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Diffstat (limited to 'ports/stm32/spi.c')
| -rw-r--r-- | ports/stm32/spi.c | 956 |
1 files changed, 956 insertions, 0 deletions
diff --git a/ports/stm32/spi.c b/ports/stm32/spi.c new file mode 100644 index 000000000..654a1327d --- /dev/null +++ b/ports/stm32/spi.c @@ -0,0 +1,956 @@ +/* + * This file is part of the MicroPython project, http://micropython.org/ + * + * The MIT License (MIT) + * + * Copyright (c) 2013, 2014 Damien P. George + * + * 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. + */ + +#include <stdio.h> +#include <string.h> + +#include "py/nlr.h" +#include "py/runtime.h" +#include "py/mphal.h" +#include "extmod/machine_spi.h" +#include "irq.h" +#include "pin.h" +#include "genhdr/pins.h" +#include "bufhelper.h" +#include "dma.h" +#include "spi.h" + +/// \moduleref pyb +/// \class SPI - a master-driven serial protocol +/// +/// SPI is a serial protocol that is driven by a master. At the physical level +/// there are 3 lines: SCK, MOSI, MISO. +/// +/// See usage model of I2C; SPI is very similar. Main difference is +/// parameters to init the SPI bus: +/// +/// from pyb import SPI +/// spi = SPI(1, SPI.MASTER, baudrate=600000, polarity=1, phase=0, crc=0x7) +/// +/// Only required parameter is mode, SPI.MASTER or SPI.SLAVE. Polarity can be +/// 0 or 1, and is the level the idle clock line sits at. Phase can be 0 or 1 +/// to sample data on the first or second clock edge respectively. Crc can be +/// None for no CRC, or a polynomial specifier. +/// +/// Additional method for SPI: +/// +/// data = spi.send_recv(b'1234') # send 4 bytes and receive 4 bytes +/// buf = bytearray(4) +/// spi.send_recv(b'1234', buf) # send 4 bytes and receive 4 into buf +/// spi.send_recv(buf, buf) # send/recv 4 bytes from/to buf + +// Possible DMA configurations for SPI busses: +// SPI1_TX: DMA2_Stream3.CHANNEL_3 or DMA2_Stream5.CHANNEL_3 +// SPI1_RX: DMA2_Stream0.CHANNEL_3 or DMA2_Stream2.CHANNEL_3 +// SPI2_TX: DMA1_Stream4.CHANNEL_0 +// SPI2_RX: DMA1_Stream3.CHANNEL_0 +// SPI3_TX: DMA1_Stream5.CHANNEL_0 or DMA1_Stream7.CHANNEL_0 +// SPI3_RX: DMA1_Stream0.CHANNEL_0 or DMA1_Stream2.CHANNEL_0 +// SPI4_TX: DMA2_Stream4.CHANNEL_5 or DMA2_Stream1.CHANNEL_4 +// SPI4_RX: DMA2_Stream3.CHANNEL_5 or DMA2_Stream0.CHANNEL_4 +// SPI5_TX: DMA2_Stream4.CHANNEL_2 or DMA2_Stream6.CHANNEL_7 +// SPI5_RX: DMA2_Stream3.CHANNEL_2 or DMA2_Stream5.CHANNEL_7 +// SPI6_TX: DMA2_Stream5.CHANNEL_1 +// SPI6_RX: DMA2_Stream6.CHANNEL_1 + +typedef struct _pyb_spi_obj_t { + mp_obj_base_t base; + SPI_HandleTypeDef *spi; + const dma_descr_t *tx_dma_descr; + const dma_descr_t *rx_dma_descr; +} pyb_spi_obj_t; + +#if defined(MICROPY_HW_SPI1_SCK) +SPI_HandleTypeDef SPIHandle1 = {.Instance = NULL}; +#endif +#if defined(MICROPY_HW_SPI2_SCK) +SPI_HandleTypeDef SPIHandle2 = {.Instance = NULL}; +#endif +#if defined(MICROPY_HW_SPI3_SCK) +SPI_HandleTypeDef SPIHandle3 = {.Instance = NULL}; +#endif +#if defined(MICROPY_HW_SPI4_SCK) +SPI_HandleTypeDef SPIHandle4 = {.Instance = NULL}; +#endif +#if defined(MICROPY_HW_SPI5_SCK) +SPI_HandleTypeDef SPIHandle5 = {.Instance = NULL}; +#endif +#if defined(MICROPY_HW_SPI6_SCK) +SPI_HandleTypeDef SPIHandle6 = {.Instance = NULL}; +#endif + +STATIC const pyb_spi_obj_t pyb_spi_obj[] = { + #if defined(MICROPY_HW_SPI1_SCK) + {{&pyb_spi_type}, &SPIHandle1, &dma_SPI_1_TX, &dma_SPI_1_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif + #if defined(MICROPY_HW_SPI2_SCK) + {{&pyb_spi_type}, &SPIHandle2, &dma_SPI_2_TX, &dma_SPI_2_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif + #if defined(MICROPY_HW_SPI3_SCK) + {{&pyb_spi_type}, &SPIHandle3, &dma_SPI_3_TX, &dma_SPI_3_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif + #if defined(MICROPY_HW_SPI4_SCK) + {{&pyb_spi_type}, &SPIHandle4, &dma_SPI_4_TX, &dma_SPI_4_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif + #if defined(MICROPY_HW_SPI5_SCK) + {{&pyb_spi_type}, &SPIHandle5, &dma_SPI_5_TX, &dma_SPI_5_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif + #if defined(MICROPY_HW_SPI6_SCK) + {{&pyb_spi_type}, &SPIHandle6, &dma_SPI_6_TX, &dma_SPI_6_RX}, + #else + {{&pyb_spi_type}, NULL, NULL, NULL}, + #endif +}; + +void spi_init0(void) { + // reset the SPI handles + #if defined(MICROPY_HW_SPI1_SCK) + memset(&SPIHandle1, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle1.Instance = SPI1; + #endif + #if defined(MICROPY_HW_SPI2_SCK) + memset(&SPIHandle2, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle2.Instance = SPI2; + #endif + #if defined(MICROPY_HW_SPI3_SCK) + memset(&SPIHandle3, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle3.Instance = SPI3; + #endif + #if defined(MICROPY_HW_SPI4_SCK) + memset(&SPIHandle4, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle4.Instance = SPI4; + #endif + #if defined(MICROPY_HW_SPI5_SCK) + memset(&SPIHandle5, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle5.Instance = SPI5; + #endif + #if defined(MICROPY_HW_SPI6_SCK) + memset(&SPIHandle6, 0, sizeof(SPI_HandleTypeDef)); + SPIHandle6.Instance = SPI6; + #endif +} + +STATIC int spi_find(mp_obj_t id) { + if (MP_OBJ_IS_STR(id)) { + // given a string id + const char *port = mp_obj_str_get_str(id); + if (0) { + #ifdef MICROPY_HW_SPI1_NAME + } else if (strcmp(port, MICROPY_HW_SPI1_NAME) == 0) { + return 1; + #endif + #ifdef MICROPY_HW_SPI2_NAME + } else if (strcmp(port, MICROPY_HW_SPI2_NAME) == 0) { + return 2; + #endif + #ifdef MICROPY_HW_SPI3_NAME + } else if (strcmp(port, MICROPY_HW_SPI3_NAME) == 0) { + return 3; + #endif + } + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, + "SPI(%s) doesn't exist", port)); + } else { + // given an integer id + int spi_id = mp_obj_get_int(id); + if (spi_id >= 1 && spi_id <= MP_ARRAY_SIZE(pyb_spi_obj) + && pyb_spi_obj[spi_id - 1].spi != NULL) { + return spi_id; + } + nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, + "SPI(%d) doesn't exist", spi_id)); + } +} + +// sets the parameters in the SPI_InitTypeDef struct +// if an argument is -1 then the corresponding parameter is not changed +STATIC void spi_set_params(SPI_HandleTypeDef *spi, uint32_t prescale, int32_t baudrate, + int32_t polarity, int32_t phase, int32_t bits, int32_t firstbit) { + SPI_InitTypeDef *init = &spi->Init; + + if (prescale != 0xffffffff || baudrate != -1) { + if (prescale == 0xffffffff) { + // prescaler not given, so select one that yields at most the requested baudrate + mp_uint_t spi_clock; + if (spi->Instance == SPI2 || spi->Instance == SPI3) { + // SPI2 and SPI3 are on APB1 + spi_clock = HAL_RCC_GetPCLK1Freq(); + } else { + // SPI1, SPI4, SPI5 and SPI6 are on APB2 + spi_clock = HAL_RCC_GetPCLK2Freq(); + } + prescale = spi_clock / baudrate; + } + if (prescale <= 2) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; } + else if (prescale <= 4) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; } + else if (prescale <= 8) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; } + else if (prescale <= 16) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; } + else if (prescale <= 32) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; } + else if (prescale <= 64) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; } + else if (prescale <= 128) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; } + else { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; } + } + + if (polarity != -1) { + init->CLKPolarity = polarity == 0 ? SPI_POLARITY_LOW : SPI_POLARITY_HIGH; + } + + if (phase != -1) { + init->CLKPhase = phase == 0 ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE; + } + + if (bits != -1) { + init->DataSize = (bits == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT; + } + + if (firstbit != -1) { + init->FirstBit = firstbit; + } +} + +// TODO allow to take a list of pins to use +void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { + const pyb_spi_obj_t *self; + const pin_obj_t *pins[4]; + pins[0] = NULL; + + if (0) { + #if defined(MICROPY_HW_SPI1_SCK) + } else if (spi->Instance == SPI1) { + self = &pyb_spi_obj[0]; + #if defined(MICROPY_HW_SPI1_NSS) + pins[0] = &MICROPY_HW_SPI1_NSS; + #endif + pins[1] = &MICROPY_HW_SPI1_SCK; + pins[2] = &MICROPY_HW_SPI1_MISO; + pins[3] = &MICROPY_HW_SPI1_MOSI; + // enable the SPI clock + __SPI1_CLK_ENABLE(); + #endif + #if defined(MICROPY_HW_SPI2_SCK) + } else if (spi->Instance == SPI2) { + self = &pyb_spi_obj[1]; + #if defined(MICROPY_HW_SPI2_NSS) + pins[0] = &MICROPY_HW_SPI2_NSS; + #endif + pins[1] = &MICROPY_HW_SPI2_SCK; + pins[2] = &MICROPY_HW_SPI2_MISO; + pins[3] = &MICROPY_HW_SPI2_MOSI; + // enable the SPI clock + __SPI2_CLK_ENABLE(); + #endif + #if defined(MICROPY_HW_SPI3_SCK) + } else if (spi->Instance == SPI3) { + self = &pyb_spi_obj[2]; + #if defined(MICROPY_HW_SPI3_NSS) + pins[0] = &MICROPY_HW_SPI3_NSS; + #endif + pins[1] = &MICROPY_HW_SPI3_SCK; + pins[2] = &MICROPY_HW_SPI3_MISO; + pins[3] = &MICROPY_HW_SPI3_MOSI; + // enable the SPI clock + __SPI3_CLK_ENABLE(); + #endif + #if defined(MICROPY_HW_SPI4_SCK) + } else if (spi->Instance == SPI4) { + self = &pyb_spi_obj[3]; + #if defined(MICROPY_HW_SPI4_NSS) + pins[0] = &MICROPY_HW_SPI4_NSS; + #endif + pins[1] = &MICROPY_HW_SPI4_SCK; + pins[2] = &MICROPY_HW_SPI4_MISO; + pins[3] = &MICROPY_HW_SPI4_MOSI; + // enable the SPI clock + __SPI4_CLK_ENABLE(); + #endif + #if defined(MICROPY_HW_SPI5_SCK) + } else if (spi->Instance == SPI5) { + self = &pyb_spi_obj[4]; + #if defined(MICROPY_HW_SPI5_NSS) + pins[0] = &MICROPY_HW_SPI5_NSS; + #endif + pins[1] = &MICROPY_HW_SPI5_SCK; + pins[2] = &MICROPY_HW_SPI5_MISO; + pins[3] = &MICROPY_HW_SPI5_MOSI; + // enable the SPI clock + __SPI5_CLK_ENABLE(); + #endif + #if defined(MICROPY_HW_SPI6_SCK) + } else if (spi->Instance == SPI6) { + self = &pyb_spi_obj[5]; + #if defined(MICROPY_HW_SPI6_NSS) + pins[0] = &MICROPY_HW_SPI6_NSS; + #endif + pins[1] = &MICROPY_HW_SPI6_SCK; + pins[2] = &MICROPY_HW_SPI6_MISO; + pins[3] = &MICROPY_HW_SPI6_MOSI; + // enable the SPI clock + __SPI6_CLK_ENABLE(); + #endif + } else { + // SPI does not exist for this board (shouldn't get here, should be checked by caller) + return; + } + + // init the GPIO lines + uint32_t mode = MP_HAL_PIN_MODE_ALT; + uint32_t pull = spi->Init.CLKPolarity == SPI_POLARITY_LOW ? MP_HAL_PIN_PULL_DOWN : MP_HAL_PIN_PULL_UP; + for (uint i = (enable_nss_pin && pins[0] ? 0 : 1); i < 4; i++) { + mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_SPI, (self - &pyb_spi_obj[0]) + 1); + } + + // init the SPI device + if (HAL_SPI_Init(spi) != HAL_OK) { + // init error + // TODO should raise an exception, but this function is not necessarily going to be + // called via Python, so may not be properly wrapped in an NLR handler + printf("OSError: HAL_SPI_Init failed\n"); + return; + } + + // After calling HAL_SPI_Init() it seems that the DMA gets disconnected if + // it was previously configured. So we invalidate the DMA channel to force + // an initialisation the next time we use it. + dma_invalidate_channel(self->tx_dma_descr); + dma_invalidate_channel(self->rx_dma_descr); +} + +void spi_deinit(SPI_HandleTypeDef *spi) { + HAL_SPI_DeInit(spi); + if (0) { + #if defined(MICROPY_HW_SPI1_SCK) + } else if (spi->Instance == SPI1) { + __SPI1_FORCE_RESET(); + __SPI1_RELEASE_RESET(); + __SPI1_CLK_DISABLE(); + #endif + #if defined(MICROPY_HW_SPI2_SCK) + } else if (spi->Instance == SPI2) { + __SPI2_FORCE_RESET(); + __SPI2_RELEASE_RESET(); + __SPI2_CLK_DISABLE(); + #endif + #if defined(MICROPY_HW_SPI3_SCK) + } else if (spi->Instance == SPI3) { + __SPI3_FORCE_RESET(); + __SPI3_RELEASE_RESET(); + __SPI3_CLK_DISABLE(); + #endif + #if defined(MICROPY_HW_SPI4_SCK) + } else if (spi->Instance == SPI4) { + __SPI4_FORCE_RESET(); + __SPI4_RELEASE_RESET(); + __SPI4_CLK_DISABLE(); + #endif + #if defined(MICROPY_HW_SPI5_SCK) + } else if (spi->Instance == SPI5) { + __SPI5_FORCE_RESET(); + __SPI5_RELEASE_RESET(); + __SPI5_CLK_DISABLE(); + #endif + #if