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mod.rs
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//! Serial Peripheral Interface (SPI)
#![macro_use]
use core::marker::PhantomData;
use core::ptr;
use embassy_embedded_hal::SetConfig;
use embassy_futures::join::join;
use embassy_hal_internal::PeripheralRef;
pub use embedded_hal_02::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
use crate::dma::{word, ChannelAndRequest};
use crate::gpio::{AfType, AnyPin, OutputType, Pull, SealedPin as _, Speed};
use crate::mode::{Async, Blocking, Mode as PeriMode};
use crate::pac::spi::{regs, vals, Spi as Regs};
use crate::rcc::{RccInfo, SealedRccPeripheral};
use crate::time::Hertz;
use crate::Peripheral;
/// SPI error.
#[derive(Debug, PartialEq, Eq, Clone, Copy)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Error {
/// Invalid framing.
Framing,
/// CRC error (only if hardware CRC checking is enabled).
Crc,
/// Mode fault
ModeFault,
/// Overrun.
Overrun,
}
/// SPI bit order
#[derive(Copy, Clone)]
pub enum BitOrder {
/// Least significant bit first.
LsbFirst,
/// Most significant bit first.
MsbFirst,
}
/// SPI configuration.
#[non_exhaustive]
#[derive(Copy, Clone)]
pub struct Config {
/// SPI mode.
pub mode: Mode,
/// Bit order.
pub bit_order: BitOrder,
/// Clock frequency.
pub frequency: Hertz,
/// Enable internal pullup on MISO.
///
/// There are some ICs that require a pull-up on the MISO pin for some applications.
/// If you are unsure, you probably don't need this.
pub miso_pull: Pull,
}
impl Default for Config {
fn default() -> Self {
Self {
mode: MODE_0,
bit_order: BitOrder::MsbFirst,
frequency: Hertz(1_000_000),
miso_pull: Pull::None,
}
}
}
impl Config {
fn raw_phase(&self) -> vals::Cpha {
match self.mode.phase {
Phase::CaptureOnSecondTransition => vals::Cpha::SECONDEDGE,
Phase::CaptureOnFirstTransition => vals::Cpha::FIRSTEDGE,
}
}
fn raw_polarity(&self) -> vals::Cpol {
match self.mode.polarity {
Polarity::IdleHigh => vals::Cpol::IDLEHIGH,
Polarity::IdleLow => vals::Cpol::IDLELOW,
}
}
fn raw_byte_order(&self) -> vals::Lsbfirst {
match self.bit_order {
BitOrder::LsbFirst => vals::Lsbfirst::LSBFIRST,
BitOrder::MsbFirst => vals::Lsbfirst::MSBFIRST,
}
}
#[cfg(gpio_v1)]
fn sck_af(&self) -> AfType {
AfType::output(OutputType::PushPull, Speed::VeryHigh)
}
#[cfg(gpio_v2)]
fn sck_af(&self) -> AfType {
AfType::output_pull(
OutputType::PushPull,
Speed::VeryHigh,
match self.mode.polarity {
Polarity::IdleLow => Pull::Down,
Polarity::IdleHigh => Pull::Up,
},
)
}
}
/// SPI driver.
