1. separate rom include files and linkscript to esp_rom 2. modefiy "include rom/xxx.h" to "include esp32/rom/xxx.h" 3. Forward compatible 4. update mqtt
1396 lines
56 KiB
C
1396 lines
56 KiB
C
// Copyright 2015-2018 Espressif Systems (Shanghai) PTE LTD
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/*
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Architecture:
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We can initialize a SPI driver, but we don't talk to the SPI driver itself, we address a device. A device essentially
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is a combination of SPI port and CS pin, plus some information about the specifics of communication to the device
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(timing, command/address length etc). The arbitration between tasks is also in conception of devices.
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A device can work in interrupt mode and polling mode, and a third but
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complicated mode which combines the two modes above:
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1. Work in the ISR with a set of queues; one per device.
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The idea is that to send something to a SPI device, you allocate a
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transaction descriptor. It contains some information about the transfer
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like the lenghth, address, command etc, plus pointers to transmit and
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receive buffer. The address of this block gets pushed into the transmit
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queue. The SPI driver does its magic, and sends and retrieves the data
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eventually. The data gets written to the receive buffers, if needed the
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transaction descriptor is modified to indicate returned parameters and
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the entire thing goes into the return queue, where whatever software
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initiated the transaction can retrieve it.
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The entire thing is run from the SPI interrupt handler. If SPI is done
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transmitting/receiving but nothing is in the queue, it will not clear the
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SPI interrupt but just disable it by esp_intr_disable. This way, when a
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new thing is sent, pushing the packet into the send queue and re-enabling
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the interrupt (by esp_intr_enable) will trigger the interrupt again, which
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can then take care of the sending.
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2. Work in the polling mode in the task.
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In this mode we get rid of the ISR, FreeRTOS queue and task switching, the
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task is no longer blocked during a transaction. This increase the cpu
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load, but decrease the interval of SPI transactions. Each time only one
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device (in one task) can send polling transactions, transactions to
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other devices are blocked until the polling transaction of current device
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is done.
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In the polling mode, the queue is not used, all the operations are done
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in the task. The task calls ``spi_device_polling_start`` to setup and start
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a new transaction, then call ``spi_device_polling_end`` to handle the
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return value of the transaction.
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To handle the arbitration among devices, the device "temporarily" acquire
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a bus by the ``device_acquire_bus_internal`` function, which writes
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acquire_cs by CAS operation. Other devices which wants to send polling
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transactions but don't own the bus will block and wait until given the
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semaphore which indicates the ownership of bus.
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In case of the ISR is still sending transactions to other devices, the ISR
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should maintain an ``isr_free`` flag indicating that it's not doing
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transactions. When the bus is acquired, the ISR can only send new
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transactions to the acquiring device. The ISR will automatically disable
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itself and send semaphore to the device if the ISR is free. If the device
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sees the isr_free flag, it can directly start its polling transaction.
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Otherwise it should block and wait for the semaphore from the ISR.
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After the polling transaction, the driver will release the bus. During the
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release of the bus, the driver search all other devices to see whether
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there is any device waiting to acquire the bus, if so, acquire for it and
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send it a semaphore if the device queue is empty, or invoke the ISR for
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it. If all other devices don't need to acquire the bus, but there are
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still transactions in the queues, the ISR will also be invoked.
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To get better polling efficiency, user can call ``spi_device_acquire_bus``
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function, which also calls the ``device_acquire_bus_internal`` function,
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before a series of polling transactions to a device. The bus acquiring and
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task switching before and after the polling transaction will be escaped.
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3. Mixed mode
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The driver is written under the assumption that polling and interrupt
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transactions are not happening simultaneously. When sending polling
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transactions, it will check whether the ISR is active, which includes the
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case the ISR is sending the interrupt transactions of the acquiring
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device. If the ISR is still working, the routine sending a polling
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transaction will get blocked and wait until the semaphore from the ISR
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which indicates the ISR is free now.
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A fatal case is, a polling transaction is in flight, but the ISR received
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an interrupt transaction. The behavior of the driver is unpredictable,
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which should be strictly forbidden.
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We have two bits to control the interrupt:
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1. The slave->trans_done bit, which is automatically asserted when a transaction is done.
