[KINETIS] Add SPI driver for K2x family

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@7185 35acf78f-673a-0410-8e92-d51de3d6d3f4

3 files changed, 641 insertions, 0 deletions

diff --git a/os/hal/ports/KINETIS/K20x/platform.mk b/os/hal/ports/KINETIS/K20x/platform.mk
index 71735aaf5..2d5ab5859 100644
--- a/os/hal/ports/KINETIS/K20x/platform.mk
+++ b/os/hal/ports/KINETIS/K20x/platform.mk
@@ -3,6 +3,7 @@ PLATFORMSRC = ${CHIBIOS}/os/hal/ports/common/ARMCMx/nvic.c \
               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/hal_lld.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/pal_lld.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/serial_lld.c \

+              ${CHIBIOS}/os/hal/ports/KINETIS/K20x/spi_lld.c \

               ${CHIBIOS}/os/hal/ports/KINETIS/K20x/st_lld.c

 

 # Required include directories

diff --git a/os/hal/ports/KINETIS/K20x/spi_lld.c b/os/hal/ports/KINETIS/K20x/spi_lld.c
new file mode 100644
index 000000000..ee645e686
--- /dev/null
+++ b/os/hal/ports/KINETIS/K20x/spi_lld.c
@@ -0,0 +1,382 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/spi_lld.c

+ * @brief   KINETIS SPI subsystem low level driver source.

+ *

+ * @addtogroup SPI

+ * @{

+ */

+

+#include "hal.h"

+

+#if HAL_USE_SPI || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver exported variables.                                                */

+/*===========================================================================*/

+

+/** @brief SPI0 driver identifier.*/

+#if KINETIS_SPI_USE_SPI0 || defined(__DOXYGEN__)

+SPIDriver SPID1;

+#endif

+

+/*===========================================================================*/

+/* Driver local variables and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver local functions.                                                   */

+/*===========================================================================*/

+

+static void spi_start_xfer(SPIDriver *spip, bool polling)

+{

+  /*

+   * Enable the DSPI peripheral in master mode.

+   * On receive overflow, new data will overwrite old data.

+   * Set slave selects to be active low.

+   * Clear the TX and RX FIFOs.

+   * */

+  spip->spi->MCR = SPIx_MCR_MSTR |

+      SPIx_MCR_ROOE |

+      SPIx_MCR_PCSIS(KINETIS_SPI_PCS_ALL) |

+      SPIx_MCR_CLR_TXF | SPIx_MCR_CLR_RXF;

+

+  /* If we are not polling then enable interrupts */

+  if (!polling) {

+

+    /* Enable transmit fill, receive and end of queue interrupts */

+    spip->spi->RSER = SPIx_RSER_TFFF_RE | SPIx_RSER_RFDF_RE |

+        SPIx_RSER_EOQF_RE;

+

+  }

+}

+

+static void spi_stop_xfer(SPIDriver *spip)

+{

+  /* Halt the DSPI peripheral */

+  spip->spi->MCR = SPIx_MCR_MSTR |

+      SPIx_MCR_ROOE |

+      SPIx_MCR_PCSIS(KINETIS_SPI_PCS_ALL) |

+      SPIx_MCR_CLR_TXF | SPIx_MCR_CLR_RXF |

+      SPIx_MCR_HALT;

+

+  /* Clear all interrupt enables */

+  spip->spi->RSER = 0;

+

+  /* Clear all the flags which are currently set. */

+  spip->spi->SR |= spip->spi->SR;

+}

+

+/*===========================================================================*/

+/* Driver interrupt handlers.                                                */

+/*===========================================================================*/

+

+OSAL_IRQ_HANDLER(Vector70) {

+  OSAL_IRQ_PROLOGUE();

+

+  SPIDriver *spip = &SPID1;

+  uint32_t sr = spip->spi->SR;

+

+  /* Handle Receive FIFO Drain interrupt */

+  if (sr & SPIx_SR_RFDF) {

+

+    /* Pop the data out of the fifo */

+    uint8_t data = spip->spi->POPR;

+

+    /* If we have an rxbuf and it has space then store the data */

+    if (spip->rxbuf && spip->rxidx < spip->nbytes) {

+      spip->rxbuf[spip->rxidx++] = data;

