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

6 files changed, 292 insertions, 61 deletions

diff --git a/os/io/platforms/STM32/spi_lld.c b/os/io/platforms/STM32/spi_lld.c
index 3ee0abba6..d0a84ddf7 100644
--- a/os/io/platforms/STM32/spi_lld.c
+++ b/os/io/platforms/STM32/spi_lld.c
@@ -47,24 +47,116 @@ static uint16_t dummytx;
 /* Low Level Driver local functions.                                         */

 /*===========================================================================*/

 

+static void spi_stop(SPIDriver *spip, msg_t msg) {

+

+  /* Stops RX and TX DMA channels.*/

+  spip->spd_dmarx->CCR = 0;

+  spip->spd_dmatx->CCR = 0;

+

+  /* Stops SPI operations.*/

+  spip->spd_spi->CR1 &= ~SPI_CR1_SPE;

+

+  chSchReadyI(spip->spd_thread)->p_msg = msg;

+}

+

+static void dma_start(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

+  uint32_t ccr;

+

+  /* Common DMA setup.*/

+  ccr = spip->spd_dmaprio;

+  if ((spip->spd_config->spc_cr1 & SPI_CR1_DFF) != 0)

+    ccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0; /* 16 bits transfer.*/

+

+  /* RX DMA setup.*/

+  spip->spd_dmarx->CMAR = (uint32_t)rxbuf;

+  spip->spd_dmarx->CNDTR = (uint32_t)n;

+  spip->spd_dmarx->CCR |= ccr;

+

+  /* TX DMA setup.*/

+  spip->spd_dmatx->CMAR = (uint32_t)txbuf;

+  spip->spd_dmatx->CNDTR = (uint32_t)n;

+  spip->spd_dmatx->CCR |= ccr;

+}

+

+static msg_t spi_start_wait(SPIDriver *spip) {

+  msg_t msg;

+

+  chSysLock();

+  spip->spd_spi->CR1 |= SPI_CR1_SPE;    /* SPI enable.*/

+  spip->spd_thread = currp;

+  chSchGoSleepS(PRSUSPENDED);           /* Wait for completion event.*/

+  spip->spd_thread = NULL;

+  msg = currp->p_rdymsg;

+  chSysUnlock();

+  return msg;

+}

+

 /*===========================================================================*/

 /* Low Level Driver interrupt handlers.                                      */

 /*===========================================================================*/

 

 #if USE_STM32_SPI1 || defined(__DOXYGEN__)

+/**

+ * @brief SPI1 RX DMA interrupt handler (channel 2).
+ */

 CH_IRQ_HANDLER(Vector70) {

 

   CH_IRQ_PROLOGUE();

 

+  if ((DMA1->ISR & DMA_ISR_TCIF2) != 0)

+    spi_stop(&SPID1, RDY_OK);

+  else

+    spi_stop(&SPID1, RDY_RESET);

+  DMA1->IFCR |= DMA_IFCR_CGIF2  | DMA_IFCR_CTCIF2 |

+                DMA_IFCR_CHTIF2 | DMA_IFCR_CTEIF2;

+

+  CH_IRQ_EPILOGUE();

+}

+

+/**

+ * @brief SPI1 TX DMA interrupt handler (channel 3).

+ */

+CH_IRQ_HANDLER(Vector74) {

+

+  CH_IRQ_PROLOGUE();

+

+  spi_stop(&SPID1, RDY_RESET);

+  DMA1->IFCR |= DMA_IFCR_CGIF3  | DMA_IFCR_CTCIF3 |

+                DMA_IFCR_CHTIF3 | DMA_IFCR_CTEIF3;

+

   CH_IRQ_EPILOGUE();

 }

 #endif

 

 #if USE_STM32_SPI2 || defined(__DOXYGEN__)

+/**

+ * @brief SPI2 RX DMA interrupt handler (channel 4).

+ */

 CH_IRQ_HANDLER(Vector78) {

 

   CH_IRQ_PROLOGUE();

 

+  if ((DMA1->ISR & DMA_ISR_TCIF2) != 0)

+    spi_stop(&SPID2, RDY_OK);

+  else

+    spi_stop(&SPID2, RDY_RESET);

+  DMA2->IFCR |= DMA_IFCR_CGIF4  | DMA_IFCR_CTCIF4 |

+                DMA_IFCR_CHTIF4 | DMA_IFCR_CTEIF4;

+

+  CH_IRQ_EPILOGUE();

+}

+

+/**

+ * @brief SPI2 TX DMA interrupt handler (channel 5).