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This bit is cleared during an interrupt transaction, so that the interrupt
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will be triggered when the transaction is done, or the SW can check the
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bit to see if the transaction is done for polling transactions.
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When no transaction is in-flight, the bit is kept active, so that the SW
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can easily invoke the ISR by enable the interrupt.
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2. The system interrupt enable/disable, controlled by esp_intr_enable and esp_intr_disable.
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The interrupt is disabled (by the ISR itself) when no interrupt transaction
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is queued. When the bus is not occupied, any task, which queues a
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transaction into the queue, will enable the interrupt to invoke the ISR.
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When the bus is occupied by a device, other device will put off the
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invoking of ISR to the moment when the bus is released. The device
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acquiring the bus can still send interrupt transactions by enable the
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interrupt.
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*/
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#include <string.h>
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#include "driver/spi_common.h"
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#include "driver/spi_master.h"
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#include "soc/dport_reg.h"
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#include "soc/spi_periph.h"
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#include "esp32/rom/ets_sys.h"
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#include "esp_types.h"
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#include "esp_attr.h"
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#include "esp_intr.h"
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#include "esp_intr_alloc.h"
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#include "esp_log.h"
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#include "esp_err.h"
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#include "esp_pm.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/xtensa_api.h"
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#include "freertos/task.h"
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#include "soc/soc.h"
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#include "soc/soc_memory_layout.h"
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#include "soc/dport_reg.h"
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#include "esp32/rom/lldesc.h"
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#include "driver/gpio.h"
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#include "driver/periph_ctrl.h"
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#include "esp_heap_caps.h"
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#include "stdatomic.h"
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typedef struct spi_device_t spi_device_t;
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typedef typeof(SPI1.clock) spi_clock_reg_t;
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#define NO_CS 3 //Number of CS pins per SPI host
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#ifdef CONFIG_SPI_MASTER_ISR_IN_IRAM
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#define SPI_MASTER_ISR_ATTR IRAM_ATTR
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#else
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#define SPI_MASTER_ISR_ATTR
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#endif
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#ifdef CONFIG_SPI_MASTER_IN_IRAM
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#define SPI_MASTER_ATTR IRAM_ATTR
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#else
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#define SPI_MASTER_ATTR
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#endif
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/// struct to hold private transaction data (like tx and rx buffer for DMA).
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typedef struct {
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spi_transaction_t *trans;
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const uint32_t *buffer_to_send; //equals to tx_data, if SPI_TRANS_USE_RXDATA is applied; otherwise if original buffer wasn't in DMA-capable memory, this gets the address of a temporary buffer that is;
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//otherwise sets to the original buffer or NULL if no buffer is assigned.
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uint32_t *buffer_to_rcv; // similar to buffer_to_send
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} spi_trans_priv_t;
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typedef struct {
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_Atomic(spi_device_t*) device[NO_CS];
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intr_handle_t intr;
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spi_dev_t *hw;
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spi_trans_priv_t cur_trans_buf;
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int cur_cs; //current device doing transaction
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int prev_cs; //last device doing transaction, used to avoid re-configure registers if the device not changed
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atomic_int acquire_cs; //the device acquiring the bus, NO_CS if no one is doing so.