pub struct Spi<'d, M: PeriMode> {
pub(crate) info: &'static Info,
kernel_clock: Hertz,
sck: Option<PeripheralRef<'d, AnyPin>>,
mosi: Option<PeripheralRef<'d, AnyPin>>,
miso: Option<PeripheralRef<'d, AnyPin>>,
tx_dma: Option<ChannelAndRequest<'d>>,
rx_dma: Option<ChannelAndRequest<'d>>,
_phantom: PhantomData<M>,
current_word_size: word_impl::Config,
}
impl<'d, M: PeriMode> Spi<'d, M> {
fn new_inner<T: Instance>(
_peri: impl Peripheral<P = T> + 'd,
sck: Option<PeripheralRef<'d, AnyPin>>,
mosi: Option<PeripheralRef<'d, AnyPin>>,
miso: Option<PeripheralRef<'d, AnyPin>>,
tx_dma: Option<ChannelAndRequest<'d>>,
rx_dma: Option<ChannelAndRequest<'d>>,
config: Config,
) -> Self {
let mut this = Self {
info: T::info(),
kernel_clock: T::frequency(),
sck,
mosi,
miso,
tx_dma,
rx_dma,
current_word_size: <u8 as SealedWord>::CONFIG,
_phantom: PhantomData,
};
this.enable_and_init(config);
this
}
fn enable_and_init(&mut self, config: Config) {
let br = compute_baud_rate(self.kernel_clock, config.frequency);
let cpha = config.raw_phase();
let cpol = config.raw_polarity();
let lsbfirst = config.raw_byte_order();
self.info.rcc.enable_and_reset();
let regs = self.info.regs;
#[cfg(any(spi_v1, spi_f1))]
{
regs.cr2().modify(|w| {
w.set_ssoe(false);
});
regs.cr1().modify(|w| {
w.set_cpha(cpha);
w.set_cpol(cpol);
w.set_mstr(vals::Mstr::MASTER);
w.set_br(br);
w.set_spe(true);
w.set_lsbfirst(lsbfirst);
w.set_ssi(true);
w.set_ssm(true);
w.set_crcen(false);
w.set_bidimode(vals::Bidimode::UNIDIRECTIONAL);
// we're doing "fake rxonly", by actually writing one
// byte to TXDR for each byte we want to receive. if we
// set OUTPUTDISABLED here, this hangs.
w.set_rxonly(vals::Rxonly::FULLDUPLEX);
w.set_dff(<u8 as SealedWord>::CONFIG)
});
}
#[cfg(spi_v2)]
{
regs.cr2().modify(|w| {
let (ds, frxth) = <u8 as SealedWord>::CONFIG;
w.set_frxth(frxth);
w.set_ds(ds);
w.set_ssoe(false);
});
regs.cr1().modify(|w| {
w.set_cpha(cpha);
w.set_cpol(cpol);
w.set_mstr(vals::Mstr::MASTER);
w.set_br(br);
w.set_lsbfirst(lsbfirst);
w.set_ssi(true);
w.set_ssm(true);
w.set_crcen(false);
w.set_bidimode(vals::Bidimode::UNIDIRECTIONAL);
w.set_spe(true);
});
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
{
regs.ifcr().write(|w| w.0 = 0xffff_ffff);
regs.cfg2().modify(|w| {
//w.set_ssoe(true);
w.set_ssoe(false);
w.set_cpha(cpha);
w.set_cpol(cpol);
w.set_lsbfirst(lsbfirst);
w.set_ssm(true);
w.set_master(vals::Master::MASTER);
w.set_comm(vals::Comm::FULLDUPLEX);
w.set_ssom(vals::Ssom::ASSERTED);
w.set_midi(0);
w.set_mssi(0);
w.set_afcntr(true);
w.set_ssiop(vals::Ssiop::ACTIVEHIGH);
});
regs.cfg1().modify(|w| {
w.set_crcen(false);
w.set_mbr(br);
w.set_dsize(<u8 as SealedWord>::CONFIG);
w.set_fthlv(vals::Fthlv::ONEFRAME);
});
regs.cr2().modify(|w| {
w.set_tsize(0);
});
regs.cr1().modify(|w| {
w.set_ssi(false);
w.set_spe(true);
});
}
}
/// Reconfigures it with the supplied config.
pub fn set_config(&mut self, config: &Config) -> Result<(), ()> {
let cpha = config.raw_phase();
let cpol = config.raw_polarity();
let lsbfirst = config.raw_byte_order();
let br = compute_baud_rate(self.kernel_clock, config.frequency);
#[cfg(any(spi_v1, spi_f1, spi_v2))]
self.info.regs.cr1().modify(|w| {
w.set_cpha(cpha);
w.set_cpol(cpol);
w.set_br(br);
w.set_lsbfirst(lsbfirst);
});
#[cfg(any(spi_v3, spi_v4, spi_v5))]
{
self.info.regs.cfg2().modify(|w| {
w.set_cpha(cpha);
w.set_cpol(cpol);
w.set_lsbfirst(lsbfirst);
});
self.info.regs.cfg1().modify(|w| {
w.set_mbr(br);
});
}
Ok(())
}
/// Get current SPI configuration.
