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[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
master
utzig 2014-08-23 17:40:25 +00:00
parent 1cd76f36d5
commit a1ab73c5f5
3 changed files with 641 additions and 0 deletions
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1
os/hal/ports/KINETIS/K20x/platform.mk
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@ -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

382
os/hal/ports/KINETIS/K20x/spi_lld.c Normal file
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@ -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 */
/** @} */

258
os/hal/ports/KINETIS/K20x/spi_lld.h Normal file
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@ -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_ */
/** @} */