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bool polling; //in process of a polling, avoid of queue new transactions into ISR
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bool isr_free; //the isr is not sending transactions
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bool bus_locked;//the bus is controlled by a device
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lldesc_t *dmadesc_tx;
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lldesc_t *dmadesc_rx;
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uint32_t flags;
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int dma_chan;
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int max_transfer_sz;
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spi_bus_config_t bus_cfg;
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#ifdef CONFIG_PM_ENABLE
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esp_pm_lock_handle_t pm_lock;
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#endif
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} spi_host_t;
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typedef struct {
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spi_clock_reg_t reg;
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int eff_clk;
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int dummy_num;
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int miso_delay;
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} clock_config_t;
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struct spi_device_t {
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int id;
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QueueHandle_t trans_queue;
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QueueHandle_t ret_queue;
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spi_device_interface_config_t cfg;
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clock_config_t clk_cfg;
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spi_host_t *host;
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SemaphoreHandle_t semphr_polling; //semaphore to notify the device it claimed the bus
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bool waiting; //the device is waiting for the exclusive control of the bus
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};
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static spi_host_t *spihost[3];
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static const char *SPI_TAG = "spi_master";
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#define SPI_CHECK(a, str, ret_val, ...) \
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if (!(a)) { \
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ESP_LOGE(SPI_TAG,"%s(%d): "str, __FUNCTION__, __LINE__, ##__VA_ARGS__); \
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return (ret_val); \
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}
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static void spi_intr(void *arg);
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esp_err_t spi_bus_initialize(spi_host_device_t host, const spi_bus_config_t *bus_config, int dma_chan)
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{
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bool spi_chan_claimed, dma_chan_claimed;
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esp_err_t ret = ESP_OK;
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esp_err_t err;
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/* ToDo: remove this when we have flash operations cooperating with this */
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SPI_CHECK(host!=SPI_HOST, "SPI1 is not supported", ESP_ERR_NOT_SUPPORTED);
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SPI_CHECK(host>=SPI_HOST && host<=VSPI_HOST, "invalid host", ESP_ERR_INVALID_ARG);
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SPI_CHECK( dma_chan >= 0 && dma_chan <= 2, "invalid dma channel", ESP_ERR_INVALID_ARG );
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SPI_CHECK((bus_config->intr_flags & (ESP_INTR_FLAG_HIGH|ESP_INTR_FLAG_EDGE|ESP_INTR_FLAG_INTRDISABLED))==0, "intr flag not allowed", ESP_ERR_INVALID_ARG);
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#ifndef CONFIG_SPI_MASTER_ISR_IN_IRAM
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SPI_CHECK((bus_config->intr_flags & ESP_INTR_FLAG_IRAM)==0, "ESP_INTR_FLAG_IRAM should be disabled when CONFIG_SPI_MASTER_ISR_IN_IRAM is not set.", ESP_ERR_INVALID_ARG);
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#endif
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spi_chan_claimed=spicommon_periph_claim(host, "spi master");
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SPI_CHECK(spi_chan_claimed, "host already in use", ESP_ERR_INVALID_STATE);
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if ( dma_chan != 0 ) {
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dma_chan_claimed=spicommon_dma_chan_claim(dma_chan);
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if ( !dma_chan_claimed ) {
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spicommon_periph_free( host );
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SPI_CHECK(false, "dma channel already in use", ESP_ERR_INVALID_STATE);
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}
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}
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spihost[host]=malloc(sizeof(spi_host_t));
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if (spihost[host]==NULL) {
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ret = ESP_ERR_NO_MEM;
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goto cleanup;
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}
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memset(spihost[host], 0, sizeof(spi_host_t));
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memcpy( &spihost[host]->bus_cfg, bus_config, sizeof(spi_bus_config_t));
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#ifdef CONFIG_PM_ENABLE
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err = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "spi_master",
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&spihost[host]->pm_lock);
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if (err != ESP_OK) {
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ret = err;
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goto cleanup;
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}
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#endif //CONFIG_PM_ENABLE
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err = spicommon_bus_initialize_io(host, bus_config, dma_chan, SPICOMMON_BUSFLAG_MASTER|bus_config->flags, &spihost[host]->flags);
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if (err != ESP_OK) {
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ret = err;
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goto cleanup;
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}
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spihost[host]->dma_chan=dma_chan;
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if (dma_chan == 0) {
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spihost[host]->max_transfer_sz = 64;
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} else {
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//See how many dma descriptors we need and allocate them
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int dma_desc_ct=(bus_config->max_transfer_sz+SPI_MAX_DMA_LEN-1)/SPI_MAX_DMA_LEN;
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if (dma_desc_ct==0) dma_desc_ct = 1; //default to 4k when max is not given
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spihost[host]->max_transfer_sz = dma_desc_ct*SPI_MAX_DMA_LEN;
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spihost[host]->dmadesc_tx=heap_caps_malloc(sizeof(lldesc_t)*dma_desc_ct, MALLOC_CAP_DMA);
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spihost[host]->dmadesc_rx=heap_caps_malloc(sizeof(lldesc_t)*dma_desc_ct, MALLOC_CAP_DMA);