defined(MICROPY_HW_SPI6_SCK) + } else if (spi->Instance == SPI6) { + __SPI6_FORCE_RESET(); + __SPI6_RELEASE_RESET(); + __SPI6_CLK_DISABLE(); + #endif + } +} + +STATIC HAL_StatusTypeDef spi_wait_dma_finished(SPI_HandleTypeDef *spi, uint32_t timeout) { + // Note: we can't use WFI to idle in this loop because the DMA completion + // interrupt may occur before the WFI. Hence we miss it and have to wait + // until the next sys-tick (up to 1ms). + uint32_t start = HAL_GetTick(); + while (HAL_SPI_GetState(spi) != HAL_SPI_STATE_READY) { + if (HAL_GetTick() - start >= timeout) { + return HAL_TIMEOUT; + } + } + return HAL_OK; +} + +// A transfer of "len" bytes should take len*8*1000/baudrate milliseconds. +// To simplify the calculation we assume the baudrate is never less than 8kHz +// and use that value for the baudrate in the formula, plus a small constant. +#define SPI_TRANSFER_TIMEOUT(len) ((len) + 100) + +STATIC void spi_transfer(const pyb_spi_obj_t *self, size_t len, const uint8_t *src, uint8_t *dest, uint32_t timeout) { + // Note: there seems to be a problem sending 1 byte using DMA the first + // time directly after the SPI/DMA is initialised. The cause of this is + // unknown but we sidestep the issue by using polling for 1 byte transfer. + + HAL_StatusTypeDef status; + + if (dest == NULL) { + // send only + if (len == 1 || query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_Transmit(self->spi, (uint8_t*)src, len, timeout); + } else { + DMA_HandleTypeDef tx_dma; + dma_init(&tx_dma, self->tx_dma_descr, self->spi); + self->spi->hdmatx = &tx_dma; + self->spi->hdmarx = NULL; + MP_HAL_CLEAN_DCACHE(src, len); + status = HAL_SPI_Transmit_DMA(self->spi, (uint8_t*)src, len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, timeout); + } + dma_deinit(self->tx_dma_descr); + } + } else if (src == NULL) { + // receive only + if (len == 1 || query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_Receive(self->spi, dest, len, timeout); + } else { + DMA_HandleTypeDef tx_dma, rx_dma; + if (self->spi->Init.Mode == SPI_MODE_MASTER) { + // in master mode the HAL actually does a TransmitReceive call + dma_init(&tx_dma, self->tx_dma_descr, self->spi); + self->spi->hdmatx = &tx_dma; + } else { + self->spi->hdmatx = NULL; + } + dma_init(&rx_dma, self->rx_dma_descr, self->spi); + self->spi->hdmarx = &rx_dma; + MP_HAL_CLEANINVALIDATE_DCACHE(dest, len); + status = HAL_SPI_Receive_DMA(self->spi, dest, len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, timeout); + } + if (self->spi->hdmatx != NULL) { + dma_deinit(self->tx_dma_descr); + } + dma_deinit(self->rx_dma_descr); + } + } else { + // send and receive + if (len == 1 || query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_TransmitReceive(self->spi, (uint8_t*)src, dest, len, timeout); + } else { + DMA_HandleTypeDef tx_dma, rx_dma; + dma_init(&tx_dma, self->tx_dma_descr, self->spi); + self->spi->hdmatx = &tx_dma; + dma_init(&rx_dma, self->rx_dma_descr, self->spi); + self->spi->hdmarx = &rx_dma; + MP_HAL_CLEAN_DCACHE(src, len); + MP_HAL_CLEANINVALIDATE_DCACHE(dest, len); + status = HAL_SPI_TransmitReceive_DMA(self->spi, (uint8_t*)src, dest, len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, timeout); + } + dma_deinit(self->tx_dma_descr); + dma_deinit(self->rx_dma_descr); + } + } + + if (status != HAL_OK) { + mp_hal_raise(status); + } +} + +STATIC void spi_print(const mp_print_t *print, SPI_HandleTypeDef *spi, bool legacy) { + uint spi_num = 1; // default to SPI1 + if (spi->Instance == SPI2) { spi_num = 2; } + else if (spi->Instance == SPI3) { spi_num = 3; } + #if defined(SPI4) + else if (spi->Instance == SPI4) { spi_num = 4; } + #endif + #if defined(SPI5) + else if (spi->Instance == SPI5) { spi_num = 5; } + #endif + #if defined(SPI6) + else if (spi->Instance == SPI6) { spi_num = 6; } + #endif + + mp_printf(print, "SPI(%u", spi_num); + if (spi->State != HAL_SPI_STATE_RESET) { + if (spi->Init.Mode == SPI_MODE_MASTER) { + // compute baudrate + uint spi_clock; + if (spi->Instance == SPI2 || spi->Instance == SPI3) { + // SPI2 and SPI3 are on APB1 + spi_clock = HAL_RCC_GetPCLK1Freq(); + } else { + // SPI1, SPI4, SPI5 and SPI6 are on APB2 + spi_clock = HAL_RCC_GetPCLK2Freq(); + } + uint log_prescaler = (spi->Init.BaudRatePrescaler >> 3) + 1; + uint baudrate = spi_clock >> log_prescaler; + if (legacy) { + mp_printf(print, ", SPI.MASTER"); + } + mp_printf(print, ", baudrate=%u", baudrate); + if (legacy) { + mp_printf(print, ", prescaler=%u", 1 << log_prescaler); + } + } else { + mp_printf(print, ", SPI.SLAVE"); + } + mp_printf(print, ", polarity=%u, phase=%u, bits=%u", spi->Init.CLKPolarity == SPI_POLARITY_LOW ? 0 : 1, spi->Init.CLKPhase == SPI_PHASE_1EDGE ? 0 : 1, spi->Init.DataSize == SPI_DATASIZE_8BIT ? 8 : 16); + if (spi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLED) { + mp_printf(print, ", crc=0x%x", spi->Init.CRCPolynomial); + } + } + mp_print_str(print, ")"); +} + +/******************************************************************************/ +/* MicroPython bindings for legacy pyb API */ + +SPI_HandleTypeDef *spi_get_handle(mp_obj_t o) { + if (!MP_OBJ_IS_TYPE(o, &pyb_spi_type)) { + mp_raise_ValueError("expecting an SPI object"); + } + pyb_spi_obj_t *self = o; + return self->spi; +} + +STATIC void pyb_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + pyb_spi_obj_t *self = self_in; + spi_print(print, self->spi, true); +} + +/// \method init(mode, baudrate=328125, *, polarity=1, phase=0, bits=8, firstbit=SPI.MSB, ti=False, crc=None) +/// +/// Initialise the SPI bus with the given parameters: +/// +/// - `mode` must be either `SPI.MASTER` or `SPI.SLAVE`. +/// - `baudrate` is the SCK clock rate (only sensible for a master). +STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + static const mp_arg_t allowed_args[] = { + { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 328125} }, + { MP_QSTR_prescaler, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} }, + { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_dir, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_DIRECTION_2LINES} }, + { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, + { MP_QSTR_nss, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_NSS_SOFT} }, + { MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} }, + { MP_QSTR_ti, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_crc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, + }; + + // parse args + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // set the SPI configuration values + SPI_InitTypeDef *init = &self->spi->Init; + init->Mode = args[0].u_int; + + spi_set_params(self->spi, args[2].u_int, args[1].u_int, args[3].u_int, args[4].u_int, + args[6].u_int, args[8].u_int); + + init->Direction = args[5].u_int; + init->NSS = args[7].u_int; + init->TIMode = args[9].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED; + if (args[10].u_obj == mp_const_none) { + init->CRCCalculation = SPI_CRCCALCULATION_DISABLED; + init->CRCPolynomial = 0; + } else { + init->CRCCalculation = SPI_CRCCALCULATION_ENABLED; + init->CRCPolynomial = mp_obj_get_int(args[10].u_obj); + } + + // init the SPI bus + spi_init(self->spi, init->NSS != SPI_NSS_SOFT); + + return mp_const_none; +} + +/// \classmethod \constructor(bus, ...) +/// +/// Construct an SPI object on the given bus. `bus` can be 1 or 2. +/// With no additional parameters, the SPI object is created but not +/// initialised (it has the settings from the last initialisation of +/// the bus, if any). If extra arguments are given, the bus is initialised. +/// See `init` for parameters of initialisation. +/// +/// The physical pins of the SPI busses are: +/// +/// - `SPI(1)` is on the X position: `(NSS, SCK, MISO, MOSI) = (X5, X6, X7, X8) = (PA4, PA5, PA6, PA7)` +/// - `SPI(2)` is on the Y position: `(NSS, SCK, MISO, MOSI) = (Y5, Y6, Y7, Y8) = (PB12, PB13, PB14, PB15)` +/// +/// At the moment, the NSS pin is not used by the