forked from PaulStoffregen/SPI
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SPIKinetis.cpp
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/
SPIKinetis.cpp
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/* Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>
* SPI Master library for arduino.
*
* This file is free software; you can redistribute it and/or modify
* it under the terms of either the GNU General Public License version 2
* or the GNU Lesser General Public License version 2.1, both as
* published by the Free Software Foundation.
*/
#include "SPIKinetis.h"
#include "pins_arduino.h"
/**********************************************************/
/* 32 bit Teensy 3.X */
/**********************************************************/
#if defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISK)
#if defined(__MK64FX512__)
// defines wrong in kinetis.h... submited update request
#ifndef DMAMUX_SOURCE_SPI1
#define DMAMUX_SOURCE_SPI1 16 // Either RX or TX (but not both at same time)
#define DMAMUX_SOURCE_SPI2 17 // Either RX or TX (but not both at same time)
#endif
#endif
// Also for now work around bug in DMAChannel
#ifdef KINETISK
#ifndef TRANSFER_COUNT_FIXED
inline void DMAChanneltransferCount(DMAChannel * dmac, unsigned int len) {
// note does no validation of length...
DMABaseClass::TCD_t *tcd = dmac->TCD;
if (!(tcd->BITER & DMA_TCD_BITER_ELINK)) {
tcd->BITER = len & 0x7fff;
} else {
tcd->BITER = (tcd->BITER & 0xFE00) | (len & 0x1ff);
}
tcd->CITER = tcd->BITER;
}
#else
inline void DMAChanneltransferCount(DMAChannel * dmac, unsigned int len) {
dmac->transferCount(len);
}
#endif
#endif
//=============================================================================
// Define the ino specific to instance in hardware
// Hardware clock, Miso, Mosi, SCK, CS, IRQ
//=============================================================================
// First: t3.0-2
extern void _spi_dma_rxISR0(void);
#if defined(__MK20DX128__) || defined(__MK20DX256__)
const SPIClass::SPI_Hardware_t SPIClass::spi0_hardware = {
SIM_SCGC6, SIM_SCGC6_SPI0,
4, IRQ_SPI0,
32767, DMAMUX_SOURCE_SPI0_TX, DMAMUX_SOURCE_SPI0_RX,
_spi_dma_rxISR0,
12, 8,
2, 2,
11, 7,
2, 2,
13, 14,
2, 2,
10, 2, 9, 6, 20, 23, 21, 22, 15,
2, 2, 2, 2, 2, 2, 2, 2, 2,
0x1, 0x1, 0x2, 0x2, 0x4, 0x4, 0x8, 0x8, 0x10
};
SPIClass SPI((uintptr_t)&KINETISK_SPI0, (uintptr_t)&SPIClass::spi0_hardware);
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
extern void _spi_dma_rxISR1(void);
extern void _spi_dma_rxISR2(void);
const SPIClass::SPI_Hardware_t SPIClass::spi0_hardware = {
SIM_SCGC6, SIM_SCGC6_SPI0, 4, IRQ_SPI0,
32767, DMAMUX_SOURCE_SPI0_TX, DMAMUX_SOURCE_SPI0_RX,
_spi_dma_rxISR0,
12, 8, 39, 255,
2, 2, 2, 0,
11, 7, 28, 255,
2, 2, 2, 0,
13, 14, 27,
2, 2, 2,
10, 2, 9, 6, 20, 23, 21, 22, 15, 26, 45,
2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3,
0x1, 0x1, 0x2, 0x2, 0x4, 0x4, 0x8, 0x8, 0x10, 0x1, 0x20
};
const SPIClass::SPI_Hardware_t SPIClass::spi1_hardware = {
SIM_SCGC6, SIM_SCGC6_SPI1, 1, IRQ_SPI1,
#if defined(__MK66FX1M0__)
32767, DMAMUX_SOURCE_SPI1_TX, DMAMUX_SOURCE_SPI1_RX,
#else
// T3.5 does not have good DMA support on 1 and 2
511, 0, DMAMUX_SOURCE_SPI1,
#endif
_spi_dma_rxISR1,
1, 5, 61, 59,
2, 7, 2, 7,
0, 21, 61, 59,
2, 7, 7, 2,
32, 20, 60,
2, 7, 2,
6, 31, 58, 62, 63, 255, 255, 255, 255, 255, 255,
7, 2, 2, 2, 2, 0, 0, 0, 0, 0, 0,