pub fn get_current_config(&self) -> Config {
#[cfg(any(spi_v1, spi_f1, spi_v2))]
let cfg = self.info.regs.cr1().read();
#[cfg(any(spi_v3, spi_v4, spi_v5))]
let cfg = self.info.regs.cfg2().read();
#[cfg(any(spi_v3, spi_v4, spi_v5))]
let cfg1 = self.info.regs.cfg1().read();
let polarity = if cfg.cpol() == vals::Cpol::IDLELOW {
Polarity::IdleLow
} else {
Polarity::IdleHigh
};
let phase = if cfg.cpha() == vals::Cpha::FIRSTEDGE {
Phase::CaptureOnFirstTransition
} else {
Phase::CaptureOnSecondTransition
};
let bit_order = if cfg.lsbfirst() == vals::Lsbfirst::LSBFIRST {
BitOrder::LsbFirst
} else {
BitOrder::MsbFirst
};
let miso_pull = match &self.miso {
None => Pull::None,
Some(pin) => pin.pull(),
};
#[cfg(any(spi_v1, spi_f1, spi_v2))]
let br = cfg.br();
#[cfg(any(spi_v3, spi_v4, spi_v5))]
let br = cfg1.mbr();
let frequency = compute_frequency(self.kernel_clock, br);
Config {
mode: Mode { polarity, phase },
bit_order,
frequency,
miso_pull,
}
}
fn set_word_size(&mut self, word_size: word_impl::Config) {
if self.current_word_size == word_size {
return;
}
#[cfg(any(spi_v1, spi_f1))]
{
self.info.regs.cr1().modify(|reg| {
reg.set_spe(false);
reg.set_dff(word_size)
});
self.info.regs.cr1().modify(|reg| {
reg.set_spe(true);
});
}
#[cfg(spi_v2)]
{
self.info.regs.cr1().modify(|w| {
w.set_spe(false);
});
self.info.regs.cr2().modify(|w| {
w.set_frxth(word_size.1);
w.set_ds(word_size.0);
});
self.info.regs.cr1().modify(|w| {
w.set_spe(true);
});
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
{
self.info.regs.cr1().modify(|w| {
w.set_csusp(true);
});
while self.info.regs.sr().read().eot() {}
self.info.regs.cr1().modify(|w| {
w.set_spe(false);
});
self.info.regs.cfg1().modify(|w| {
w.set_dsize(word_size);
});
self.info.regs.cr1().modify(|w| {
w.set_csusp(false);
w.set_spe(true);
});
}
self.current_word_size = word_size;
}
/// Blocking write.
pub fn blocking_write<W: Word>(&mut self, words: &[W]) -> Result<(), Error> {
// needed in v3+ to avoid overrun causing the SPI RX state machine to get stuck...?
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| w.set_spe(false));
self.info.regs.cr1().modify(|w| w.set_spe(true));
flush_rx_fifo(self.info.regs);
self.set_word_size(W::CONFIG);
for word in words.iter() {
// this cannot use `transfer_word` because on SPIv2 and higher,
// the SPI RX state machine hangs if no physical pin is connected to the SCK AF.
// This is the case when the SPI has been created with `new_(blocking_?)txonly_nosck`.
// See https://github.com/embassy-rs/embassy/issues/2902
// This is not documented as an errata by ST, and I've been unable to find anything online...
#[cfg(not(any(spi_v1, spi_f1)))]
write_word(self.info.regs, *word)?;
// if we're doing tx only, after writing the last byte to FIFO we have to wait
// until it's actually sent. On SPIv1 you're supposed to use the BSY flag for this
// but apparently it's broken, it clears too soon. Workaround is to wait for RXNE:
// when it gets set you know the transfer is done, even if you don't care about rx.
// Luckily this doesn't affect SPIv2+.