SPI driver and is free +/// for other use. +STATIC mp_obj_t pyb_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) { + // check arguments + mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true); + + // work out SPI bus + int spi_id = spi_find(args[0]); + + // get SPI object + const pyb_spi_obj_t *spi_obj = &pyb_spi_obj[spi_id - 1]; + + if (n_args > 1 || n_kw > 0) { + // start the peripheral + mp_map_t kw_args; + mp_map_init_fixed_table(&kw_args, n_kw, args + n_args); + pyb_spi_init_helper(spi_obj, n_args - 1, args + 1, &kw_args); + } + + return (mp_obj_t)spi_obj; +} + +STATIC mp_obj_t pyb_spi_init(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { + return pyb_spi_init_helper(args[0], n_args - 1, args + 1, kw_args); +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_init_obj, 1, pyb_spi_init); + +/// \method deinit() +/// Turn off the SPI bus. +STATIC mp_obj_t pyb_spi_deinit(mp_obj_t self_in) { + pyb_spi_obj_t *self = self_in; + spi_deinit(self->spi); + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_spi_deinit_obj, pyb_spi_deinit); + +/// \method send(send, *, timeout=5000) +/// Send data on the bus: +/// +/// - `send` is the data to send (an integer to send, or a buffer object). +/// - `timeout` is the timeout in milliseconds to wait for the send. +/// +/// Return value: `None`. +STATIC mp_obj_t pyb_spi_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + // TODO assumes transmission size is 8-bits wide + + static const mp_arg_t allowed_args[] = { + { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; + + // parse args + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // get the buffer to send from + mp_buffer_info_t bufinfo; + uint8_t data[1]; + pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data); + + // send the data + spi_transfer(self, bufinfo.len, bufinfo.buf, NULL, args[1].u_int); + + return mp_const_none; +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_send_obj, 1, pyb_spi_send); + +/// \method recv(recv, *, timeout=5000) +/// +/// Receive data on the bus: +/// +/// - `recv` can be an integer, which is the number of bytes to receive, +/// or a mutable buffer, which will be filled with received bytes. +/// - `timeout` is the timeout in milliseconds to wait for the receive. +/// +/// Return value: if `recv` is an integer then a new buffer of the bytes received, +/// otherwise the same buffer that was passed in to `recv`. +STATIC mp_obj_t pyb_spi_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + // TODO assumes transmission size is 8-bits wide + + static const mp_arg_t allowed_args[] = { + { MP_QSTR_recv, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; + + // parse args + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // get the buffer to receive into + vstr_t vstr; + mp_obj_t o_ret = pyb_buf_get_for_recv(args[0].u_obj, &vstr); + + // receive the data + spi_transfer(self, vstr.len, NULL, (uint8_t*)vstr.buf, args[1].u_int); + + // return the received data + if (o_ret != MP_OBJ_NULL) { + return o_ret; + } else { + return mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr); + } +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_recv_obj, 1, pyb_spi_recv); + +/// \method send_recv(send, recv=None, *, timeout=5000) +/// +/// Send and receive data on the bus at the same time: +/// +/// - `send` is the data to send (an integer to send, or a buffer object). +/// - `recv` is a mutable buffer which will be filled with received bytes. +/// It can be the same as `send`, or omitted. If omitted, a new buffer will +/// be created. +/// - `timeout` is the timeout in milliseconds to wait for the receive. +/// +/// Return value: the buffer with the received bytes. +STATIC mp_obj_t pyb_spi_send_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + // TODO assumes transmission size is 8-bits wide + + static const mp_arg_t allowed_args[] = { + { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_recv, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; + + // parse args + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // get buffers to send from/receive to + mp_buffer_info_t bufinfo_send; + uint8_t data_send[1]; + mp_buffer_info_t bufinfo_recv; + vstr_t vstr_recv; + mp_obj_t o_ret; + + if (args[0].u_obj == args[1].u_obj) { + // same object for send and receive, it must be a r/w buffer + mp_get_buffer_raise(args[0].u_obj, &bufinfo_send, MP_BUFFER_RW); + bufinfo_recv = bufinfo_send; + o_ret = args[0].u_obj; + } else { + // get the buffer to send from + pyb_buf_get_for_send(args[0].u_obj, &bufinfo_send, data_send); + + // get the buffer to receive into + if (args[1].u_obj == MP_OBJ_NULL) { + // only send argument given, so create a fresh buffer of the send length + vstr_init_len(&vstr_recv, bufinfo_send.len); + bufinfo_recv.len = vstr_recv.len; + bufinfo_recv.buf = vstr_recv.buf; + o_ret = MP_OBJ_NULL; + } else { + // recv argument given + mp_get_buffer_raise(args[1].u_obj, &bufinfo_recv, MP_BUFFER_WRITE); + if (bufinfo_recv.len != bufinfo_send.len) { + mp_raise_ValueError("recv must be same length as send"); + } + o_ret = args[1].u_obj; + } + } + + // do the transfer + spi_transfer(self, bufinfo_send.len, bufinfo_send.buf, bufinfo_recv.buf, args[2].u_int); + + // return the received data + if (o_ret != MP_OBJ_NULL) { + return o_ret; + } else { + return mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr_recv); + } +} +STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_send_recv_obj, 1, pyb_spi_send_recv); + +STATIC const mp_rom_map_elem_t pyb_spi_locals_dict_table[] = { + // instance methods + { MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_spi_init_obj) }, + { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_spi_deinit_obj) }, + + { MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_machine_spi_read_obj) }, + { MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_machine_spi_readinto_obj) }, + { MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_machine_spi_write_obj) }, + { MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&mp_machine_spi_write_readinto_obj) }, + + // legacy methods + { MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_spi_send_obj) }, + { MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_spi_recv_obj) }, + { MP_ROM_QSTR(MP_QSTR_send_recv), MP_ROM_PTR(&pyb_spi_send_recv_obj) }, + + // class constants + /// \constant MASTER - for initialising the bus to master mode + /// \constant SLAVE - for initialising the bus to slave mode + /// \constant MSB - set the first bit to MSB + /// \constant LSB - set the first bit to LSB + { MP_ROM_QSTR(MP_QSTR_MASTER), MP_ROM_INT(SPI_MODE_MASTER) }, + { MP_ROM_QSTR(MP_QSTR_SLAVE), MP_ROM_INT(SPI_MODE_SLAVE) }, + { MP_ROM_QSTR(MP_QSTR_MSB), MP_ROM_INT(SPI_FIRSTBIT_MSB) }, + { MP_ROM_QSTR(MP_QSTR_LSB), MP_ROM_INT(SPI_FIRSTBIT_LSB) }, + /* TODO + { MP_ROM_QSTR(MP_QSTR_DIRECTION_2LINES ((uint32_t)0x00000000) + { MP_ROM_QSTR(MP_QSTR_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY + { MP_ROM_QSTR(MP_QSTR_DIRECTION_1LINE SPI_CR1_BIDIMODE + { MP_ROM_QSTR(MP_QSTR_NSS_SOFT SPI_CR1_SSM + { MP_ROM_QSTR(MP_QSTR_NSS_HARD_INPUT ((uint32_t)0x00000000) + { MP_ROM_QSTR(MP_QSTR_NSS_HARD_OUTPUT ((uint32_t)0x00040000) + */ +}; + +STATIC MP_DEFINE_CONST_DICT(pyb_spi_locals_dict, pyb_spi_locals_dict_table); + +STATIC void spi_transfer_machine(mp_obj_base_t *self_in, size_t len, const uint8_t *src, uint8_t *dest) { + spi_transfer((pyb_spi_obj_t*)self_in, len, src, dest, SPI_TRANSFER_TIMEOUT(len)); +} + +STATIC const mp_machine_spi_p_t pyb_spi_p = { + .transfer = spi_transfer_machine, +}; + +const mp_obj_type_t pyb_spi_type = { + { &mp_type_type }, + .name = MP_QSTR_SPI, + .print = pyb_spi_print, + .make_new = pyb_spi_make_new, + .protocol = &pyb_spi_p, + .locals_dict = (mp_obj_dict_t*)&pyb_spi_locals_dict, +}; + +/******************************************************************************/ +// Implementation of hard SPI for