0x1, 0x1, 0x2, 0x1, 0x4, 0, 0, 0, 0, 0, 0
};
const SPIClass::SPI_Hardware_t SPIClass::spi2_hardware = {
SIM_SCGC3, SIM_SCGC3_SPI2, 1, IRQ_SPI2,
#if defined(__MK66FX1M0__)
32767, DMAMUX_SOURCE_SPI2_TX, DMAMUX_SOURCE_SPI2_RX,
#else
// T3.5 does not have good DMA support on 1 and 2
511, 0, DMAMUX_SOURCE_SPI2,
#endif
_spi_dma_rxISR2,
45, 51, 255, 255,
2, 2, 0, 0,
44, 52, 255, 255,
2, 2, 0, 0,
46, 53, 255,
2, 2, 0,
43, 54, 55, 255, 255, 255, 255, 255, 255, 255, 255,
2, 2, 2, 0, 0, 0, 0, 0, 0, 0, 0,
0x1, 0x2, 0x1, 0, 0, 0, 0, 0, 0, 0, 0
};
SPIClass SPI((uintptr_t)&KINETISK_SPI0, (uintptr_t)&SPIClass::spi0_hardware);
SPIClass SPI1((uintptr_t)&KINETISK_SPI1, (uintptr_t)&SPIClass::spi1_hardware);
SPIClass SPI2((uintptr_t)&KINETISK_SPI2, (uintptr_t)&SPIClass::spi2_hardware);
#endif
void SPIClass::begin()
{
volatile uint32_t *reg;
hardware().clock_gate_register |= hardware().clock_gate_mask;
port().MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
port().CTAR0 = SPI_CTAR_FMSZ(7) | SPI_CTAR_PBR(0) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1);
port().CTAR1 = SPI_CTAR_FMSZ(15) | SPI_CTAR_PBR(0) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1);
port().MCR = SPI_MCR_MSTR | SPI_MCR_PCSIS(0x1F);
reg = portConfigRegister(hardware().mosi_pin[mosi_pin_index]);
*reg = PORT_PCR_MUX(hardware().mosi_mux[mosi_pin_index]);
reg = portConfigRegister(hardware().miso_pin[miso_pin_index]);
*reg= PORT_PCR_MUX(hardware().miso_mux[miso_pin_index]);
reg = portConfigRegister(hardware().sck_pin[sck_pin_index]);
*reg = PORT_PCR_MUX(hardware().sck_mux[sck_pin_index]);
}
void SPIClass::end()
{
volatile uint32_t *reg;
reg = portConfigRegister(hardware().mosi_pin[mosi_pin_index]);
*reg = 0;
reg = portConfigRegister(hardware().miso_pin[miso_pin_index]);
*reg = 0;
reg = portConfigRegister(hardware().sck_pin[sck_pin_index]);
*reg = 0;
port().MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
}
void SPIClass::usingInterrupt(IRQ_NUMBER_t interruptName)
{
uint32_t n = (uint32_t)interruptName;
if (n >= NVIC_NUM_INTERRUPTS) return;
//Serial.print("usingInterrupt ");
//Serial.println(n);
interruptMasksUsed |= (1 << (n >> 5));
interruptMask[n >> 5] |= (1 << (n & 0x1F));
//Serial.printf("interruptMasksUsed = %d\n", interruptMasksUsed);
//Serial.printf("interruptMask[0] = %08X\n", interruptMask[0]);
//Serial.printf("interruptMask[1] = %08X\n", interruptMask[1]);
//Serial.printf("interruptMask[2] = %08X\n", interruptMask[2]);
}
void SPIClass::notUsingInterrupt(IRQ_NUMBER_t interruptName)
{
uint32_t n = (uint32_t)interruptName;
if (n >= NVIC_NUM_INTERRUPTS) return;
interruptMask[n >> 5] &= ~(1 << (n & 0x1F));
if (interruptMask[n >> 5] == 0) {
interruptMasksUsed &= ~(1 << (n >> 5));
}
}
const uint16_t SPISettings::ctar_div_table[23] = {
2, 3, 4, 5, 6, 8, 10, 12, 16, 20, 24, 32, 40,
56, 64, 96, 128, 192, 256, 384, 512, 640, 768
};
const uint32_t SPISettings::ctar_clock_table[23] = {
SPI_CTAR_PBR(0) | SPI_CTAR_BR(0) | SPI_CTAR_DBR | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(0) | SPI_CTAR_DBR | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(0) | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(2) | SPI_CTAR_BR(0) | SPI_CTAR_DBR | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(0) | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1),
SPI_CTAR_PBR(2) | SPI_CTAR_BR(0) | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(3) | SPI_CTAR_CSSCK(2),