// See http://efton.sk/STM32/gotcha/g68.html
// ST doesn't seem to document this in errata sheets (?)
#[cfg(any(spi_v1, spi_f1))]
transfer_word(self.info.regs, *word)?;
}
// wait until last word is transmitted. (except on v1, see above)
#[cfg(not(any(spi_v1, spi_f1, spi_v2)))]
while !self.info.regs.sr().read().txc() {}
#[cfg(spi_v2)]
while self.info.regs.sr().read().bsy() {}
Ok(())
}
/// Blocking read.
pub fn blocking_read<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
// needed in v3+ to avoid overrun causing the SPI RX state machine to get stuck...?
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| w.set_spe(false));
self.info.regs.cr1().modify(|w| w.set_spe(true));
flush_rx_fifo(self.info.regs);
self.set_word_size(W::CONFIG);
for word in words.iter_mut() {
*word = transfer_word(self.info.regs, W::default())?;
}
Ok(())
}
/// Blocking in-place bidirectional transfer.
///
/// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
pub fn blocking_transfer_in_place<W: Word>(&mut self, words: &mut [W]) -> Result<(), Error> {
// needed in v3+ to avoid overrun causing the SPI RX state machine to get stuck...?
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| w.set_spe(false));
self.info.regs.cr1().modify(|w| w.set_spe(true));
flush_rx_fifo(self.info.regs);
self.set_word_size(W::CONFIG);
for word in words.iter_mut() {
*word = transfer_word(self.info.regs, *word)?;
}
Ok(())
}
/// Blocking bidirectional transfer.
///
/// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
///
/// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
/// If `write` is shorter it is padded with zero bytes.
pub fn blocking_transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error> {
// needed in v3+ to avoid overrun causing the SPI RX state machine to get stuck...?
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| w.set_spe(false));
self.info.regs.cr1().modify(|w| w.set_spe(true));
flush_rx_fifo(self.info.regs);
self.set_word_size(W::CONFIG);
let len = read.len().max(write.len());
for i in 0..len {
let wb = write.get(i).copied().unwrap_or_default();
let rb = transfer_word(self.info.regs, wb)?;
if let Some(r) = read.get_mut(i) {
*r = rb;
}
}
Ok(())
}
}
impl<'d> Spi<'d, Blocking> {
/// Create a new blocking SPI driver.
pub fn new_blocking<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
miso: impl Peripheral<P = impl MisoPin<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
new_pin!(miso, AfType::input(config.miso_pull)),
None,
None,
config,
)
}
/// Create a new blocking SPI driver, in RX-only mode (only MISO pin, no MOSI).
pub fn new_blocking_rxonly<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
miso: impl Peripheral<P = impl MisoPin<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
None,
new_pin!(miso, AfType::input(config.miso_pull)),
None,
None,
config,
)
}
/// Create a new blocking SPI driver, in TX-only mode (only MOSI pin, no MISO).
pub fn new_blocking_txonly<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
None,
None,
None,
config,
)
}
/// Create a new SPI driver, in TX-only mode, without SCK pin.
///
/// This can be useful for bit-banging non-SPI protocols.
pub fn new_blocking_txonly_nosck<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
None,
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
None,
None,
None,
config,
)
}
}
impl<'d> Spi<'d, Async> {
/// Create a new SPI driver.
pub fn new<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
miso: impl Peripheral<P = impl MisoPin<T>> + 'd,
tx_dma: impl Peripheral<P = impl TxDma<T>> + 'd,
rx_dma: impl Peripheral<P = impl RxDma<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
new_pin!(miso, AfType::input(config.miso_pull)),
new_dma!(tx_dma),
new_dma!(rx_dma),
config,
)
}
/// Create a new SPI driver, in RX-only mode (only MISO pin, no MOSI).