+    }

+

+    /* Clear the Receive FIFO Drain Flag */

+    spip->spi->SR = SPIx_SR_RFDF;

+  }

+

+  /* Handle End of Queue interrupt */

+  if (sr & SPIx_SR_EOQF) {

+

+    spip->spi->SR = SPIx_SR_EOQF;

+

+    spi_stop_xfer(spip);

+

+    _spi_isr_code(spip);

+  }

+

+  /* Handle Transmit FIFO Fill interrupt */

+  if (sr & SPIx_SR_TFFF) {

+

+    /* The data to send is either the next tx byte or a filler byte */

+    uint8_t data = spip->txbuf ? spip->txbuf[spip->txidx] : 0x00;

+

+    /* Calculate the number of bytes remaining and increment the index */

+    size_t n = spip->nbytes - spip->txidx++;

+

+    /* Push the data into the FIFO, CONT if more bytes, EOQ if last byte */

+    spip->spi->PUSHR = (n > 1 ? SPIx_PUSHR_CONT : SPIx_PUSHR_EOQ) |

+        SPIx_PUSHR_PCS(spip->config->pcs) |

+        SPIx_PUSHR_TXDATA(data);

+

+    /* Clear the Transmit FIFO Fill Flag */

+    spip->spi->SR = SPIx_SR_TFFF;

+  }

+

+  OSAL_IRQ_EPILOGUE();

+}

+

+/*===========================================================================*/

+/* Driver exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Low level SPI driver initialization.

+ *

+ * @notapi

+ */

+void spi_lld_init(void) {

+

+  nvicEnableVector(SPI0_IRQn, KINETIS_SPI_SPI0_IRQ_PRIORITY);

+

+#if KINETIS_SPI_USE_SPI0

+  spiObjectInit(&SPID1);

+#endif

+

+}

+

+/**

+ * @brief   Configures and activates the SPI peripheral.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ *

+ * @notapi

+ */

+void spi_lld_start(SPIDriver *spip) {

+

+  /* If in stopped state then enables the SPI and DMA clocks.*/

+  if (spip->state == SPI_STOP) {

+

+#if KINETIS_SPI_USE_SPI0

+    if (&SPID1 == spip) {

+

+      /* Enable the clock for SPI0 */

+      SIM->SCGC6 |= SIM_SCGC6_SPI0;

+

+      SPID1.spi = SPI0;

+

+      if (spip->config->tar0) {

+        spip->spi->CTAR[0] = spip->config->tar0;

+      } else {

+        spip->spi->CTAR[0] = KINETIS_SPI_TAR0_DEFAULT;

+      }

+

+      spip->spi->CTAR[1] = KINETIS_SPI_TAR1_DEFAULT;

+    }

+#endif

+  }

+

+  /* SPI setup and enable.*/

+}

+

+/**

+ * @brief   Deactivates the SPI peripheral.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ *

+ * @notapi

+ */

+void spi_lld_stop(SPIDriver *spip) {

+

+  /* If in ready state then disables the SPI clock.*/

+  if (spip->state == SPI_READY) {

+

+    /* Disable the clock for SPI0 */

+    SIM->SCGC6 &= ~SIM_SCGC6_SPI0;

+

+#if KINETIS_SPI_USE_SPI0

+    if (&SPID1 == spip) {

+      /* SPI halt.*/

+      spip->spi->MCR |= SPIx_MCR_HALT;

+    }

+#endif

+  }

+}

+

+/**

+ * @brief   Asserts the slave select signal and prepares for transfers.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ *

+ * @notapi

+ */

+void spi_lld_select(SPIDriver *spip) {

+

+  /* If we are not using the DSPI managed chip select then assert the SS */

+  if (!spip->config->pcs) {

+    palClearPad(spip->config->ssport, spip->config->sspad);

+  }

+}

+

+/**

+ * @brief   Deasserts the slave select signal.

+ * @details The previously selected peripheral is unselected.