SPI_CTAR_PBR(2) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(0),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(3) | SPI_CTAR_CSSCK(2),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(4) | SPI_CTAR_CSSCK(3),
SPI_CTAR_PBR(2) | SPI_CTAR_BR(3) | SPI_CTAR_CSSCK(2),
SPI_CTAR_PBR(3) | SPI_CTAR_BR(3) | SPI_CTAR_CSSCK(2),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(5) | SPI_CTAR_CSSCK(4),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(5) | SPI_CTAR_CSSCK(4),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(6) | SPI_CTAR_CSSCK(5),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(6) | SPI_CTAR_CSSCK(5),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(7) | SPI_CTAR_CSSCK(6),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(7) | SPI_CTAR_CSSCK(6),
SPI_CTAR_PBR(0) | SPI_CTAR_BR(8) | SPI_CTAR_CSSCK(7),
SPI_CTAR_PBR(2) | SPI_CTAR_BR(7) | SPI_CTAR_CSSCK(6),
SPI_CTAR_PBR(1) | SPI_CTAR_BR(8) | SPI_CTAR_CSSCK(7)
};
void SPIClass::updateCTAR(uint32_t ctar)
{
if (port().CTAR0 != ctar) {
uint32_t mcr = port().MCR;
if (mcr & SPI_MCR_MDIS) {
port().CTAR0 = ctar;
port().CTAR1 = ctar | SPI_CTAR_FMSZ(8);
} else {
port().MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
port().CTAR0 = ctar;
port().CTAR1 = ctar | SPI_CTAR_FMSZ(8);
port().MCR = mcr;
}
}
}
void SPIClass::setBitOrder(uint8_t bitOrder)
{
hardware().clock_gate_register |= hardware().clock_gate_mask;
uint32_t ctar = port().CTAR0;
if (bitOrder == LSBFIRST) {
ctar |= SPI_CTAR_LSBFE;
} else {
ctar &= ~SPI_CTAR_LSBFE;
}
updateCTAR(ctar);
}
void SPIClass::setDataMode(uint8_t dataMode)
{
hardware().clock_gate_register |= hardware().clock_gate_mask;
//uint32_t ctar = port().CTAR0;
// TODO: implement with native code
//SPCR = (SPCR & ~SPI_MODE_MASK) | dataMode;
}
void SPIClass::setClockDivider_noInline(uint32_t clk)
{
hardware().clock_gate_register |= hardware().clock_gate_mask;
uint32_t ctar = port().CTAR0;
ctar &= (SPI_CTAR_CPOL | SPI_CTAR_CPHA | SPI_CTAR_LSBFE);
if (ctar & SPI_CTAR_CPHA) {
clk = (clk & 0xFFFF0FFF) | ((clk & 0xF000) >> 4);
}
ctar |= clk;
updateCTAR(ctar);
}
void SPIClass::transfer(const void * buf, void * retbuf, size_t count)
{
if (count == 0) return;
if (!(port().CTAR0 & SPI_CTAR_LSBFE)) {
// We are doing the standard MSB order
const uint8_t *p_write = (const uint8_t *)buf;
uint8_t *p_read = (uint8_t *)retbuf;
size_t count_read = count;
// Lets clear the reader queue
port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
uint32_t sr;
// Now lets loop while we still have data to output
if (count & 1) {
if (p_write) {
if (count > 1)
port().PUSHR = *p_write++ | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(0);
else
port().PUSHR = *p_write++ | SPI_PUSHR_CTAS(0);
} else {
if (count > 1)
port().PUSHR = (_transferWriteFill & 0xff) | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(0);
else
port().PUSHR = (_transferWriteFill & 0xff) | SPI_PUSHR_CTAS(0);
}
count--;
}
uint16_t w = (uint16_t)((_transferWriteFill & 0xff) << 8) | (_transferWriteFill & 0xff);
while (count > 0) {
// Push out the next byte;
if (p_write) {
w = (*p_write++) << 8;
w |= *p_write++;
}
uint16_t queue_full_status_mask = (hardware().queue_size-1) << 12;
if (count == 2)
port().PUSHR = w | SPI_PUSHR_CTAS(1);
else
port().PUSHR = w | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1);
count -= 2; // how many bytes to output.