pub fn new_rxonly<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
miso: impl Peripheral<P = impl MisoPin<T>> + 'd,
#[cfg(any(spi_v1, spi_f1, spi_v2))] tx_dma: impl Peripheral<P = impl TxDma<T>> + 'd,
rx_dma: impl Peripheral<P = impl RxDma<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
None,
new_pin!(miso, AfType::input(config.miso_pull)),
#[cfg(any(spi_v1, spi_f1, spi_v2))]
new_dma!(tx_dma),
#[cfg(any(spi_v3, spi_v4, spi_v5))]
None,
new_dma!(rx_dma),
config,
)
}
/// Create a new SPI driver, in TX-only mode (only MOSI pin, no MISO).
pub fn new_txonly<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
sck: impl Peripheral<P = impl SckPin<T>> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
tx_dma: impl Peripheral<P = impl TxDma<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
new_pin!(sck, config.sck_af()),
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
None,
new_dma!(tx_dma),
None,
config,
)
}
/// Create a new SPI driver, in TX-only mode, without SCK pin.
///
/// This can be useful for bit-banging non-SPI protocols.
pub fn new_txonly_nosck<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
mosi: impl Peripheral<P = impl MosiPin<T>> + 'd,
tx_dma: impl Peripheral<P = impl TxDma<T>> + 'd,
config: Config,
) -> Self {
Self::new_inner(
peri,
None,
new_pin!(mosi, AfType::output(OutputType::PushPull, Speed::VeryHigh)),
None,
new_dma!(tx_dma),
None,
config,
)
}
#[cfg(stm32wl)]
/// Useful for on chip peripherals like SUBGHZ which are hardwired.
pub fn new_subghz<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
tx_dma: impl Peripheral<P = impl TxDma<T>> + 'd,
rx_dma: impl Peripheral<P = impl RxDma<T>> + 'd,
) -> Self {
// see RM0453 rev 1 section 7.2.13 page 291
// The SUBGHZSPI_SCK frequency is obtained by PCLK3 divided by two.
// The SUBGHZSPI_SCK clock maximum speed must not exceed 16 MHz.
let pclk3_freq = <crate::peripherals::SUBGHZSPI as SealedRccPeripheral>::frequency().0;
let freq = Hertz(core::cmp::min(pclk3_freq / 2, 16_000_000));
let mut config = Config::default();
config.mode = MODE_0;
config.bit_order = BitOrder::MsbFirst;
config.frequency = freq;
Self::new_inner(peri, None, None, None, new_dma!(tx_dma), new_dma!(rx_dma), config)
}
#[allow(dead_code)]
pub(crate) fn new_internal<T: Instance>(
peri: impl Peripheral<P = T> + 'd,
tx_dma: Option<ChannelAndRequest<'d>>,
rx_dma: Option<ChannelAndRequest<'d>>,
config: Config,
) -> Self {
Self::new_inner(peri, None, None, None, tx_dma, rx_dma, config)
}
/// SPI write, using DMA.
pub async fn write<W: Word>(&mut self, data: &[W]) -> Result<(), Error> {
if data.is_empty() {
return Ok(());
}
self.set_word_size(W::CONFIG);
self.info.regs.cr1().modify(|w| {
w.set_spe(false);
});
let tx_dst = self.info.regs.tx_ptr();
let tx_f = unsafe { self.tx_dma.as_mut().unwrap().write(data, tx_dst, Default::default()) };
set_txdmaen(self.info.regs, true);
self.info.regs.cr1().modify(|w| {
w.set_spe(true);
});
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| {
w.set_cstart(true);
});
tx_f.await;
finish_dma(self.info.regs);
Ok(())
}
/// SPI read, using DMA.