+ *          This has no effect if we are using the KINETIS PCS mode to

+ *          manage slave select.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ *

+ * @notapi

+ */

+void spi_lld_unselect(SPIDriver *spip) {

+

+  /* If we are not using the DSPI managed chip select then deassert the SS */

+  if (!spip->config->pcs) {

+    palSetPad(spip->config->ssport, spip->config->sspad);

+  }

+}

+

+/**

+ * @brief   Ignores data on the SPI bus.

+ * @details This asynchronous function starts the transmission of a series of

+ *          idle words on the SPI bus and ignores the received data.

+ * @post    At the end of the operation the configured callback is invoked.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ * @param[in] n         number of words to be ignored

+ *

+ * @notapi

+ */

+void spi_lld_ignore(SPIDriver *spip, size_t n) {

+

+  spip->nbytes = n;

+  spip->rxbuf = NULL;

+  spip->rxidx = 0;

+  spip->txbuf = NULL;

+  spip->txidx = 0;

+

+  spi_start_xfer(spip, false);

+}

+

+/**

+ * @brief   Exchanges data on the SPI bus.

+ * @details This asynchronous function starts a simultaneous transmit/receive

+ *          operation.

+ * @post    At the end of the operation the configured callback is invoked.

+ * @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.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ * @param[in] n         number of words to be exchanged

+ * @param[in] txbuf     the pointer to the transmit buffer

+ * @param[out] rxbuf    the pointer to the receive buffer

+ *

+ * @notapi

+ */

+void spi_lld_exchange(SPIDriver *spip, size_t n,

+                      const void *txbuf, void *rxbuf) {

+

+  spip->nbytes = n;

+  spip->rxbuf = rxbuf;

+  spip->rxidx = 0;

+  spip->txbuf = txbuf;

+  spip->txidx = 0;

+

+  spi_start_xfer(spip, false);

+}

+

+/**

+ * @brief   Sends data over the SPI bus.

+ * @details This asynchronous function starts a transmit operation.

+ * @post    At the end of the operation the configured callback is invoked.

+ * @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.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ * @param[in] n         number of words to send

+ * @param[in] txbuf     the pointer to the transmit buffer

+ *

+ * @notapi

+ */

+void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf) {

+

+  spip->nbytes = n;

+  spip->rxbuf = NULL;

+  spip->rxidx = 0;

+  spip->txbuf = (void *)txbuf;

+  spip->txidx = 0;

+

+  spi_start_xfer(spip, false);

+}

+

+/**

+ * @brief   Receives data from the SPI bus.

+ * @details This asynchronous function starts a receive operation.

+ * @post    At the end of the operation the configured callback is invoked.

+ * @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.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ * @param[in] n         number of words to receive

+ * @param[out] rxbuf    the pointer to the receive buffer

+ *

+ * @notapi

+ */

+void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf) {

+

+  spip->nbytes = n;

+  spip->rxbuf = rxbuf;

+  spip->rxidx = 0;

+  spip->txbuf = NULL;

+  spip->txidx = 0;

+

+  spi_start_xfer(spip, false);

+}

+

+/**

+ * @brief   Exchanges one frame using a polled wait.

+ * @details This synchronous function exchanges one frame using a polled

+ *          synchronization method. This function is useful when exchanging

+ *          small amount of data on high speed channels, usually in this

+ *          situation is much more efficient just wait for completion using

+ *          polling than suspending the thread waiting for an interrupt.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object

+ * @param[in] frame     the data frame to send over the SPI bus

+ * @return              The received data frame from the SPI bus.

+ */

+uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame) {

+

+  spi_start_xfer(spip, true);

+

+  spip->spi->PUSHR = SPIx_PUSHR_PCS(0x10) | SPIx_PUSHR_TXDATA(frame);

+

+  while ((spip->spi->SR & SPIx_SR_RFDF) == 0)

+    ;

+

+  frame = spip->spi->POPR;

+

+  spi_stop_xfer(spip);

+

+  return frame;

+}

+

+#endif /* HAL_USE_SPI */

+

+/** @} */

diff --git a/os/hal/ports/KINETIS/K20x/spi_lld.h b/os/hal/ports/KINETIS/K20x/spi_lld.h
new file mode 100644
index 000000000..8ad716e73
--- /dev/null
+++ b/os/hal/ports/KINETIS/K20x/spi_lld.h
@@ -0,0 +1,258 @@
+/*

+    ChibiOS/HAL - Copyright (C) 2006-2014 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    KINETIS/spi_lld.h

+ * @brief   KINETIS SPI subsystem low level driver header.