machine module + +typedef struct _machine_hard_spi_obj_t { + mp_obj_base_t base; + const pyb_spi_obj_t *pyb; +} machine_hard_spi_obj_t; + +STATIC const machine_hard_spi_obj_t machine_hard_spi_obj[] = { + {{&machine_hard_spi_type}, &pyb_spi_obj[0]}, + {{&machine_hard_spi_type}, &pyb_spi_obj[1]}, + {{&machine_hard_spi_type}, &pyb_spi_obj[2]}, + {{&machine_hard_spi_type}, &pyb_spi_obj[3]}, + {{&machine_hard_spi_type}, &pyb_spi_obj[4]}, + {{&machine_hard_spi_type}, &pyb_spi_obj[5]}, +}; + +STATIC void machine_hard_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) { + machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in; + spi_print(print, self->pyb->spi, false); +} + +mp_obj_t machine_hard_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) { + enum { ARG_id, ARG_baudrate, ARG_polarity, ARG_phase, ARG_bits, ARG_firstbit, ARG_sck, ARG_mosi, ARG_miso }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_id, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 500000} }, + { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, + { MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} }, + { MP_QSTR_sck, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_mosi, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_miso, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // get static peripheral object + int spi_id = spi_find(args[ARG_id].u_obj); + const machine_hard_spi_obj_t *self = &machine_hard_spi_obj[spi_id - 1]; + + // here we would check the sck/mosi/miso pins and configure them, but it's not implemented + if (args[ARG_sck].u_obj != MP_OBJ_NULL + || args[ARG_mosi].u_obj != MP_OBJ_NULL + || args[ARG_miso].u_obj != MP_OBJ_NULL) { + mp_raise_ValueError("explicit choice of sck/mosi/miso is not implemented"); + } + + // set the SPI configuration values + SPI_InitTypeDef *init = &self->pyb->spi->Init; + init->Mode = SPI_MODE_MASTER; + + // these parameters are not currently configurable + init->Direction = SPI_DIRECTION_2LINES; + init->NSS = SPI_NSS_SOFT; + init->TIMode = SPI_TIMODE_DISABLED; + init->CRCCalculation = SPI_CRCCALCULATION_DISABLED; + init->CRCPolynomial = 0; + + // set configurable paramaters + spi_set_params(self->pyb->spi, 0xffffffff, args[ARG_baudrate].u_int, + args[ARG_polarity].u_int, args[ARG_phase].u_int, args[ARG_bits].u_int, + args[ARG_firstbit].u_int); + + // init the SPI bus + spi_init(self->pyb->spi, false); + + return MP_OBJ_FROM_PTR(self); +} + +STATIC void machine_hard_spi_init(mp_obj_base_t *self_in, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in; + + enum { ARG_baudrate, ARG_polarity, ARG_phase, ARG_bits, ARG_firstbit }; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} }, + { MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} }, + }; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); + + // set the SPI configuration values + spi_set_params(self->pyb->spi, 0xffffffff, args[ARG_baudrate].u_int, + args[ARG_polarity].u_int, args[ARG_phase].u_int, args[ARG_bits].u_int, + args[ARG_firstbit].u_int); + + // re-init the SPI bus + spi_init(self->pyb->spi, false); +} + +STATIC void machine_hard_spi_deinit(mp_obj_base_t *self_in) { + machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in; + spi_deinit(self->pyb->spi); +} + +STATIC void machine_hard_spi_transfer(mp_obj_base_t *self_in, size_t len, const uint8_t *src, uint8_t *dest) { + machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in; + spi_transfer(self->pyb, len, src, dest, SPI_TRANSFER_TIMEOUT(len)); +} + +STATIC const mp_machine_spi_p_t machine_hard_spi_p = { + .init = machine_hard_spi_init, + .deinit = machine_hard_spi_deinit, + .transfer = machine_hard_spi_transfer, +}; + +const mp_obj_type_t machine_hard_spi_type = { + { &mp_type_type }, + .name = MP_QSTR_SPI, + .print = machine_hard_spi_print, + .make_new = mp_machine_spi_make_new, // delegate to master constructor + .protocol = &machine_hard_spi_p, + .locals_dict = (mp_obj_t)&mp_machine_spi_locals_dict, +}; |