altos: Provide ISR-based code paths for SPIserial-at-interrupt

This allows SPI to be entirely interrupt driven, with callbacks for
completion. It's not tested yet...

Signed-off-by: Keith Packard <keithp@keithp.com>

5 files changed, 123 insertions, 18 deletions

diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c
index a2569908..93cf6b6d 100644
--- a/src/stm/ao_adc_stm.c
+++ b/src/stm/ao_adc_stm.c
@@ -41,7 +41,7 @@ static uint8_t			ao_adc_ready;
  *
  * Mark time in ring, shut down DMA engine
  */
-static void ao_adc_done(int index)
+static void ao_adc_done(int arg)
 {
 	ao_adc_ring[ao_adc_head].tick = ao_time();
 	ao_adc_head = ao_adc_ring_next(ao_adc_head);
@@ -72,7 +72,7 @@ ao_adc_poll(void)
 			    (0 << STM_DMA_CCR_PINC) |
 			    (0 << STM_DMA_CCR_CIRC) |
 			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
-	ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), ao_adc_done);
+	ao_dma_set_isr(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1), ao_adc_done, 0);
 	ao_dma_start(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1));
 
 	stm_adc.cr2 = AO_ADC_CR2_VAL | (1 << STM_ADC_CR2_SWSTART);
diff --git a/src/stm/ao_arch_funcs.h b/src/stm/ao_arch_funcs.h
index 447042dd..5ab02113 100644
--- a/src/stm/ao_arch_funcs.h
+++ b/src/stm/ao_arch_funcs.h
@@ -32,6 +32,10 @@ void
 ao_spi_send(void *block, uint16_t len, uint8_t spi_index);
 
 void
+ao_spi_queue_send(void *block, uint16_t len, uint8_t spi_index,
+		  void (*callback)(int spi_index));
+
+void
 ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index);
 
 void
@@ -105,7 +109,7 @@ ao_dma_set_transfer(uint8_t 		index,
 		    uint32_t		ccr);
 
 void
-ao_dma_set_isr(uint8_t index, void (*isr)(int index));
+ao_dma_set_isr(uint8_t index, void (*isr)(int arg), int arg);
 
 void
 ao_dma_start(uint8_t index);
diff --git a/src/stm/ao_dma_stm.c b/src/stm/ao_dma_stm.c
index 8379a1a5..c44e66f0 100644
--- a/src/stm/ao_dma_stm.c
+++ b/src/stm/ao_dma_stm.c
@@ -20,7 +20,8 @@
 #define NUM_DMA	7
 
 struct ao_dma_config {
-	void		(*isr)(int index);
+	void		(*isr)(int arg);
+	int		arg;
 };
 
 uint8_t ao_dma_done[NUM_DMA];
@@ -39,7 +40,7 @@ ao_dma_isr(uint8_t index) {
 	/* Ack them */
 	stm_dma.ifcr = isr;
 	if (ao_dma_config[index].isr)
-		(*ao_dma_config[index].isr)(index);
+		(*ao_dma_config[index].isr)(ao_dma_config[index].arg);
 	else {
 		ao_dma_done[index] = 1;
 		ao_wakeup(&ao_dma_done[index]);
@@ -79,8 +80,9 @@ ao_dma_set_transfer(uint8_t 		index,
 }
 
 void
-ao_dma_set_isr(uint8_t index, void (*isr)(int))
+ao_dma_set_isr(uint8_t index, void (*isr)(int), int arg)
 {
+	ao_dma_config[index].arg = arg;
 	ao_dma_config[index].isr = isr;
 }
 
diff --git a/src/stm/ao_i2c_stm.c b/src/stm/ao_i2c_stm.c
index 763ae6cd..73587aac 100644
--- a/src/stm/ao_i2c_stm.c
+++ b/src/stm/ao_i2c_stm.c
@@ -32,6 +32,7 @@ struct ao_i2c_stm_info {
 static uint8_t	ao_i2c_state[STM_NUM_I2C];
 static uint16_t	ao_i2c_addr[STM_NUM_I2C];
 uint8_t 	ao_i2c_mutex[STM_NUM_I2C];
+static void	(*ao_i2c_callback[STM_NUM_I2C])(uint8_t index);
 
 #define AO_STM_I2C_CR1 ((0 << STM_I2C_CR1_SWRST) |	\
 			(0 << STM_I2C_CR1_ALERT) |	\
@@ -182,8 +183,8 @@ static inline void out_dr(char *where, struct stm_i2c *stm_i2c, uint32_t dr) {
 	stm_i2c->dr = dr;
 }
 
-uint8_t
-ao_i2c_start(uint8_t index, uint16_t addr)
+void
+ao_i2c_queue_start(uint8_t index, uint16_t addr)
 {
 	struct stm_i2c	*stm_i2c = ao_i2c_stm_info[index].stm_i2c;
 	uint32_t	sr1, sr2;
@@ -196,9 +197,28 @@ ao_i2c_start(uint8_t index, uint16_t addr)
 		AO_STM_I2C_CR1 | (1 << STM_I2C_CR1_START));
 	out_cr2("start", stm_i2c,
 		AO_STM_I2C_CR2 | (1 << STM_I2C_CR2_ITEVTEN) | (1 << STM_I2C_CR2_ITERREN));
+}
+
+void
+ao_i2c_set_start_callback(uint8_t index, void (*callback)(uint8_t index))
+{
+
+}
+
+uint8_t
+ao_i2c_is_idle(uint8_t index)
+{
+	return ao_i2c_state[index] == I2C_IDLE;
+}
+
+uint8_t
+ao_i2c_start(uint8_t index, uint16_t addr)
+{
+	ao_i2c_queue_start(index, addr);
+
 	ao_alarm(1);
 	cli();
-	while (ao_i2c_state[index] == I2C_IDLE)
+	while (ao_i2c_is_idle(index))
 		if (ao_sleep(&ao_i2c_state[index]))
 			break;
 	sei();
diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c
index 8bb0d8e8..b8ab7db6 100644
--- a/src/stm/ao_spi_stm.c
+++ b/src/stm/ao_spi_stm.c
@@ -24,6 +24,7 @@ struct ao_spi_stm_info {
 };
 
