From a1ab73c5f5c5867721a7695889a320acec6693ce Mon Sep 17 00:00:00 2001 From: utzig Date: Sat, 23 Aug 2014 17:40:25 +0000 Subject: [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 --- os/hal/ports/KINETIS/K20x/platform.mk | 1 + os/hal/ports/KINETIS/K20x/spi_lld.c | 382 ++++++++++++++++++++++++++++++++++ os/hal/ports/KINETIS/K20x/spi_lld.h | 258 +++++++++++++++++++++++ 3 files changed, 641 insertions(+) create mode 100644 os/hal/ports/KINETIS/K20x/spi_lld.c create mode 100644 os/hal/ports/KINETIS/K20x/spi_lld.h (limited to 'os/hal/ports/KINETIS/K20x') 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_ */ + +/** @} */ -- cgit v1.2.3