#[cfg(any(spi_v3, spi_v4, spi_v5))]
pub async fn read<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error> {
if data.is_empty() {
return Ok(());
}
let regs = self.info.regs;
regs.cr1().modify(|w| {
w.set_spe(false);
});
let comm = regs.cfg2().modify(|w| {
let prev = w.comm();
w.set_comm(vals::Comm::RECEIVER);
prev
});
#[cfg(spi_v3)]
let i2scfg = regs.i2scfgr().modify(|w| {
w.i2smod().then(|| {
let prev = w.i2scfg();
w.set_i2scfg(match prev {
vals::I2scfg::SLAVERX | vals::I2scfg::SLAVEFULLDUPLEX => vals::I2scfg::SLAVERX,
vals::I2scfg::MASTERRX | vals::I2scfg::MASTERFULLDUPLEX => vals::I2scfg::MASTERRX,
_ => panic!("unsupported configuration"),
});
prev
})
});
let rx_src = regs.rx_ptr();
for mut chunk in data.chunks_mut(u16::max_value().into()) {
self.set_word_size(W::CONFIG);
set_rxdmaen(regs, true);
let tsize = chunk.len();
let transfer = unsafe {
self.rx_dma
.as_mut()
.unwrap()
.read(rx_src, &mut chunk, Default::default())
};
regs.cr2().modify(|w| {
w.set_tsize(tsize as u16);
});
regs.cr1().modify(|w| {
w.set_spe(true);
});
regs.cr1().modify(|w| {
w.set_cstart(true);
});
transfer.await;
finish_dma(regs);
}
regs.cr1().modify(|w| {
w.set_spe(false);
});
regs.cfg2().modify(|w| {
w.set_comm(comm);
});
regs.cr2().modify(|w| {
w.set_tsize(0);
});
#[cfg(spi_v3)]
if let Some(i2scfg) = i2scfg {
regs.i2scfgr().modify(|w| {
w.set_i2scfg(i2scfg);
});
}
Ok(())
}
/// SPI read, using DMA.
#[cfg(any(spi_v1, spi_f1, spi_v2))]
pub async fn read<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error> {
if data.is_empty() {
return Ok(());
}
self.set_word_size(W::CONFIG);
self.info.regs.cr1().modify(|w| {
w.set_spe(false);
});
// SPIv3 clears rxfifo on SPE=0
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
flush_rx_fifo(self.info.regs);
set_rxdmaen(self.info.regs, true);
let clock_byte_count = data.len();
let rx_src = self.info.regs.rx_ptr();
let rx_f = unsafe { self.rx_dma.as_mut().unwrap().read(rx_src, data, Default::default()) };
let tx_dst = self.info.regs.tx_ptr();
let clock_byte = 0x00u8;
let tx_f = unsafe {
self.tx_dma
.as_mut()
.unwrap()
.write_repeated(&clock_byte, clock_byte_count, tx_dst, Default::default())
};
set_txdmaen(self.info.regs, true);
self.info.regs.cr1().modify(|w| {
w.set_spe(true);
});
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| {
w.set_cstart(true);
});
join(tx_f, rx_f).await;
finish_dma(self.info.regs);
Ok(())
}
async fn transfer_inner<W: Word>(&mut self, read: *mut [W], write: *const [W]) -> Result<(), Error> {
assert_eq!(read.len(), write.len());
if read.len() == 0 {
return Ok(());
}
self.set_word_size(W::CONFIG);
self.info.regs.cr1().modify(|w| {
w.set_spe(false);
});
// SPIv3 clears rxfifo on SPE=0
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
flush_rx_fifo(self.info.regs);
set_rxdmaen(self.info.regs, true);
let rx_src = self.info.regs.rx_ptr();
let rx_f = unsafe { self.rx_dma.as_mut().unwrap().read_raw(rx_src, read, Default::default()) };
let tx_dst = self.info.regs.tx_ptr();
let tx_f = unsafe {
self.tx_dma
.as_mut()
.unwrap()
.write_raw(write, tx_dst, Default::default())
};
set_txdmaen(self.info.regs, true);
self.info.regs.cr1().modify(|w| {
w.set_spe(true);
});
#[cfg(any(spi_v3, spi_v4, spi_v5))]
self.info.regs.cr1().modify(|w| {
w.set_cstart(true);
});
join(tx_f, rx_f).await;
finish_dma(self.info.regs);
Ok(())
}
/// Bidirectional transfer, using DMA.
///
/// This transfers both buffers at the same time, so it is NOT equivalent to `write` followed by `read`.
///
/// The transfer runs for `max(read.len(), write.len())` bytes. If `read` is shorter extra bytes are ignored.