// Make sure queue is not full before pushing next byte out
do {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (count_read & 1) {
if (p_read) {
*p_read++ = w; // Read any pending RX bytes in
}
count_read--;
} else {
if (p_read) {
*p_read++ = w >> 8;
*p_read++ = (w & 0xff);
}
count_read -= 2;
}
}
} while ((sr & (15 << 12)) > queue_full_status_mask);
}
// now lets wait for all of the read bytes to be returned...
while (count_read) {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (count_read & 1) {
if (p_read)
*p_read++ = w; // Read any pending RX bytes in
count_read--;
} else {
if (p_read) {
*p_read++ = w >> 8;
*p_read++ = (w & 0xff);
}
count_read -= 2;
}
}
}
} else {
// We are doing the less ofen LSB mode
const uint8_t *p_write = (const uint8_t *)buf;
uint8_t *p_read = (uint8_t *)retbuf;
size_t count_read = count;
// Lets clear the reader queue
port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
uint32_t sr;
// Now lets loop while we still have data to output
if (count & 1) {
if (p_write) {
if (count > 1)
port().PUSHR = *p_write++ | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(0);
else
port().PUSHR = *p_write++ | SPI_PUSHR_CTAS(0);
} else {
if (count > 1)
port().PUSHR = (_transferWriteFill & 0xff) | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(0);
else
port().PUSHR = (_transferWriteFill & 0xff) | SPI_PUSHR_CTAS(0);
}
count--;
}
uint16_t w = _transferWriteFill;
while (count > 0) {
// Push out the next byte;
if (p_write) {
w = *p_write++;
w |= ((*p_write++) << 8);
}
uint16_t queue_full_status_mask = (hardware().queue_size-1) << 12;
if (count == 2)
port().PUSHR = w | SPI_PUSHR_CTAS(1);
else
port().PUSHR = w | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1);
count -= 2; // how many bytes to output.
// Make sure queue is not full before pushing next byte out
do {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (count_read & 1) {
if (p_read) {
*p_read++ = w; // Read any pending RX bytes in
}
count_read--;
} else {
if (p_read) {
*p_read++ = (w & 0xff);
*p_read++ = w >> 8;
}
count_read -= 2;
}
}
} while ((sr & (15 << 12)) > queue_full_status_mask);
}
// now lets wait for all of the read bytes to be returned...
while (count_read) {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (count_read & 1) {
if (p_read)
*p_read++ = w; // Read any pending RX bytes in
count_read--;
} else {
if (p_read) {
*p_read++ = (w & 0xff);
*p_read++ = w >> 8;
}
count_read -= 2;
}
}
}
}
}
void SPIClass::transfer16(const uint16_t * buf, uint16_t * retbuf, size_t count)
{
if (count == 0) return;
size_t count_read = count;
// Lets clear the reader queue
port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
uint32_t sr;
// Now lets loop while we still have data to output
uint16_t w = _transferWriteFill;
while (count > 0) {
// Push out the next byte;
if (buf) {
w = *buf++;
}
uint16_t queue_full_status_mask = (hardware().queue_size-1) << 12;
if (count == 1)
port().PUSHR = w | SPI_PUSHR_CTAS(1);
else
port().PUSHR = w | SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1);
count--; // how many words to output.
// Make sure queue is not full before pushing next byte out
do {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (retbuf) {
*retbuf++ = w ;
}
count_read--;
}
} while ((sr & (15 << 12)) > queue_full_status_mask);
}
// now lets wait for all of the read bytes to be returned...
while (count_read) {
sr = port().SR;
if (sr & 0xF0) {
uint16_t w = port().POPR; // Read any pending RX bytes in
if (retbuf) {
*retbuf++ = w; // Read any pending RX bytes in
}
count_read--;
}
}
}
//=============================================================================
// ASYNCH Support
//=============================================================================
//=========================================================================
// Try Transfer using DMA.
//=========================================================================
void _spi_dma_rxISR0(void) {SPI.dma_rxisr();}
#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
void _spi_dma_rxISR1(void) {SPI1.dma_rxisr();}
void _spi_dma_rxISR2(void) {SPI2.dma_rxisr();}
#endif
static uint8_t bit_bucket;
static uint16_t bit_bucket16;
#if defined (SPI_DEBUG_ASYNC_T3X)
// Lets define a TCD structure to print data from
typedef struct __attribute__((packed, aligned(4))) {
uint32_t SADDR;
int16_t SOFF;
uint16_t ATTR;
uint32_t NBYTES;
int32_t SLAST;
uint32_t DADDR;
int16_t DOFF;
uint16_t CITER;
int32_t DLASTSGA;
uint16_t CSR;
uint16_t BITER;
} TCD_DEBUG;
void dumpDMA_TCD(const char *psz, DMABaseClass *dmabc)
{
Serial.printf("%s %08x %08x:", psz, (uint32_t)dmabc, (uint32_t)dmabc->TCD);
TCD_DEBUG *tcd = (TCD_DEBUG*)dmabc->TCD;
Serial.printf("%08x %04x %04x %08x %08x ", tcd->SADDR, tcd->SOFF, tcd->ATTR, tcd->NBYTES, tcd->SLAST);
Serial.printf("%08x %04x %04x %08x %04x %04x\n", tcd->DADDR, tcd->DOFF, tcd->CITER, tcd->DLASTSGA,
tcd->CSR, tcd->BITER);
}
#endif
#define dontInterruptAtCompletion(dmac) (dmac)->TCD->CSR &= ~DMA_TCD_CSR_INTMAJOR
bool SPIClass::initDMAChannels() {
// Serial.println("Init DMA Channels");
// Allocate our channels.
