_CRCERR);
		}
		crc_val = SPI_GetCRC(spi_dev->cfg->regs, SPI_CRC_Rx);
		spi_dev->callback(crc_ok, crc_val);
	}
}

#endif

/**
  * @}
  * @}
  */