+ */

+CH_IRQ_HANDLER(Vector7C) {

+

+  CH_IRQ_PROLOGUE();

+

+  spi_stop(&SPID2, RDY_RESET);

+  DMA2->IFCR |= DMA_IFCR_CGIF5  | DMA_IFCR_CTCIF5 |

+                DMA_IFCR_CHTIF5 | DMA_IFCR_CTEIF5;

+

   CH_IRQ_EPILOGUE();

 }

 #endif

@@ -78,10 +170,11 @@ CH_IRQ_HANDLER(Vector78) {
  */

 void spi_lld_init(void) {

 

-  dummyrx = dummytx = 0xFFFF;

+  dummytx = 0xFFFF;

 

 #if USE_STM32_SPI1

   spiObjectInit(&SPID1);

+  SPID1.spd_thread  = NULL;

   SPID1.spd_spi     = SPI1;

   SPID1.spd_dmarx   = DMA1_Channel2;

   SPID1.spd_dmatx   = DMA1_Channel3;

@@ -92,6 +185,7 @@ void spi_lld_init(void) {
 

 #if USE_STM32_SPI2

   spiObjectInit(&SPID2);

+  SPID2.spd_thread  = NULL;

   SPID2.spd_spi     = SPI2;

   SPID2.spd_dmarx   = DMA1_Channel4;

   SPID2.spd_dmatx   = DMA1_Channel5;

@@ -115,6 +209,20 @@ void spi_lld_setup(SPIDriver *spip) {
   /* DMA setup.*/

   spip->spd_dmarx->CPAR  = (uint32_t)&spip->spd_spi->DR;

   spip->spd_dmatx->CPAR  = (uint32_t)&spip->spd_spi->DR;

+

+  /*

+   * If specified in the configuration then emits a pulses train on

+   * the SPI clock line without asserting any slave.
+   */

+  if (spip->spd_config->spc_initcnt > 0) {

+    spip->spd_dmarx->CCR = DMA_CCR1_TCIE |

+                           DMA_CCR1_TEIE | DMA_CCR1_EN;

+    spip->spd_dmatx->CCR = DMA_CCR1_DIR  |

+                           DMA_CCR1_TEIE | DMA_CCR1_EN;

+    dma_start(spip, (size_t)spip->spd_config->spc_initcnt,

+              &dummyrx, &dummytx);

+    (void) spi_start_wait(spip);

+  }

 }

 

 /**

@@ -143,48 +251,70 @@ void spi_lld_unselect(SPIDriver *spip) {
  * @details This function performs a simultaneous transmit/receive operation.

  *

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

- * @param n number of words to be exchanged

- * @param rxbuf the pointer to the receive buffer, if @p NULL is specified then

- *              the input data is discarded.

- *              Note that the buffer is organized as an uint8_t array for

- *              data sizes below or equal to 8 bits else it is organized as

- *              an uint16_t array.

- * @param txbuf the pointer to the transmit buffer, if @p NULL is specified all

- *              ones are transmitted.

- *              Note that the buffer is organized as an uint8_t array for

- *              data sizes below or equal to 8 bits else it is organized as

- *              an uint16_t array.

+ * @param n number of words to exchange

+ * @param rxbuf the pointer to the receive buffer

+ * @param txbuf the pointer to the transmit buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

  */

-void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

-  uint32_t baseccr, ccr;

-

-  /* Common DMA setup.*/

-  baseccr = spip->spd_dmaprio;

-  if ((spip->spd_config->spc_cr1 & SPI_CR1_DFF) != 0)

-    baseccr |= DMA_CCR1_MSIZE_0 | DMA_CCR1_PSIZE_0;    /* 16 bits transfer.*/

-

-  /* RX DMA setup.*/

-  ccr = baseccr | DMA_CCR1_TCIE | DMA_CCR1_TEIE | DMA_CCR1_EN;

-  if (rxbuf == NULL)

-    rxbuf = &dummyrx;

-  else

-    ccr |= DMA_CCR1_MINC;

-  spip->spd_dmarx->CMAR = (uint32_t)rxbuf;

-  spip->spd_dmarx->CNDTR = (uint32_t)n;

-  spip->spd_dmarx->CCR = ccr;

+msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

+

+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE | DMA_CCR1_MINC |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  | DMA_CCR1_MINC |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  dma_start(spip, n, rxbuf, txbuf);

+  return spi_start_wait(spip);

+}

 

-  /* TX DMA setup.*/

-  ccr = baseccr | DMA_CCR1_DIR | DMA_CCR1_TEIE | DMA_CCR1_EN;

-  if (txbuf == NULL)

-    txbuf = &dummytx;

-  else

-    ccr |= DMA_CCR1_PINC;

-  spip->spd_dmatx->CMAR = (uint32_t)txbuf;

-  spip->spd_dmatx->CNDTR = (uint32_t)n;

-  spip->spd_dmatx->CCR = ccr;

+/**

+ * @brief Sends data ever the SPI bus.

