From 35cb2dc51708ab572a4c72422e5902a313eda58e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 6 Oct 2012 17:56:23 -0700 Subject: altos/stm: Clean up SPI pin configuration code Make sure none of the pin configurations are being used at startup time. Split out the pin configuration into separate functions. Signed-off-by: Keith Packard --- src/stm/ao_spi_stm.c | 199 ++++++++++++++++++++++++++++----------------------- 1 file changed, 109 insertions(+), 90 deletions(-) (limited to 'src/stm') diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c index ade86a27..5b823e3e 100644 --- a/src/stm/ao_spi_stm.c +++ b/src/stm/ao_spi_stm.c @@ -24,7 +24,7 @@ struct ao_spi_stm_info { }; static uint8_t ao_spi_mutex[STM_NUM_SPI]; -static uint8_t ao_spi_config[STM_NUM_SPI]; +static uint8_t ao_spi_index[STM_NUM_SPI]; static const struct ao_spi_stm_info ao_spi_stm_info[STM_NUM_SPI] = { { @@ -267,97 +267,100 @@ ao_spi_duplex(void *out, void *in, uint16_t len, uint8_t spi_index) ao_dma_done_transfer(miso_dma_index); } -void -ao_spi_get(uint8_t spi_index, uint32_t speed) +static void +ao_spi_disable_index(uint8_t spi_index) { - struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; - uint8_t config = AO_SPI_CONFIG(spi_index); - - ao_mutex_get(&ao_spi_mutex[AO_SPI_INDEX(spi_index)]); - if (config != ao_spi_config[AO_SPI_INDEX(spi_index)]) { - - /* Disable current config - */ - switch (AO_SPI_INDEX(spi_index)) { - case STM_SPI_INDEX(1): - switch (ao_spi_config[AO_SPI_INDEX(spi_index)]) { - case AO_SPI_1_CONFIG_PA5_PA6_PA7: - stm_gpio_set(&stm_gpioa, 5, 0); - 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_CONFIG_PB3_PB4_PB5: - stm_gpio_set(&stm_gpiob, 3, 0); - 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_CONFIG_PE13_PE14_PE15: - stm_gpio_set(&stm_gpioe, 13, 0); - 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; - } + /* 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, 0); + 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, 0); + 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 STM_SPI_INDEX(2): - switch (ao_spi_config[AO_SPI_INDEX(spi_index)]) { - case AO_SPI_2_CONFIG_PB13_PB14_PB15: - stm_gpio_set(&stm_gpiob, 13, 0); - 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_CONFIG_PD1_PD3_PD4: - stm_gpio_set(&stm_gpiod, 1, 0); - 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; - } + case AO_SPI_1_PE13_PE14_PE15: + stm_gpio_set(&stm_gpioe, 13, 0); + 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, 0); + 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, 0); + 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; + } +} - /* Enable new config - */ - switch (AO_SPI_INDEX(spi_index)) { - case 0: - switch (AO_SPI_CONFIG(spi_index)) { - case AO_SPI_1_CONFIG_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_CONFIG_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_CONFIG_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; - } +static void +ao_spi_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; - case 1: - switch (AO_SPI_CONFIG(spi_index)) { - case AO_SPI_2_CONFIG_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_CONFIG_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; + 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; } - ao_spi_config[AO_SPI_INDEX(spi_index)] = AO_SPI_CONFIG(spi_index); + break; } +} + +void +ao_spi_get(uint8_t spi_index, uint32_t speed) +{ + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi; + + ao_mutex_get(&ao_spi_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 */ @@ -372,21 +375,39 @@ ao_spi_get(uint8_t spi_index, uint32_t speed) (1 << STM_SPI_CR1_MSTR) | (0 << STM_SPI_CR1_CPOL) | /* Format 0 */ (0 << STM_SPI_CR1_CPHA)); + if (spi_index != ao_spi_index[id]) { + + /* Disable old config + */ + ao_spi_disable_index(ao_spi_index[id]); + + /* Enable new config + */ + ao_spi_enable_index(spi_index); + + /* Remember current config + */ + ao_spi_index[id] = spi_index; + } } void ao_spi_put(uint8_t spi_index) { - struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi; stm_spi->cr1 = 0; - ao_mutex_put(&ao_spi_mutex[AO_SPI_INDEX(spi_index)]); + ao_mutex_put(&ao_spi_mutex[id]); } static void ao_spi_channel_init(uint8_t spi_index) { - struct stm_spi *stm_spi = ao_spi_stm_info[AO_SPI_INDEX(spi_index)].stm_spi; + uint8_t id = AO_SPI_INDEX(spi_index); + struct stm_spi *stm_spi = ao_spi_stm_info[id].stm_spi; + + ao_spi_disable_index(spi_index); stm_spi->cr1 = 0; (void) stm_spi->sr; @@ -412,7 +433,7 @@ ao_spi_init(void) stm_rcc.ahbenr |= (1 << STM_RCC_AHBENR_GPIOEEN); # endif stm_rcc.apb2enr |= (1 << STM_RCC_APB2ENR_SPI1EN); - ao_spi_config[0] = AO_SPI_CONFIG_NONE; + ao_spi_index[0] = AO_SPI_CONFIG_NONE; ao_spi_channel_init(0); #endif @@ -423,10 +444,8 @@ ao_spi_init(void) # 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_config[1] = AO_SPI_CONFIG_NONE; - + ao_spi_index[1] = AO_SPI_CONFIG_NONE; ao_spi_channel_init(1); #endif } -- cgit v1.2.3 From 6d47dd1d9104745cf68bef23b066c5033ca30a84 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 6 Oct 2012 19:39:15 -0700 Subject: altos/stm: Set SPI clock high for disabled SPI busses This should avoid an accidental low->high transition when switching between multiple SPI busses. Signed-off-by: Keith Packard --- src/stm/ao_spi_stm.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'src/stm') diff --git a/src/stm/ao_spi_stm.c b/src/stm/ao_spi_stm.c index 5b823e3e..599d7ee0 100644 --- a/src/stm/ao_spi_stm.c +++ b/src/stm/ao_spi_stm.c @@ -276,19 +276,19 @@ ao_spi_disable_index(uint8_t spi_index) case STM_SPI_INDEX(1): switch (spi_index) { case AO_SPI_1_PA5_PA6_PA7: - stm_gpio_set(&stm_gpioa, 5, 0); + 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, 0); + 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, 0); + 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); @@ -298,13 +298,13 @@ ao_spi_disable_index(uint8_t spi_index) case STM_SPI_INDEX(2): switch (spi_index) { case AO_SPI_2_PB13_PB14_PB15: - stm_gpio_set(&stm_gpiob, 13, 0); + 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, 0); + 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); -- cgit v1.2.3 From 39c5738acdfdf0c87b64de6135fe107971cfa12b Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 8 Oct 2012 23:04:16 -0700 Subject: altos: Go back to recording sensor data in globals Instead of trying to get things into the ring from a variety of functions, go back to the simpler method of storing them in globals and having the ADC code just pluck out the most recent values. Signed-off-by: Keith Packard --- src/core/ao_data.h | 9 +-------- src/drivers/ao_hmc5883.c | 4 +++- src/drivers/ao_hmc5883.h | 2 ++ src/drivers/ao_mma655x.c | 4 +++- src/drivers/ao_mma655x.h | 1 + src/drivers/ao_mpu6000.c | 4 +++- src/drivers/ao_mpu6000.h | 2 ++ src/drivers/ao_ms5607.c | 4 +++- src/drivers/ao_ms5607.h | 2 ++ src/stm/ao_adc_stm.c | 17 +++++++++++++++++ 10 files changed, 37 insertions(+), 12 deletions(-) (limited to 'src/stm') diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 2b9ef5ac..30208dfb 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -85,14 +85,7 @@ extern volatile __data uint8_t ao_data_count; /* * Mark a section of data as ready, check for data complete */ -#define AO_DATA_PRESENT(bit) do { \ - if ((ao_data_present |= (bit)) == AO_DATA_ALL) { \ - ao_data_ring[ao_data_head].tick = ao_tick_count; \ - ao_data_head = ao_data_ring_next(ao_data_head); \ - ao_data_present = 0; \ - ao_wakeup((void *) &ao_data_head); \ - } \ - } while (0); +#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit)) /* * Wait until it is time to write a sensor sample; this is diff --git a/src/drivers/ao_hmc5883.c b/src/drivers/ao_hmc5883.c index ade6c263..059fc2c8 100644 --- a/src/drivers/ao_hmc5883.c +++ b/src/drivers/ao_hmc5883.c @@ -123,12 +123,14 @@ ao_hmc5883_setup(void) return 