_dmaTX = new DMAChannel();
if (_dmaTX == nullptr) {
return false;
}
_dmaRX = new DMAChannel();
if (_dmaRX == nullptr) {
delete _dmaTX; // release it
_dmaTX = nullptr;
return false;
}
// Let's setup the RX chain
_dmaRX->disable();
_dmaRX->source((volatile uint8_t&)port().POPR);
_dmaRX->disableOnCompletion();
_dmaRX->triggerAtHardwareEvent(hardware().rx_dma_channel);
_dmaRX->attachInterrupt(hardware().dma_rxisr);
_dmaRX->interruptAtCompletion();
// We may be using settings chain here so lets set it up.
// Now lets setup TX chain. Note if trigger TX is not set
// we need to have the RX do it for us.
_dmaTX->disable();
_dmaTX->destination((volatile uint8_t&)port().PUSHR);
_dmaTX->disableOnCompletion();
if (hardware().tx_dma_channel) {
_dmaTX->triggerAtHardwareEvent(hardware().tx_dma_channel);
} else {
Serial.printf("SPI InitDMA tx triger by RX: %x\n", (uint32_t)_dmaRX);
_dmaTX->triggerAtTransfersOf(*_dmaRX);
}
_dma_state = DMAState::idle; // Should be first thing set!
//Serial.println("end First dma call");
return true;
}
bool SPIClass::transfer(const void *buf, void *retbuf, size_t count, void(*callback)(void)) {
//Serial.println("Async Transfer called"); Serial.flush();
// There are some special casing we may wish to setup.
// For logical Write operations: don't use RX but instead just let it stay in ffio
// On T3.5 on SPI1/2 we will not set up RX, as only have one DMA channel to use so
// will use on TX...
uint8_t dma_first_byte;
if (_dma_state == DMAState::notAllocated) {
if (!initDMAChannels())
return false;
}
if (_dma_state == DMAState::active)
return false; // already active
// Now handle the cases where the count > then how many we can output in one DMA request
if (count > hardware().max_dma_count) {
_dma_count_remaining = count - hardware().max_dma_count;
count = hardware().max_dma_count;
} else {
_dma_count_remaining = 0;
}
// Now See if caller passed in a source buffer.
_dmaTX->TCD->ATTR_DST = 0; // Make sure set for 8 bit mode
uint8_t *write_data = (uint8_t*) buf;
if (buf) {
dma_first_byte = *write_data;
_dmaTX->sourceBuffer((uint8_t*)write_data+1, count-1);
_dmaTX->TCD->SLAST = 0; // Finish with it pointing to next location
} else {
dma_first_byte = (_transferWriteFill & 0xff);
_dmaTX->source((uint8_t&)_transferWriteFill); // maybe have setable value
DMAChanneltransferCount(_dmaTX, count-1);
}
if (retbuf) {
// On T3.5 must handle SPI1/2 differently as only one DMA channel
_dmaRX->TCD->ATTR_SRC = 0; //Make sure set for 8 bit mode...
_dmaRX->destinationBuffer((uint8_t*)retbuf, count);
_dmaRX->TCD->DLASTSGA = 0; // At end point after our bufffer
} else {
// Write only mode
_dmaRX->TCD->ATTR_SRC = 0; //Make sure set for 8 bit mode...
_dmaRX->destination((uint8_t&)bit_bucket);
DMAChanneltransferCount(_dmaRX, count);
}
_dma_callback = callback;
// Now try to start it?