+ *

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

+ * @param n number of words to send

+ * @param txbuf the pointer to the transmit buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

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

+

+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  | DMA_CCR1_MINC |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  dma_start(spip, n, &dummyrx, txbuf);

+  return spi_start_wait(spip);

+}

 

-  /* SPI enable.*/

-  spip->spd_spi->CR1 != SPI_CR1_SPE;

+/**

+ * @brief Receives data from the SPI bus.

+ *

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

+ * @param n number of words to receive

+ * @param rxbuf the pointer to the receive buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

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

+

+  spip->spd_dmarx->CCR = DMA_CCR1_TCIE | DMA_CCR1_MINC |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  spip->spd_dmatx->CCR = DMA_CCR1_DIR  |

+                         DMA_CCR1_TEIE | DMA_CCR1_EN;

+  dma_start(spip, n, rxbuf, &dummytx);

+  return spi_start_wait(spip);

 }

 

 /** @} */

diff --git a/os/io/platforms/STM32/spi_lld.h b/os/io/platforms/STM32/spi_lld.h
index 5e5c26106..5775b67db 100644
--- a/os/io/platforms/STM32/spi_lld.h
+++ b/os/io/platforms/STM32/spi_lld.h
@@ -58,7 +58,7 @@
 #endif

 

 /**

- * @brief SPI1 DMA priority (0..3).

+ * @brief SPI1 DMA priority (0..3|lowest..highest).

  * @note The priority level is used for both the TX and RX DMA channels but

  *       because of the channels ordering the RX channel has always priority

  *       over the TX channel.
@@ -68,7 +68,7 @@
 #endif

 

 /**

- * @brief SPI2 DMA priority (0..3).

+ * @brief SPI2 DMA priority (0..3|lowest..highest).

  * @note The priority level is used for both the TX and RX DMA channels but

  *       because of the channels ordering the RX channel has always priority

  *       over the TX channel.

@@ -97,7 +97,7 @@ typedef struct {
   /**

    * @brief Clock pulses to be generated after initialization.

    */

-  cnt_t                 spc_clkpulses;

+  cnt_t                 spc_initcnt;

   /* End of the mandatory fields.*/

   /**

    * @brief The chip select line port.
@@ -137,6 +137,10 @@ typedef struct {
   const SPIConfig       *spd_config;

   /* End of the mandatory fields.*/

   /**

+   * @brief Thread waiting for I/O completion.
+   */

+  Thread                *spd_thread;

+  /**

    * @brief Pointer to the SPIx registers block.
    */

   SPI_TypeDef           *spd_spi;

@@ -174,7 +178,9 @@ extern "C" {
   void spi_lld_setup(SPIDriver *spip);

   void spi_lld_select(SPIDriver *spip);

   void spi_lld_unselect(SPIDriver *spip);

-  void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

+  msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

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

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

 #ifdef __cplusplus

 }

 #endif

diff --git a/os/io/spi.c b/os/io/spi.c
index 7c08fe413..be34c469d 100644
--- a/os/io/spi.c
+++ b/os/io/spi.c
@@ -59,6 +59,7 @@ void spiObjectInit(SPIDriver *spip) {
  */

 void spiSetup(SPIDriver *spip, const SPIConfig *config) {

 

+  chDbgCheck((spip != NULL) && (config != NULL), "spiSetup");

   chDbgAssert(spip->spd_state == SPI_IDLE,

               "spiSetup(), #1",

               "not idle");

@@ -74,6 +75,8 @@ void spiSetup(SPIDriver *spip, const SPIConfig *config) {
  */

 void spiSelect(SPIDriver *spip) {

 

+  chDbgCheck(spip != NULL, "spiSelect");

+

   chSysLock();

 

   chDbgAssert(spip->spd_state == SPI_IDLE,

@@ -93,6 +96,8 @@ void spiSelect(SPIDriver *spip) {
  */

 void spiUnselect(SPIDriver *spip) {

 

+  chDbgCheck(spip != NULL, "spiUnselect");

+

   chSysLock();

 

   chDbgAssert(spip->spd_state == SPI_ACTIVE,

@@ -121,13 +126,63 @@ void spiUnselect(SPIDriver *spip) {
  *              data sizes below or equal to 8 bits else it is organized as

  *              an uint16_t array.
  */

-void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

+msg_t spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

 

+  chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL) && (txbuf != NULL),

+             "spiExchange");

   chDbgAssert(spip->spd_state == SPI_ACTIVE,

               "spiExchange(), #1",

               "not active");

 

-  spi_lld_exchange(spip, n, rxbuf, txbuf);

+  return spi_lld_exchange(spip, n, rxbuf, txbuf);

+}

+

+/**

+ * @brief Sends data ever the SPI bus.