1; } +struct ao_hmc5883_sample ao_hmc5883_current; + static void ao_hmc5883(void) { ao_hmc5883_setup(); for (;;) { - ao_hmc5883_sample((struct ao_hmc5883_sample *) &ao_data_ring[ao_data_head].hmc5883); + ao_hmc5883_sample(&ao_hmc5883_current); ao_arch_critical( AO_DATA_PRESENT(AO_DATA_HMC5883); AO_DATA_WAIT(); diff --git a/src/drivers/ao_hmc5883.h b/src/drivers/ao_hmc5883.h index 55690978..ff2725eb 100644 --- a/src/drivers/ao_hmc5883.h +++ b/src/drivers/ao_hmc5883.h @@ -79,6 +79,8 @@ struct ao_hmc5883_sample { int16_t x, y, z; }; +extern struct ao_hmc5883_sample ao_hmc5883_current; + void ao_hmc5883_init(void); diff --git a/src/drivers/ao_mma655x.c b/src/drivers/ao_mma655x.c index 005bc684..18c5317c 100644 --- a/src/drivers/ao_mma655x.c +++ b/src/drivers/ao_mma655x.c @@ -250,12 +250,14 @@ __code struct ao_cmds ao_mma655x_cmds[] = { { 0, NULL }, }; +uint16_t ao_mma655x_current; + static void ao_mma655x(void) { ao_mma655x_setup(); for (;;) { - ao_data_ring[ao_data_head].mma655x = ao_mma655x_value(); + ao_mma655x_current = ao_mma655x_value(); ao_arch_critical( AO_DATA_PRESENT(AO_DATA_MMA655X); AO_DATA_WAIT(); diff --git a/src/drivers/ao_mma655x.h b/src/drivers/ao_mma655x.h index 9c0c59dc..2d951e07 100644 --- a/src/drivers/ao_mma655x.h +++ b/src/drivers/ao_mma655x.h @@ -78,6 +78,7 @@ #define AO_MMA655X_COUNT 0x15 #define AO_MMA655X_OFFCORR 0x16 +extern uint16_t ao_mma655x_current; void ao_mma655x_init(void); diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index b3e284e0..49596705 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -240,13 +240,15 @@ ao_mpu6000_setup(void) ao_mpu6000_configured = 1; } +struct ao_mpu6000_sample ao_mpu6000_current; + static void ao_mpu6000(void) { ao_mpu6000_setup(); for (;;) { - ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000); + ao_mpu6000_sample(&ao_mpu6000_current); ao_arch_critical( AO_DATA_PRESENT(AO_DATA_MPU6000); AO_DATA_WAIT(); diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index ca76b081..ab36d6f2 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -155,6 +155,8 @@ struct ao_mpu6000_sample { int16_t gyro_z; }; +extern struct ao_mpu6000_sample ao_mpu6000_current; + void ao_mpu6000_init(void); diff --git a/src/drivers/ao_ms5607.c b/src/drivers/ao_ms5607.c index 3295baac..492199b8 100644 --- a/src/drivers/ao_ms5607.c +++ b/src/drivers/ao_ms5607.c @@ -207,13 +207,15 @@ ao_ms5607_convert(struct ao_ms5607_sample *sample, struct ao_ms5607_value *value value->temp = TEMP; } +struct ao_ms5607_sample ao_ms5607_current; + static void ao_ms5607(void) { ao_ms5607_setup(); for (;;) { - ao_ms5607_sample((struct ao_ms5607_sample *) &ao_data_ring[ao_data_head].ms5607_raw); + ao_ms5607_sample(&ao_ms5607_current); ao_arch_critical( AO_DATA_PRESENT(AO_DATA_MS5607); AO_DATA_WAIT(); diff --git a/src/drivers/ao_ms5607.h b/src/drivers/ao_ms5607.h index e9c364d9..4c29f6a7 100644 --- a/src/drivers/ao_ms5607.h +++ b/src/drivers/ao_ms5607.h @@ -56,6 +56,8 @@ struct ao_ms5607_value { int32_t temp; /* in °C * 100 */ }; +extern struct ao_ms5607_sample ao_ms5607_current; + void ao_ms5607_init(void); diff --git a/src/stm/ao_adc_stm.c b/src/stm/ao_adc_stm.c index 18ca6ea0..48fc4262 100644 --- a/src/stm/ao_adc_stm.c +++ b/src/stm/ao_adc_stm.c @@ -43,6 +43,23 @@ static void ao_adc_done(int index) { AO_DATA_PRESENT(AO_DATA_ADC); ao_dma_done_transfer(STM_DMA_INDEX(STM_DMA_CHANNEL_ADC1)); + if (ao_data_present == AO_DATA_ALL) { +#if HAS_MS5607 + ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current; +#endif +#if HAS_MMA655X + ao_data_ring[ao_data_head].mma655x = ao_mma655x_current; +#endif +#if HAS_HMC5883 + ao_data_ring[ao_data_head].hmc5883 = ao_hmc5883_current; +#endif +#if HAS_MPU6000 + ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current; +#endif + ao_data_ring[ao_data_head].tick = ao_tick_count; + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); + } ao_adc_ready = 1; } -- cgit v1.2.3