+ *

+ * @addtogroup SPI

+ * @{

+ */

+

+#ifndef _SPI_LLD_H_

+#define _SPI_LLD_H_

+

+#if HAL_USE_SPI || defined(__DOXYGEN__)

+

+/*===========================================================================*/

+/* Driver constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Driver pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   SPI0 driver enable switch.

+ * @details If set to @p TRUE the support for SPI0 is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(KINETIS_SPI_USE_SPI0) || defined(__DOXYGEN__)

+#define KINETIS_SPI_USE_SPI0                  FALSE

+#endif

+

+/**

+ * @brief   SPI0 interrupt priority level setting.

+ */

+#if !defined(KINETIS_SPI_SPI0_IRQ_PRIORITY) || defined(__DOXYGEN__)

+#define KINETIS_SPI_SPI0_IRQ_PRIORITY         10

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#define KINETIS_HAS_SPI0    TRUE

+

+#if KINETIS_SPI_USE_SPI0 && !KINETIS_HAS_SPI0

+#error "SPI0 not present in the selected device"

+#endif

+

+#if !KINETIS_SPI_USE_SPI0

+#error "SPI driver activated but no SPI peripheral assigned"

+#endif

+

+#if KINETIS_SPI_USE_SPI0 &&                                                   \

+    !CORTEX_IS_VALID_KERNEL_PRIORITY(KINETIS_SPI_SPI0_IRQ_PRIORITY)

+#error "Invalid IRQ priority assigned to SPI0"

+#endif

+

+/*===========================================================================*/

+/* Driver data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Type of a structure representing an SPI driver.

+ */

+typedef struct SPIDriver SPIDriver;

+

+/**

+ * @brief   SPI notification callback type.

+ *

+ * @param[in] spip      pointer to the @p SPIDriver object triggering the

+ *                      callback

+ */

+typedef void (*spicallback_t)(SPIDriver *spip);

+

+/**

+ * @brief   Driver configuration structure.

+ */

+typedef struct {

+  /**

+   * @brief Operation complete callback or @p NULL.

+   */

+  spicallback_t             end_cb;

+  /* End of the mandatory fields.*/

+  /**

+   * @brief The PCS chip select lines.

+   */

+  uint8_t                   pcs;

+  /**

+   * @brief The chip select line port - when not using pcs.

+   */

+  ioportid_t                ssport;

+  /**

+   * @brief The chip select line pad number - when not using pcs.

+   */

+  uint16_t                  sspad;

+  /**

+   * @brief SPI initialization data.

+   */

+  uint32_t                  tar0;

+} SPIConfig;

+

+/**

+ * @brief   Structure representing a SPI driver.

+ */

+struct SPIDriver {

+  /**

+   * @brief Driver state.

+   */

+  spistate_t                state;

+  /**

+   * @brief Current configuration data.

+   */

+  const SPIConfig           *config;

+#if SPI_USE_WAIT || defined(__DOXYGEN__)

+  /**

+   * @brief Waiting thread.

+   */

+  thread_reference_t        thread;

+#endif /* SPI_USE_WAIT */

+#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

+  /**

+   * @brief Mutex protecting the bus.

+   */

+  mutex_t                   mutex;

+#endif /* SPI_USE_MUTUAL_EXCLUSION */

+#if defined(SPI_DRIVER_EXT_FIELDS)

+  SPI_DRIVER_EXT_FIELDS

+#endif

+  /* End of the mandatory fields.*/

+  /**

+   * @brief Pointer to the SPIx registers block.

+   */

+  SPI_TypeDef               *spi;

+  /**

+   * @brief   Number of bytes of data to transfer.

+   */

+  size_t                    nbytes;

+  /**

+   * @brief   Pointer to the buffer with data to send.

+   */

+  const uint8_t             *txbuf;

+  /**

+   * @brief   Current index in buffer when sending data.