// Setup DMA main object
#if defined(SPI_DEBUG_ASYNC_T3X) && defined(SPI_DEBUG_VERBOSE)
Serial.printf("DMA count: %d, dump TCDs %d %d\n", count, _dmaTX->channel, _dmaRX->channel);
dumpDMA_TCD("TX:",_dmaTX);
dumpDMA_TCD("RX:",_dmaRX);
#endif
port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_CLR_TXF | SPI_MCR_PCSIS(0x1F);
port().SR = 0xFF0F0000;
// Lets try to output the first byte to make sure that we are in 8 bit mode...
port().PUSHR = dma_first_byte | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT;
if (hardware().tx_dma_channel) {
port().RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS | SPI_RSER_TFFF_RE | SPI_RSER_TFFF_DIRS;
_dmaRX->enable();
// Get the initial settings.
_dmaTX->enable();
} else {
//T3.5 SP1 and SPI2 - TX is not triggered by SPI but by RX...
port().RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS ;
_dmaTX->triggerAtTransfersOf(*_dmaRX);
_dmaTX->enable();
_dmaRX->enable();
}
_dma_state = DMAState::active;
return true;
}
bool SPIClass::transfer16(const uint16_t *buf, uint16_t *retbuf, size_t count, void(*callback)(void)) {
//Serial.println("Async Transfer called"); Serial.flush();
// There are some special casing we may wish to setup.
// For logical Write operations: don't use RX but instead just let it stay in ffio
// On T3.5 on SPI1/2 we will not set up RX, as only have one DMA channel to use so
// will use on TX...
uint16_t dma_first_word;
if (_dma_state == DMAState::notAllocated) {
if (!initDMAChannels())
return false;
}
if (_dma_state == DMAState::active)
return false; // already active
// Now handle the cases where the count > then how many we can output in one DMA request
if (count > hardware().max_dma_count) {
_dma_count_remaining = count - hardware().max_dma_count;
count = hardware().max_dma_count;
} else {
_dma_count_remaining = 0;
}
// If we are using both 16 and 8 bit transfers, we need to setup pointer to PUSHR/POPR correctly
_dmaTX->TCD->ATTR_DST = 1;
_dmaRX->TCD->ATTR_SRC = 1;
if (buf) {
dma_first_word = *buf;
_dmaTX->sourceBuffer((uint16_t*)buf+1, (count-1)*2);
_dmaTX->TCD->SLAST = 0; // Finish with it pointing to next location
} else {
dma_first_word = _transferWriteFill;
_dmaTX->source((uint16_t&)_transferWriteFill); // maybe have setable value
DMAChanneltransferCount(_dmaTX, count-1);
}
if (retbuf) {
// On T3.5 must handle SPI1/2 differently as only one DMA channel
_dmaRX->destinationBuffer((uint16_t*)retbuf, count*2);
_dmaRX->TCD->DLASTSGA = 0; // Finish with it pointing to next location
} else {
// Write only mode
_dmaRX->destination((uint16_t&)bit_bucket16);
DMAChanneltransferCount(_dmaRX, count);
}
_dma_callback = callback;
// Now try to start it?
// Setup DMA main object
#if defined(SPI_DEBUG_ASYNC_T3X) && defined(SPI_DEBUG_VERBOSE)
Serial.printf("DMA16 %x %x count: %d, dump TCDs %d %d\n", (uint32_t)buf, (uint32_t)retbuf, count, _dmaTX->channel, _dmaRX->channel);
dumpDMA_TCD("TX:",_dmaTX);
dumpDMA_TCD("RX:",_dmaRX);
#endif
// Hack - It appears that for DMA SPI on T3.2 and T3.6, that they only work with CTAR 0... SO make
// CTAR0 16 bit
port().CTAR0 |= SPI_CTAR_FMSZ(8); // Hack convert from 8 bit to 16 bit...
port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
port().SR = 0xFF0F0000;
// Lets try to output the first byte to make sure that we are in 16 bit mode...
port().PUSHR = dma_first_word | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT;
if (hardware().tx_dma_channel) {
port().RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS | SPI_RSER_TFFF_RE | SPI_RSER_TFFF_DIRS;
_dmaRX->enable();
// Get the initial settings.