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if (!spihost[host]->dmadesc_tx || !spihost[host]->dmadesc_rx) {
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ret = ESP_ERR_NO_MEM;
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goto cleanup;
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}
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}
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int flags = bus_config->intr_flags | ESP_INTR_FLAG_INTRDISABLED;
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err = esp_intr_alloc(spicommon_irqsource_for_host(host), flags, spi_intr, (void*)spihost[host], &spihost[host]->intr);
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if (err != ESP_OK) {
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ret = err;
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goto cleanup;
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}
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spihost[host]->hw=spicommon_hw_for_host(host);
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spihost[host]->cur_cs = NO_CS;
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spihost[host]->prev_cs = NO_CS;
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atomic_store(&spihost[host]->acquire_cs, NO_CS);
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spihost[host]->polling = false;
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spihost[host]->isr_free = true;
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spihost[host]->bus_locked = false;
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//Reset DMA
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spihost[host]->hw->dma_conf.val|=SPI_OUT_RST|SPI_IN_RST|SPI_AHBM_RST|SPI_AHBM_FIFO_RST;
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spihost[host]->hw->dma_out_link.start=0;
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spihost[host]->hw->dma_in_link.start=0;
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spihost[host]->hw->dma_conf.val&=~(SPI_OUT_RST|SPI_IN_RST|SPI_AHBM_RST|SPI_AHBM_FIFO_RST);
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//Reset timing
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spihost[host]->hw->ctrl2.val=0;
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//master use all 64 bytes of the buffer
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spihost[host]->hw->user.usr_miso_highpart=0;
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spihost[host]->hw->user.usr_mosi_highpart=0;
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//Disable unneeded ints
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spihost[host]->hw->slave.rd_buf_done=0;
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spihost[host]->hw->slave.wr_buf_done=0;
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spihost[host]->hw->slave.rd_sta_done=0;
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spihost[host]->hw->slave.wr_sta_done=0;
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spihost[host]->hw->slave.rd_buf_inten=0;
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spihost[host]->hw->slave.wr_buf_inten=0;
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spihost[host]->hw->slave.rd_sta_inten=0;
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spihost[host]->hw->slave.wr_sta_inten=0;
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//Force a transaction done interrupt. This interrupt won't fire yet because we initialized the SPI interrupt as
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//disabled. This way, we can just enable the SPI interrupt and the interrupt handler will kick in, handling
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//any transactions that are queued.
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spihost[host]->hw->slave.trans_inten=1;
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spihost[host]->hw->slave.trans_done=1;
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return ESP_OK;
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cleanup:
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if (spihost[host]) {
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free(spihost[host]->dmadesc_tx);
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free(spihost[host]->dmadesc_rx);
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#ifdef CONFIG_PM_ENABLE
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if (spihost[host]->pm_lock) {
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esp_pm_lock_delete(spihost[host]->pm_lock);
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}
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#endif
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}
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free(spihost[host]);
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spihost[host] = NULL;
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spicommon_periph_free(host);
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spicommon_dma_chan_free(dma_chan);
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return ret;
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}
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esp_err_t spi_bus_free(spi_host_device_t host)
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{
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int x;
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SPI_CHECK(host>=SPI_HOST && host<=VSPI_HOST, "invalid host", ESP_ERR_INVALID_ARG);
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SPI_CHECK(spihost[host]!=NULL, "host not in use", ESP_ERR_INVALID_STATE);
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for (x=0; x<NO_CS; x++) {
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SPI_CHECK(atomic_load(&spihost[host]->device[x])==NULL, "not all CSses freed", ESP_ERR_INVALID_STATE);
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}
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spicommon_bus_free_io_cfg(&spihost[host]->bus_cfg);
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if ( spihost[host]->dma_chan > 0 ) {
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spicommon_dma_chan_free ( spihost[host]->dma_chan );
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}
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#ifdef CONFIG_PM_ENABLE
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esp_pm_lock_delete(spihost[host]->pm_lock);
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#endif
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spihost[host]->hw->slave.trans_inten=0;
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spihost[host]->hw->slave.trans_done=0;
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esp_intr_free(spihost[host]->intr);
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spicommon_periph_free(host);
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free(spihost[host]->dmadesc_tx);
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free(spihost[host]->dmadesc_rx);
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free(spihost[host]);
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spihost[host]=NULL;
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return ESP_OK;
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}
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void spi_get_timing(bool gpio_is_used, int input_delay_ns, int eff_clk, int* dummy_o, int* cycles_remain_o)
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{
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const int apbclk_kHz = APB_CLK_FREQ/1000;
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//calculate how many apb clocks a period has
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const int apbclk_n = APB_CLK_FREQ/eff_clk;
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const int gpio_delay_ns = gpio_is_used ? 25 : 0;
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//calculate how many apb clocks the delay is, the 1 is to compensate in case ``input_delay_ns`` is rounded off.