+   */

+  size_t                    txidx;

+  /**

+   * @brief   Pointer to the buffer to put received data.

+   */

+  uint8_t                   *rxbuf;

+  /**

+   * @brief   Current index in buffer when receiving data.

+   */

+  size_t                    rxidx;

+};

+

+/*===========================================================================*/

+/* Driver macros.                                                            */

+/*===========================================================================*/

+

+/* TAR settings for n bits at SYSCLK / 2 */

+#define KINETIS_SPI_TAR_SYSCLK_DIV_2(n)\

+    SPIx_CTARn_FMSZ((n) - 1) | \

+    SPIx_CTARn_CPOL | \

+    SPIx_CTARn_CPHA | \

+    SPIx_CTARn_DBR | \

+    SPIx_CTARn_PBR(0) | \

+    SPIx_CTARn_BR(0) | \

+    SPIx_CTARn_CSSCK(0) | \

+    SPIx_CTARn_ASC(0) | \

+    SPIx_CTARn_DT(0)

+

+/* TAR settings for n bits at SYSCLK / 4096 for debugging */

+#define KINETIS_SPI_TAR_SYSCLK_DIV_4096(n) \

+    SPIx_CTARn_FMSZ(((n) - 1)) | \

+    SPIx_CTARn_CPOL | \

+    SPIx_CTARn_CPHA | \

+    SPIx_CTARn_PBR(0) | \

+    SPIx_CTARn_BR(0xB) | \

+    SPIx_CTARn_CSSCK(0xB) | \

+    SPIx_CTARn_ASC(0x7) | \

+    SPIx_CTARn_DT(0xB)

+

+#define KINETIS_SPI_TAR_8BIT_FAST   KINETIS_SPI_TAR_SYSCLK_DIV_2(8)

+#define KINETIS_SPI_TAR_8BIT_SLOW   KINETIS_SPI_TAR_SYSCLK_DIV_4096(8)

+

+#define KINETIS_SPI_TAR0_DEFAULT    KINETIS_SPI_TAR_SYSCLK_DIV_2(8)

+#define KINETIS_SPI_TAR1_DEFAULT    KINETIS_SPI_TAR_SYSCLK_DIV_2(8)

+

+/*

+ * A mask of the slave select lines to be managed by KINETIS DSPI.

+ *

+ * These values are mapped to real ports and pins by selecting

+ * PAL_MODE_ALTERNATIVE_2 as the pin mode. Multiple values may

+ * be ORed together to select multiple outputs. This can be used with an

+ * external multiplexor to increase the number of slave selects.

+ *

+ * If KINETIS_SPI_PCS_NONE is selected for the configuration pcs field

+ * then the configuration ssport and sspad values are used to control the

+ * slave select directly and the KINETIS DSPI managed select is not used.

+ */

+#define KINETIS_SPI_PCS_NONE        0x00

+#define KINETIS_SPI_PCS0            0x01

+#define KINETIS_SPI_PCS1            0x02

+#define KINETIS_SPI_PCS2            0x04

+#define KINETIS_SPI_PCS3            0x08

+#define KINETIS_SPI_PCS4            0x10

+#define KINETIS_SPI_PCS_ALL         0x1F

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if KINETIS_SPI_USE_SPI0 && !defined(__DOXYGEN__)

+extern SPIDriver SPID1;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void spi_lld_init(void);

+  void spi_lld_start(SPIDriver *spip);

+  void spi_lld_stop(SPIDriver *spip);

+  void spi_lld_select(SPIDriver *spip);

+  void spi_lld_unselect(SPIDriver *spip);

+  void spi_lld_ignore(SPIDriver *spip, size_t n);

+  void spi_lld_exchange(SPIDriver *spip, size_t n,

+                        const void *txbuf, void *rxbuf);

+  void spi_lld_send(SPIDriver *spip, size_t n, const void *txbuf);

+  void spi_lld_receive(SPIDriver *spip, size_t n, void *rxbuf);

+  uint16_t spi_lld_polled_exchange(SPIDriver *spip, uint16_t frame);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* HAL_USE_SPI */

+

+#endif /* _SPI_LLD_H_ */

+

+/** @} */