/// If `write` is shorter it is padded with zero bytes.
pub async fn transfer<W: Word>(&mut self, read: &mut [W], write: &[W]) -> Result<(), Error> {
self.transfer_inner(read, write).await
}
/// In-place bidirectional transfer, using DMA.
///
/// This writes the contents of `data` on MOSI, and puts the received data on MISO in `data`, at the same time.
pub async fn transfer_in_place<W: Word>(&mut self, data: &mut [W]) -> Result<(), Error> {
self.transfer_inner(data, data).await
}
}
impl<'d, M: PeriMode> Drop for Spi<'d, M> {
fn drop(&mut self) {
self.sck.as_ref().map(|x| x.set_as_disconnected());
self.mosi.as_ref().map(|x| x.set_as_disconnected());
self.miso.as_ref().map(|x| x.set_as_disconnected());
self.info.rcc.disable();
}
}
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
use vals::Br;
#[cfg(any(spi_v3, spi_v4, spi_v5))]
use vals::Mbr as Br;
fn compute_baud_rate(kernel_clock: Hertz, freq: Hertz) -> Br {
let val = match kernel_clock.0 / freq.0 {
0 => panic!("You are trying to reach a frequency higher than the clock"),
1..=2 => 0b000,
3..=5 => 0b001,
6..=11 => 0b010,
12..=23 => 0b011,
24..=39 => 0b100,
40..=95 => 0b101,
96..=191 => 0b110,
_ => 0b111,
};
Br::from_bits(val)
}
fn compute_frequency(kernel_clock: Hertz, br: Br) -> Hertz {
let div: u16 = match br {
Br::DIV2 => 2,
Br::DIV4 => 4,
Br::DIV8 => 8,
Br::DIV16 => 16,
Br::DIV32 => 32,
Br::DIV64 => 64,
Br::DIV128 => 128,
Br::DIV256 => 256,
};
kernel_clock / div
}
trait RegsExt {
fn tx_ptr<W>(&self) -> *mut W;
fn rx_ptr<W>(&self) -> *mut W;
}
impl RegsExt for Regs {
fn tx_ptr<W>(&self) -> *mut W {
#[cfg(any(spi_v1, spi_f1))]
let dr = self.dr();
#[cfg(spi_v2)]
let dr = self.dr16();
#[cfg(any(spi_v3, spi_v4, spi_v5))]
let dr = self.txdr32();
dr.as_ptr() as *mut W
}
fn rx_ptr<W>(&self) -> *mut W {
#[cfg(any(spi_v1, spi_f1))]
let dr = self.dr();
#[cfg(spi_v2)]
let dr = self.dr16();
#[cfg(any(spi_v3, spi_v4, spi_v5))]
let dr = self.rxdr32();
dr.as_ptr() as *mut W
}
}
fn check_error_flags(sr: regs::Sr, ovr: bool) -> Result<(), Error> {
if sr.ovr() && ovr {
return Err(Error::Overrun);
}
#[cfg(not(any(spi_f1, spi_v3, spi_v4, spi_v5)))]
if sr.fre() {
return Err(Error::Framing);
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
if sr.tifre() {
return Err(Error::Framing);
}
if sr.modf() {
return Err(Error::ModeFault);
}
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
if sr.crcerr() {
return Err(Error::Crc);
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
if sr.crce() {
return Err(Error::Crc);
}
Ok(())
}
fn spin_until_tx_ready(regs: Regs, ovr: bool) -> Result<(), Error> {
loop {
let sr = regs.sr().read();
check_error_flags(sr, ovr)?;
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
if sr.txe() {
return Ok(());
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
if sr.txp() {
return Ok(());
}
}
}
fn spin_until_rx_ready(regs: Regs) -> Result<(), Error> {
loop {
let sr = regs.sr().read();
check_error_flags(sr, true)?;
#[cfg(not(any(spi_v3, spi_v4, spi_v5)))]
if sr.rxne() {
return Ok(());
}
#[cfg(any(spi_v3, spi_v4, spi_v5))]
if sr.rxp() {