+ *

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

+ * @param n number of words to send

+ * @param txbuf the pointer to the transmit buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

+msg_t spiSend(SPIDriver *spip, size_t n, void *txbuf) {

+

+  chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL),

+             "spiSend");

+  chDbgAssert(spip->spd_state == SPI_ACTIVE,

+              "spiSend(), #1",

+              "not active");

+

+  return spi_lld_send(spip, n, txbuf);

+}

+

+/**

+ * @brief Receives data from the SPI bus.

+ *

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

+ * @param n number of words to receive

+ * @param rxbuf the pointer to the receive buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

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

+

+  chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),

+             "spiReceive");

+  chDbgAssert(spip->spd_state == SPI_ACTIVE,

+              "spiReceive(), #1",

+              "not active");

+

+  return spi_lld_receive(spip, n, rxbuf);

 }

 

 #if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)

@@ -143,6 +198,8 @@ void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {
  */

 void spiAcquireBus(SPIDriver *spip) {

 

+  chDbgCheck(spip != NULL, "spiAcquireBus");

+

 #if CH_USE_MUTEXES

   chMtxLock(&spip->spd_mutex);

 #elif CH_USE_SEMAPHORES

@@ -160,6 +217,8 @@ void spiAcquireBus(SPIDriver *spip) {
  */

 void spiReleaseBus(SPIDriver *spip) {

 

+  chDbgCheck(spip != NULL, "spiReleaseBus");

+

 #if CH_USE_MUTEXES

   (void)spip;

   chMtxUnlock();

diff --git a/os/io/spi.h b/os/io/spi.h
index 54409fe76..816e9f6d4 100644
--- a/os/io/spi.h
+++ b/os/io/spi.h
@@ -48,7 +48,9 @@ extern "C" {
   void spiSetup(SPIDriver *spip, const SPIConfig *config);

   void spiSelect(SPIDriver *spip);

   void spiUnselect(SPIDriver *spip);

-  void spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

+  msg_t spiExchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

+  msg_t spiSend(SPIDriver *spip, size_t n, void *txbuf);

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

 #if SPI_USE_MUTUAL_EXCLUSION

   void spiAcquireBus(SPIDriver *spip);

   void spiReleaseBus(SPIDriver *spip);

diff --git a/os/io/templates/spi_lld.c b/os/io/templates/spi_lld.c
index ca938fe7b..e31dffc4b 100644
--- a/os/io/templates/spi_lld.c
+++ b/os/io/templates/spi_lld.c
@@ -79,19 +79,51 @@ void spi_lld_unselect(SPIDriver *spip) {
  * @details This function performs a simultaneous transmit/receive operation.

  *

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

- * @param n number of words to be exchanged

- * @param rxbuf the pointer to the receive buffer, if @p NULL is specified then

- *              the input data is discarded.

- *              Note that the buffer is organized as an uint8_t array for

- *              data sizes below or equal to 8 bits else it is organized as

- *              an uint16_t array.

- * @param txbuf the pointer to the transmit buffer, if @p NULL is specified all

- *              ones are transmitted.

- *              Note that the buffer is organized as an uint8_t array for

- *              data sizes below or equal to 8 bits else it is organized as

- *              an uint16_t array.

+ * @param n number of words to exchange

+ * @param rxbuf the pointer to the receive buffer

+ * @param txbuf the pointer to the transmit buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

+msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

+

+}

+

+/**

+ * @brief Sends data ever the SPI bus.

+ *

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

+ * @param n number of words to send

+ * @param txbuf the pointer to the transmit buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

+ */

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

+

+}

+

+/**

+ * @brief Receives data from the SPI bus.

+ *

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

+ * @param n number of words to receive

+ * @param rxbuf the pointer to the receive buffer

+ * @return The operation status is returned.

+ * @retval RDY_OK operation complete.

+ * @retval RDY_RESET hardware failure.

+ *

+ * @note The buffers are organized as uint8_t arrays for data sizes below or

+ *       equal to 8 bits else it is organized as uint16_t arrays.

  */

-void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf) {

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

 

 }

 

diff --git a/os/io/templates/spi_lld.h b/os/io/templates/spi_lld.h
index 37f14781e..a8479c008 100644
--- a/os/io/templates/spi_lld.h
+++ b/os/io/templates/spi_lld.h
@@ -62,7 +62,7 @@ typedef struct {
   /**

    * @brief Clock pulses to be generated after initialization.

    */

-  cnt_t                 spc_clkpulses;

+  cnt_t                 spc_initcnt;

   /* End of the mandatory fields.*/

 } SPIConfig;

 

@@ -102,7 +102,9 @@ extern "C" {
   void spi_lld_setup(SPIDriver *spip);

   void spi_lld_select(SPIDriver *spip);

   void spi_lld_unselect(SPIDriver *spip);

-  void spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

+  msg_t spi_lld_exchange(SPIDriver *spip, size_t n, void *rxbuf, void *txbuf);

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

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

 #ifdef __cplusplus

 }

 #endif