_dmaTX->enable();
} else {
//T3.5 SP1 and SPI2 - TX is not triggered by SPI but by RX...
port().RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS ;
_dmaTX->triggerAtTransfersOf(*_dmaRX);
_dmaTX->enable();
_dmaRX->enable();
}
_dma_state = DMAState::active;
return true;
}
void SPIClass::flush(void)
{
while (_dma_state == DMAState::active) {
yield();
}
}
bool SPIClass::done(void)
{
return (_dma_state != DMAState::active);
}
//-------------------------------------------------------------------------
// DMA RX ISR
//-------------------------------------------------------------------------
void SPIClass::dma_rxisr(void) {
// Serial.println("_spi_dma_rxISR");
// digitalWriteFast(2, HIGH);
#if defined(SPI_DEBUG_ASYNC_T3X) && defined(SPI_DEBUG_VERBOSE)
Serial.printf("DMA end dump TCDs %d %d Remaining: %d\n", _dmaTX->channel, _dmaRX->channel, _dma_count_remaining);
dumpDMA_TCD("TX:",_dmaTX);
dumpDMA_TCD("RX:",_dmaRX);
#endif
_dmaRX->clearInterrupt();
_dmaTX->clearComplete();
_dmaRX->clearComplete();
uint8_t should_reenable_tx = true; // should we re-enable TX maybe not if count will be 0...
if (_dma_count_remaining) {
// What do I need to do to start it back up again...
// We will use the BITR/CITR from RX as TX may have prefed some stuff
if (_dma_count_remaining > hardware().max_dma_count) {
// Count does not need to be updated...
// _dmaTX->transferCount(hardware().max_dma_count);
// _dmaRX->transferCount(hardware().max_dma_count);
_dma_count_remaining -= hardware().max_dma_count;
} else {
DMAChanneltransferCount(_dmaTX, _dma_count_remaining-1);
DMAChanneltransferCount(_dmaRX, _dma_count_remaining);
if (_dma_count_remaining == 1) should_reenable_tx = false;
_dma_count_remaining = 0;
}
// In some cases we need to again start the TX manually to get it to work...
if (_dmaTX->TCD->SADDR == &_transferWriteFill) {
if (port().CTAR0 & SPI_CTAR_FMSZ(8)) {
port().PUSHR = (_transferWriteFill | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT);
} else {
port().PUSHR = ((_transferWriteFill & 0xff) | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT);
}
} else {
if (port().CTAR0 & SPI_CTAR_FMSZ(8)) {
// 16 bit mode
uint16_t w = *((uint16_t*)_dmaTX->TCD->SADDR);
_dmaTX->TCD->SADDR = (volatile uint8_t*)(_dmaTX->TCD->SADDR) + 2;
port().PUSHR = (w | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT);
} else {
uint8_t w = *((uint8_t*)_dmaTX->TCD->SADDR);
_dmaTX->TCD->SADDR = (volatile uint8_t*)(_dmaTX->TCD->SADDR) + 1;
port().PUSHR = (w | SPI_PUSHR_CTAS(0) | SPI_PUSHR_CONT);
}
}
_dmaRX->enable();
if (should_reenable_tx)
_dmaTX->enable();
#if defined(SPI_DEBUG_ASYNC_T3X) && defined(SPI_DEBUG_VERBOSE)
Serial.printf("DMA end restart dump TCDs %d %d Remaining: %d RSER: %x SR:%x MCR: %x\n", _dmaTX->channel, _dmaRX->channel,
_dma_count_remaining, port().RSER, port().SR, port().MCR);
dumpDMA_TCD("TX:",_dmaTX);
dumpDMA_TCD("RX:",_dmaRX);
#endif
} else {
port().RSER = 0;
//port().MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F); // clear out the queue
port().SR = 0xFF0F0000;
port().CTAR0 &= ~(SPI_CTAR_FMSZ(8)); // Hack restore back to 8 bits
_dma_state = DMAState::completed; // set back to 1 in case our call wants to start up dma again
if (_dma_callback)
(*_dma_callback)();
}
// digitalWriteFast(2, LOW);
}
//=============================================================================
uint8_t SPIClass::pinIsChipSelect(uint8_t pin)
{
for (uint8_t i = 0; i < sizeof(hardware().cs_pin); i++) {
if (pin == hardware().cs_pin[i] ) return hardware().cs_mask[i];
}
return 0;
}
bool SPIClass::pinIsChipSelect(uint8_t pin1, uint8_t pin2)
{
uint8_t pin1_mask, pin2_mask;
if ((pin1_mask = (uint8_t)pinIsChipSelect(pin1)) == 0) return false;
if ((pin2_mask = (uint8_t)pinIsChipSelect(pin2)) == 0) return false;
//Serial.printf("pinIsChipSelect %d %d %x %x\n\r", pin1, pin2, pin1_mask, pin2_mask);
if ((pin1_mask & pin2_mask) != 0) return false;
return true;
}
// setCS() is not intended for use from normal Arduino programs/sketches.
