Merge branch 'master' into altosdroid

1 files changed, 339 insertions, 0 deletions

diff --git a/src/stm/ao_spi_stm_slave.c b/src/stm/ao_spi_stm_slave.c
new file mode 100644
index 00000000..98022442
--- /dev/null
+++ b/src/stm/ao_spi_stm_slave.c
@@ -0,0 +1,339 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include <ao.h>
+
+struct ao_spi_stm_slave_info {
+	uint8_t	miso_dma_index;
+	uint8_t mosi_dma_index;
+	struct stm_spi *stm_spi;
+};
+
+static uint8_t		ao_spi_slave_mutex[STM_NUM_SPI];
+static uint8_t		ao_spi_slave_index[STM_NUM_SPI];
+
+static const struct ao_spi_stm_slave_info ao_spi_stm_slave_info[STM_NUM_SPI] = {
+	{
+		.miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_RX),
+		.mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI1_TX),
+		&stm_spi1
+	},
+	{
+		.miso_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_RX),
+		.mosi_dma_index = STM_DMA_INDEX(STM_DMA_CHANNEL_SPI2_TX),
+		&stm_spi2
+	}
+};
+
+static uint8_t	spi_dev_null;
+
+void
+ao_spi_slave_send(void *block, uint16_t len)
+{
+	struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+	uint8_t	mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+	/* Set up the transmit DMA to deliver data */
+	ao_dma_set_transfer(mosi_dma_index,
+			    &stm_spi->dr,
+			    block,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (1 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+	/* Clear RXNE */
+	(void) stm_spi->dr;
+
+	/* Set up the receive DMA -- when this is done, we know the SPI unit
+	 * is idle. Without this, we'd have to poll waiting for the BSY bit to
+	 * be cleared
+	 */
+	ao_dma_set_transfer(miso_dma_index,
+			    &stm_spi->dr,
+			    &spi_dev_null,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (0 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(1 << STM_SPI_CR2_TXDMAEN) |
+			(1 << STM_SPI_CR2_RXDMAEN));
+	ao_dma_start(miso_dma_index);
+	ao_dma_start(mosi_dma_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);
+}
+
+
+uint8_t
+ao_spi_slave_recv(void *block, uint16_t len)
+{
+	struct stm_spi *stm_spi = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].stm_spi;
+	uint8_t	mosi_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].mosi_dma_index;
+	uint8_t	miso_dma_index = ao_spi_stm_slave_info[AO_SPI_INDEX(SPI_SLAVE_INDEX)].miso_dma_index;
+
+	/* Set up transmit DMA to make the SPI hardware actually run */
+	ao_dma_set_transfer(mosi_dma_index,
+			    &stm_spi->dr,
+			    &spi_dev_null,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (0 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_MEM_TO_PER << STM_DMA_CCR_DIR));
+
+	/* Clear RXNE */
+	(void) stm_spi->dr;
+
+	/* Set up the receive DMA to capture data */
+	ao_dma_set_transfer(miso_dma_index,
+			    &stm_spi->dr,
+			    block,
+			    len,
+			    (0 << STM_DMA_CCR_MEM2MEM) |
+			    (STM_DMA_CCR_PL_MEDIUM << STM_DMA_CCR_PL) |
+			    (STM_DMA_CCR_MSIZE_8 << STM_DMA_CCR_MSIZE) |
+			    (STM_DMA_CCR_PSIZE_8 << STM_DMA_CCR_PSIZE) |
+			    (1 << STM_DMA_CCR_MINC) |
+			    (0 << STM_DMA_CCR_PINC) |
+			    (0 << STM_DMA_CCR_CIRC) |
+			    (STM_DMA_CCR_DIR_PER_TO_MEM << STM_DMA_CCR_DIR));
+
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(1 << STM_SPI_CR2_TXDMAEN) |
+			(1 << STM_SPI_CR2_RXDMAEN));
+	ao_dma_start(miso_dma_index);
+	ao_dma_start(mosi_dma_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);
+}
+
+static void
+ao_spi_slave_disable_index(uint8_t spi_index)
+{
+	/* Disable current config
+	 */
+	switch (AO_SPI_INDEX(spi_index)) {
+	case STM_SPI_INDEX(1):
+		switch (spi_index) {
+		case AO_SPI_1_PA5_PA6_PA7:
+			stm_gpio_set(&stm_gpioa, 5, 1);
+			stm_moder_set(&stm_gpioa, 5, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpioa, 6, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpioa, 7, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_1_PB3_PB4_PB5:
+			stm_gpio_set(&stm_gpiob, 3, 1);
+			stm_moder_set(&stm_gpiob, 3, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiob, 4, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiob, 5, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_1_PE13_PE14_PE15:
+			stm_gpio_set(&stm_gpioe, 13, 1);
+			stm_moder_set(&stm_gpioe, 13, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpioe, 14, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpioe, 15, STM_MODER_OUTPUT);
+			break;
+		}