 uint8_t	ao_spi_mutex[STM_NUM_SPI];
+static void (*ao_spi_callback[STM_NUM_SPI])(int spi_index);
 
 static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = {
 	{
@@ -40,8 +41,8 @@ static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = {
 
 static uint8_t	spi_dev_null;
 
-void
-ao_spi_send(void *block, uint16_t len, uint8_t spi_index)
+static void
+ao_spi_setup_send(void *block, uint16_t len, uint8_t spi_index)
 {
 	struct stm_spi *stm_spi = ao_spi_stm_info[spi_index].stm_spi;
 	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
@@ -86,14 +87,61 @@ ao_spi_send(void *block, uint16_t len, uint8_t spi_index)
 			(0 << STM_SPI_CR2_SSOE) |
 			(1 << STM_SPI_CR2_TXDMAEN) |
 			(1 << STM_SPI_CR2_RXDMAEN));
+}
+
+static void
+ao_spi_start_send(uint8_t spi_index)
+{
+	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+
 	ao_dma_start(miso_dma_index);
 	ao_dma_start(mosi_dma_index);
+}
+
+static void
+ao_spi_finish_send(uint8_t spi_index)
+{
+	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+
+	ao_dma_done_transfer(mosi_dma_index);
+	ao_dma_done_transfer(miso_dma_index);
+}
+
+void
+ao_spi_dma_isr(int spi_index)
+{
+	ao_spi_callback[spi_index](spi_index);
+	ao_spi_finish_send(spi_index);
+}
+
+void
+ao_spi_queue_send(void *block, uint16_t len, uint8_t spi_index,
+		  void (*callback)(int spi_index))
+{
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+
+	ao_spi_setup_send(block, len, spi_index);
+	ao_spi_callback[spi_index] = callback;
+	ao_dma_set_isr(miso_dma_index, ao_spi_dma_isr, spi_index);
+	ao_spi_start_send(spi_index);
+}
+
+void
+ao_spi_send(void *block, uint16_t len, uint8_t spi_index)
+{
+	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+
+	ao_spi_setup_send(block, len, spi_index);
+	ao_spi_start_send(spi_index);
 	ao_arch_critical(
 		while (!ao_dma_done[miso_dma_index])
 			ao_sleep(&ao_dma_done[miso_dma_index]);
 		);
-	ao_dma_done_transfer(mosi_dma_index);
-	ao_dma_done_transfer(miso_dma_index);
+	
+	ao_spi_finish_send(spi_index);
 }
 
 void
@@ -152,8 +200,8 @@ ao_spi_send_fixed(uint8_t value, uint16_t len, uint8_t spi_index)
 	ao_dma_done_transfer(miso_dma_index);
 }
 
-void
-ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
+static void
+ao_spi_setup_recv(void *block, uint16_t len, uint8_t spi_index)
 {
 	struct stm_spi *stm_spi = ao_spi_stm_info[spi_index].stm_spi;
 	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
@@ -196,17 +244,48 @@ ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
 			(0 << STM_SPI_CR2_SSOE) |
 			(1 << STM_SPI_CR2_TXDMAEN) |
 			(1 << STM_SPI_CR2_RXDMAEN));
+}
+
+static void
+ao_spi_start_recv(uint8_t spi_index)
+{
+	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
 	ao_dma_start(miso_dma_index);
 	ao_dma_start(mosi_dma_index);
+}
+
+static void
+ao_spi_done_recv(uint8_t spi_index)
+{
+	uint8_t	mosi_dma_index = ao_spi_stm_info[spi_index].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+	ao_dma_done_transfer(mosi_dma_index);
+	ao_dma_done_transfer(miso_dma_index);
+}
 
+void
+ao_spi_queue_recv(void *block, uint16_t len, uint8_t spi_index, void (*callback)(int spi_index))
+{
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+	ao_spi_setup_recv(block, len, spi_index);
+	ao_spi_callback[spi_index] = callback;
+	ao_dma_set_isr(miso_dma_index, ao_spi_dma_isr, spi_index);
+	ao_spi_start_recv(spi_index);
+}
+
+void
+ao_spi_recv(void *block, uint16_t len, uint8_t spi_index)
+{
+	uint8_t	miso_dma_index = ao_spi_stm_info[spi_index].miso_dma_index;
+	ao_spi_setup_recv(block, len, spi_index);
+	ao_spi_start_recv(spi_index);
 	/* Wait until the SPI unit is done */
 	ao_arch_critical(
 		while (!ao_dma_done[miso_dma_index])
 			ao_sleep(&ao_dma_done[miso_dma_index]);
 		);
-
-	ao_dma_done_transfer(mosi_dma_index);
-	ao_dma_done_transfer(miso_dma_index);
+	ao_spi_done_recv(spi_index);
 }
 
 void