uint8_t SPIClass::setCS(uint8_t pin)
{
for (uint8_t i = 0; i < sizeof(hardware().cs_pin); i++) {
if (pin == hardware().cs_pin[i] ) {
volatile uint32_t *reg = portConfigRegister(hardware().cs_pin[i]);
uint32_t mux = PORT_PCR_MUX(hardware().cs_mux[i]);
*reg = mux;
return hardware().cs_mask[i];
}
}
return 0;
}
void SPIClass::setMOSI(uint8_t pin) {
if (pin == hardware().mosi_pin[mosi_pin_index]) return;
for (uint8_t i = 0; i < sizeof(hardware().mosi_pin); i++) {
if (pin == hardware().mosi_pin[i] ) {
mosi_pin_index = i;
return;
}
}
}
void SPIClass::setMISO(uint8_t pin) {
if (pin == hardware().miso_pin[miso_pin_index]) return;
for (uint8_t i = 0; i < sizeof(hardware().miso_pin); i++) {
if (pin == hardware().miso_pin[i] ) {
miso_pin_index = i;
return;
}
}
}
void SPIClass::setSCK(uint8_t pin) {
if (pin == hardware().sck_pin[sck_pin_index]) return;
for (uint8_t i = 0; i < sizeof(hardware().sck_pin); i++) {
if (pin == hardware().sck_pin[i] ) {
sck_pin_index = i;
return;
}
}
}
bool SPIClass::pinIsMISO(uint8_t pin) {
for (uint8_t i = 0; i < sizeof(hardware().miso_pin); i++) {
if (pin == hardware().miso_pin[i] ) return true;
}
return false;
}
bool SPIClass::pinIsMOSI(uint8_t pin) {
for (uint8_t i = 0; i < sizeof(hardware().mosi_pin); i++) {
if (pin == hardware().mosi_pin[i] ) return true;
}
return false;
}
bool SPIClass::pinIsSCK(uint8_t pin) {
for (uint8_t i = 0; i < sizeof(hardware().sck_pin); i++) {
if (pin == hardware().sck_pin[i] ) return true;
}
return false;
}
/**********************************************************/
/* 32 bit Teensy-LC */
/**********************************************************/
#elif defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISL)
// Now define our down objects
extern void _spi_dma_rxISR0(void);
const SPIClass::SPI_Hardware_t SPIClass::spi0_hardware = {
SIM_SCGC4, SIM_SCGC4_SPI0,
0, // BR index 0
DMAMUX_SOURCE_SPI0_TX, DMAMUX_SOURCE_SPI0_RX, _spi_dma_rxISR0,
12, 8,
2, 2,
11, 7,
2, 2,
13, 14,
2, 2,
10, 2,
2, 2,
0x1, 0x1
};
SPIClass SPI((uintptr_t)&KINETISL_SPI0, (uintptr_t)&SPIClass::spi0_hardware);
extern void _spi_dma_rxISR1(void);
const SPIClass::SPI_Hardware_t SPIClass::spi1_hardware = {
SIM_SCGC4, SIM_SCGC4_SPI1,
1, // BR index 1 in SPI Settings
DMAMUX_SOURCE_SPI1_TX, DMAMUX_SOURCE_SPI1_RX, _spi_dma_rxISR1,
1, 5,
2, 2,
0, 21,
2, 2,
20, 255,
2, 0,
6, 255,
2, 0,
0x1, 0
};
SPIClass SPI1((uintptr_t)&KINETISL_SPI1, (uintptr_t)&SPIClass::spi1_hardware);
void SPIClass::begin()
{
volatile uint32_t *reg;
hardware().clock_gate_register |= hardware().clock_gate_mask;
port().C1 = SPI_C1_SPE | SPI_C1_MSTR;
port().C2 = 0;
uint8_t tmp __attribute__((unused)) = port().S;
reg = portConfigRegister(hardware().mosi_pin[mosi_pin_index]);
*reg = PORT_PCR_MUX(hardware().mosi_mux[mosi_pin_index]);
reg = portConfigRegister(hardware().miso_pin[miso_pin_index]);
*reg = PORT_PCR_MUX(hardware().miso_mux[miso_pin_index]);
reg = portConfigRegister(hardware().sck_pin[sck_pin_index]);
*reg = PORT_PCR_MUX(hardware().sck_mux[sck_pin_index]);
}
void SPIClass::end() {
volatile uint32_t *reg;
if (_dmaTX != nullptr) {
delete _dmaTX;
_dmaTX = nullptr;
delete _dmaRX;
_dmaRX = nullptr;
_dma_state = DMAState::notAllocated;