Merge pull request #10909 from SteveCEvans/g4_spi

betaflight · Aug 31, 2021 · 4c9eb21 · 4c9eb21
2 parents bdccfc3 + ab66795
commit 4c9eb21
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Showing 10 changed files with 75 additions and 289 deletions.
diff --git a/lib/main/STM32G4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc.c b/lib/main/STM32G4/Middlewares/ST/STM32_USB_Device_Library/Class/MSC/Src/usbd_msc.c
diff --git a/make/mcu/STM32G4.mk b/make/mcu/STM32G4.mk
@@ -40,6 +40,7 @@ EXCLUDES        = \
                 stm32g4xx_hal_smartcard.c \
                 stm32g4xx_hal_smartcard_ex.c \
                 stm32g4xx_hal_smbus.c \
+                stm32g4xx_hal_spi.c \
                 stm32g4xx_hal_spi_ex.c \
                 stm32g4xx_hal_sram.c \
                 stm32g4xx_hal_timebase_tim_template.c \
@@ -65,7 +66,6 @@ EXCLUDES        = \
                 stm32g4xx_ll_rcc.c \
                 stm32g4xx_ll_rng.c \
                 stm32g4xx_ll_rtc.c \
-                stm32g4xx_ll_spi.c \
                 stm32g4xx_ll_ucpd.c \
                 stm32g4xx_ll_usart.c \
                 stm32g4xx_ll_utils.c
@@ -161,7 +161,7 @@ MCU_COMMON_SRC = \
             drivers/bus_i2c_hal.c \
             drivers/bus_i2c_hal_init.c \
             drivers/bus_i2c_timing.c \
-            drivers/bus_spi_hal.c \
+            drivers/bus_spi_ll.c \
             drivers/dma_stm32g4xx.c \
             drivers/dshot_bitbang.c \
             drivers/dshot_bitbang_decode.c \

diff --git a/src/main/drivers/accgyro/accgyro_spi_bmi270.c b/src/main/drivers/accgyro/accgyro_spi_bmi270.c
@@ -282,8 +282,8 @@ static bool bmi270AccRead(accDev_t *acc)
         BUFFER_SIZE,
     };
 
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_ACC_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
 
     spiReadWriteBuf(&acc->gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
 
@@ -308,8 +308,8 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
         BUFFER_SIZE,
     };
 
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_GYR_DATA_X_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0};
 
     spiReadWriteBuf(&gyro->dev, (uint8_t *)bmi270_tx_buf, bmi270_rx_buf, BUFFER_SIZE);   // receive response
 
@@ -338,8 +338,8 @@ static bool bmi270GyroReadFifo(gyroDev_t *gyro)
     };
 
     bool dataRead = false;
-    static const uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-    uint8_t bmi270_rx_buf[BUFFER_SIZE];
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_tx_buf[BUFFER_SIZE] = {BMI270_REG_FIFO_LENGTH_LSB | 0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+    STATIC_DMA_DATA_AUTO uint8_t bmi270_rx_buf[BUFFER_SIZE];
 
     // Burst read the FIFO length followed by the next 6 bytes containing the gyro axis data for
     // the first sample in the queue. It's possible for the FIFO to be empty so we need to check the

diff --git a/src/main/drivers/bus.h b/src/main/drivers/bus.h
@@ -64,8 +64,6 @@ typedef struct busDevice_s {
     uint8_t deviceCount;
     dmaChannelDescriptor_t *dmaTx;
     dmaChannelDescriptor_t *dmaRx;
-    uint32_t dmaTxChannel;
-    uint32_t dmaRxChannel;
 #ifndef UNIT_TEST
     // Use a reference here as this saves RAM for unused descriptors
 #if defined(USE_FULL_LL_DRIVER)
@@ -109,7 +107,7 @@ typedef struct extDevice_s {
     } busType_u;
 #ifndef UNIT_TEST
     // Cache the init structure for the next DMA transfer to reduce inter-segment delay
-#if defined(USE_HAL_DRIVER)
+#if defined(USE_FULL_LL_DRIVER)
     LL_DMA_InitTypeDef          initTx;
     LL_DMA_InitTypeDef          initRx;
 #else

diff --git a/src/main/drivers/bus_spi.c b/src/main/drivers/bus_spi.c
@@ -543,7 +543,9 @@ void spiInitBusDMA()
                     break;
                 }
 #endif
-                bus->dmaTxChannel = dmaTxChannelSpec->channel;
+                bus->dmaTx = dmaGetDescriptorByIdentifier(dmaTxIdentifier);
+                bus->dmaTx->stream = DMA_DEVICE_INDEX(dmaTxIdentifier);
+                bus->dmaTx->channel = dmaTxChannelSpec->channel;
                 dmaInit(dmaTxIdentifier, OWNER_SPI_MOSI, device + 1);
                 break;
             }
@@ -564,16 +566,15 @@ void spiInitBusDMA()
                     break;
                 }
 #endif
-                bus->dmaRxChannel = dmaRxChannelSpec->channel;
+                bus->dmaRx = dmaGetDescriptorByIdentifier(dmaRxIdentifier);
+                bus->dmaRx->stream = DMA_DEVICE_INDEX(dmaRxIdentifier);
+                bus->dmaRx->channel = dmaRxChannelSpec->channel;
                 dmaInit(dmaRxIdentifier, OWNER_SPI_MISO, device + 1);
                 break;
             }
         }
 
         if (dmaTxIdentifier && dmaRxIdentifier) {
-            bus->dmaTx = dmaGetDescriptorByIdentifier(dmaTxIdentifier);
-            bus->dmaRx = dmaGetDescriptorByIdentifier(dmaRxIdentifier);
-
             // Ensure streams are disabled
             spiInternalResetStream(bus->dmaRx);
             spiInternalResetStream(bus->dmaTx);
@@ -586,6 +587,10 @@ void spiInitBusDMA()
             dmaSetHandler(dmaRxIdentifier, spiRxIrqHandler, NVIC_PRIO_SPI_DMA, 0);
 
             bus->useDMA = true;
+        } else {
+            // Disassociate channels from bus
+            bus->dmaRx = (dmaChannelDescriptor_t *)NULL;
+            bus->dmaTx = (dmaChannelDescriptor_t *)NULL;
         }
     }
 }

diff --git a/src/main/drivers/bus_spi_hal.c b/src/main/drivers/bus_spi_hal.c