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int apb_period_n = (1 + input_delay_ns + gpio_delay_ns)*apbclk_kHz/1000/1000;
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if (apb_period_n < 0) apb_period_n = 0;
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int dummy_required = apb_period_n/apbclk_n;
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int miso_delay = 0;
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if (dummy_required > 0) {
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//due to the clock delay between master and slave, there's a range in which data is random
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//give MISO a delay if needed to make sure we sample at the time MISO is stable
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miso_delay = (dummy_required+1)*apbclk_n-apb_period_n-1;
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} else {
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//if the dummy is not required, maybe we should also delay half a SPI clock if the data comes too early
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if (apb_period_n*4 <= apbclk_n) miso_delay = -1;
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}
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if (dummy_o!=NULL) *dummy_o = dummy_required;
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if (cycles_remain_o!=NULL) *cycles_remain_o = miso_delay;
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ESP_LOGD(SPI_TAG,"eff: %d, limit: %dk(/%d), %d dummy, %d delay", eff_clk/1000, apbclk_kHz/(apb_period_n+1), apb_period_n, dummy_required, miso_delay);
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}
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int spi_get_freq_limit(bool gpio_is_used, int input_delay_ns)
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{
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const int apbclk_kHz = APB_CLK_FREQ/1000;
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const int gpio_delay_ns = gpio_is_used ? 25 : 0;
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//calculate how many apb clocks the delay is, the 1 is to compensate in case ``input_delay_ns`` is rounded off.
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int apb_period_n = (1 + input_delay_ns + gpio_delay_ns)*apbclk_kHz/1000/1000;
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if (apb_period_n < 0) apb_period_n = 0;
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return APB_CLK_FREQ/(apb_period_n+1);
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}
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/*
|
|
Add a device. This allocates a CS line for the device, allocates memory for the device structure and hooks
|
|
up the CS pin to whatever is specified.
|
|
*/
|
|
esp_err_t spi_bus_add_device(spi_host_device_t host, const spi_device_interface_config_t *dev_config, spi_device_handle_t *handle)
|
|
{
|
|
int freecs;
|
|
int apbclk=APB_CLK_FREQ;
|
|
int eff_clk;
|
|
int duty_cycle;
|
|
int dummy_required;
|
|
int miso_delay;
|
|
|
|
spi_clock_reg_t clk_reg;
|
|
SPI_CHECK(host>=SPI_HOST && host<=VSPI_HOST, "invalid host", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK(spihost[host]!=NULL, "host not initialized", ESP_ERR_INVALID_STATE);
|
|
SPI_CHECK(dev_config->spics_io_num < 0 || GPIO_IS_VALID_OUTPUT_GPIO(dev_config->spics_io_num), "spics pin invalid", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK(dev_config->clock_speed_hz > 0, "invalid sclk speed", ESP_ERR_INVALID_ARG);
|
|
for (freecs=0; freecs<NO_CS; freecs++) {
|
|
//See if this slot is free; reserve if it is by putting a dummy pointer in the slot. We use an atomic compare&swap to make this thread-safe.
|
|
void* null=NULL;
|
|
if (atomic_compare_exchange_strong(&spihost[host]->device[freecs], &null, (spi_device_t *)1)) break;
|
|
}
|
|
SPI_CHECK(freecs!=NO_CS, "no free cs pins for host", ESP_ERR_NOT_FOUND);
|
|
//The hardware looks like it would support this, but actually setting cs_ena_pretrans when transferring in full
|
|
//duplex mode does absolutely nothing on the ESP32.