+		break;
+	case STM_SPI_INDEX(2):
+		switch (spi_index) {
+		case AO_SPI_2_PB13_PB14_PB15:
+			stm_gpio_set(&stm_gpiob, 13, 1);
+			stm_moder_set(&stm_gpiob, 13, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiob, 14, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiob, 15, STM_MODER_OUTPUT);
+			break;
+		case AO_SPI_2_PD1_PD3_PD4:
+			stm_gpio_set(&stm_gpiod, 1, 1);
+			stm_moder_set(&stm_gpiod, 1, STM_MODER_OUTPUT);
+			stm_moder_set(&stm_gpiod, 3, STM_MODER_INPUT);
+			stm_moder_set(&stm_gpiod, 4, STM_MODER_OUTPUT);
+			break;
+		}
+		break;
+	}
+}
+
+static void
+ao_spi_slave_enable_index(uint8_t spi_index)
+{
+	switch (AO_SPI_INDEX(spi_index)) {
+	case STM_SPI_INDEX(1):
+		switch (spi_index) {
+		case AO_SPI_1_PA5_PA6_PA7:
+			stm_afr_set(&stm_gpioa, 5, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioa, 6, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioa, 7, STM_AFR_AF5);
+			break;
+		case AO_SPI_1_PB3_PB4_PB5:
+			stm_afr_set(&stm_gpiob, 3, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 4, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 5, STM_AFR_AF5);
+			break;
+		case AO_SPI_1_PE13_PE14_PE15:
+			stm_afr_set(&stm_gpioe, 13, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioe, 14, STM_AFR_AF5);
+			stm_afr_set(&stm_gpioe, 15, STM_AFR_AF5);
+			break;
+		}
+		break;
+	case STM_SPI_INDEX(2):
+		switch (spi_index) {
+		case AO_SPI_2_PB13_PB14_PB15:
+			stm_afr_set(&stm_gpiob, 13, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 14, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiob, 15, STM_AFR_AF5);
+			break;
+		case AO_SPI_2_PD1_PD3_PD4:
+			stm_afr_set(&stm_gpiod, 1, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiod, 3, STM_AFR_AF5);
+			stm_afr_set(&stm_gpiod, 4, STM_AFR_AF5);
+			break;
+		}
+		break;
+	}
+}
+
+void
+ao_spi_slave_get(uint8_t spi_index, uint32_t speed)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	ao_mutex_get(&ao_spi_slave_mutex[id]);
+	stm_spi->cr1 = ((0 << STM_SPI_CR1_BIDIMODE) |			/* Three wire mode */
+			(0 << STM_SPI_CR1_BIDIOE) |
+			(0 << STM_SPI_CR1_CRCEN) |			/* CRC disabled */
+			(0 << STM_SPI_CR1_CRCNEXT) |
+			(0 << STM_SPI_CR1_DFF) |
+			(0 << STM_SPI_CR1_RXONLY) |
+			(1 << STM_SPI_CR1_SSM) |        		/* Software SS handling */
+			(1 << STM_SPI_CR1_SSI) |			/*  ... */
+			(0 << STM_SPI_CR1_LSBFIRST) |			/* Big endian */
+			(1 << STM_SPI_CR1_SPE) |			/* Enable SPI unit */
+			(speed << STM_SPI_CR1_BR) |	/* baud rate to pclk/4 */
+			(1 << STM_SPI_CR1_MSTR) |
+			(0 << STM_SPI_CR1_CPOL) |			/* Format 0 */
+			(0 << STM_SPI_CR1_CPHA));
+	if (spi_index != ao_spi_slave_index[id]) {
+		
+		/* Disable old config
+		 */
+		ao_spi_slave_disable_index(ao_spi_slave_index[id]);
+
+		/* Enable new config
+		 */
+		ao_spi_slave_enable_index(spi_index);
+		
+		/* Remember current config
+		 */
+		ao_spi_slave_index[id] = spi_index;
+	}
+}
+
+void
+ao_spi_slave_put(uint8_t spi_index)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	stm_spi->cr1 = 0;
+	ao_mutex_put(&ao_spi_slave_mutex[id]);
+}
+
+static void
+ao_spi_channel_init(uint8_t spi_index)
+{
+	uint8_t		id = AO_SPI_INDEX(spi_index);
+	struct stm_spi	*stm_spi = ao_spi_stm_slave_info[id].stm_spi;
+
+	ao_spi_slave_disable_index(spi_index);
+
+	stm_spi->cr1 = 0;
+	(void) stm_spi->sr;
+	stm_spi->cr2 = ((0 << STM_SPI_CR2_TXEIE) |
+			(0 << STM_SPI_CR2_RXNEIE) |
+			(0 << STM_SPI_CR2_ERRIE) |
+			(0 << STM_SPI_CR2_SSOE) |
+			(0 << STM_SPI_CR2_TXDMAEN) |
+			(0 << STM_SPI_CR2_RXDMAEN));
+}
+
+void
+ao_spi_slave_init(void)
+{
+#if HAS_SPI_SLAVE_1
+# if SPI_1_PA5_PA6_PA7
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOAEN);
+# endif
+# if SPI_1_PB3_PB4_PB5
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_1_PE13_PE14_PE15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN);
+# endif
+	stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN);
+	ao_spi_slave_index[0] = AO_SPI_CONFIG_NONE;
+	ao_spi_channel_init(0);
+#endif
+
+#if HAS_SPI_SLAVE_2
+# if SPI_2_PB13_PB14_PB15
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOBEN);
+# endif
+# if SPI_2_PD1_PD3_PD4
+	stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIODEN);
+# endif
+	stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_SPI2EN);
+	ao_spi_slave_index[1] = AO_SPI_CONFIG_NONE;
+	ao_spi_channel_init(1);
+#endif
+}