|
|
SPI_CHECK( dev_config->cs_ena_pretrans <= 1 || (dev_config->address_bits == 0 && dev_config->command_bits == 0) ||
|
|
(dev_config->flags & SPI_DEVICE_HALFDUPLEX), "In full-duplex mode, only support cs pretrans delay = 1 and without address_bits and command_bits", ESP_ERR_INVALID_ARG);
|
|
|
|
duty_cycle = (dev_config->duty_cycle_pos==0) ? 128 : dev_config->duty_cycle_pos;
|
|
eff_clk = spi_cal_clock(apbclk, dev_config->clock_speed_hz, duty_cycle, (uint32_t*)&clk_reg);
|
|
int freq_limit = spi_get_freq_limit(!(spihost[host]->flags&SPICOMMON_BUSFLAG_NATIVE_PINS), dev_config->input_delay_ns);
|
|
|
|
//Speed >=40MHz over GPIO matrix needs a dummy cycle, but these don't work for full-duplex connections.
|
|
spi_get_timing(!(spihost[host]->flags&SPICOMMON_BUSFLAG_NATIVE_PINS), dev_config->input_delay_ns, eff_clk, &dummy_required, &miso_delay);
|
|
SPI_CHECK( dev_config->flags & SPI_DEVICE_HALFDUPLEX || dummy_required == 0 ||
|
|
dev_config->flags & SPI_DEVICE_NO_DUMMY,
|
|
"When work in full-duplex mode at frequency > %.1fMHz, device cannot read correct data.\n\
|
|
Try to use IOMUX pins to increase the frequency limit, or use the half duplex mode.\n\
|
|
Please note the SPI master can only work at divisors of 80MHz, and the driver always tries to find the closest frequency to your configuration.\n\
|
|
Specify ``SPI_DEVICE_NO_DUMMY`` to ignore this checking. Then you can output data at higher speed, or read data at your own risk.",
|
|
ESP_ERR_INVALID_ARG, freq_limit/1000./1000 );
|
|
|
|
//Allocate memory for device
|
|
spi_device_t *dev=malloc(sizeof(spi_device_t));
|
|
if (dev==NULL) goto nomem;
|
|
memset(dev, 0, sizeof(spi_device_t));
|
|
atomic_store(&spihost[host]->device[freecs], dev);
|
|
dev->id = freecs;
|
|
dev->waiting = false;
|
|
|
|
//Allocate queues, set defaults
|
|
dev->trans_queue = xQueueCreate(dev_config->queue_size, sizeof(spi_trans_priv_t));
|
|
dev->ret_queue = xQueueCreate(dev_config->queue_size, sizeof(spi_trans_priv_t));
|
|
dev->semphr_polling = xSemaphoreCreateBinary();
|
|
if (!dev->trans_queue || !dev->ret_queue || !dev->semphr_polling) {
|
|
goto nomem;
|
|
}
|
|
dev->host=spihost[host];
|
|
|
|
//We want to save a copy of the dev config in the dev struct.
|
|
memcpy(&dev->cfg, dev_config, sizeof(spi_device_interface_config_t));
|
|
dev->cfg.duty_cycle_pos = duty_cycle;
|
|
// TODO: if we have to change the apb clock among transactions, re-calculate this each time the apb clock lock is acquired.
|
|
dev->clk_cfg= (clock_config_t) {
|
|
.eff_clk = eff_clk,
|
|
.dummy_num = dummy_required,
|
|
.reg = clk_reg,
|
|
.miso_delay = miso_delay,
|
|
};
|
|
|
|
//Set CS pin, CS options
|
|
if (dev_config->spics_io_num >= 0) {
|
|
spicommon_cs_initialize(host, dev_config->spics_io_num, freecs, !(spihost[host]->flags&SPICOMMON_BUSFLAG_NATIVE_PINS));
|
|
}
|
|
if (dev_config->flags&SPI_DEVICE_CLK_AS_CS) {
|
|
spihost[host]->hw->pin.master_ck_sel |= (1<<freecs);
|
|
} else {
|
|
spihost[host]->hw->pin.master_ck_sel &= (1<<freecs);
|
|
}
|
|
if (dev_config->flags&SPI_DEVICE_POSITIVE_CS) {
|
|
spihost[host]->hw->pin.master_cs_pol |= (1<<freecs);
|
|
} else {
|
|
spihost[host]->hw->pin.master_cs_pol &= (1<<freecs);
|
|
}
|
|
spihost[host]->hw->ctrl2.mosi_delay_mode = 0;
|
|
spihost[host]->hw->ctrl2.mosi_delay_num = 0;
|
|
*handle=dev;
|
|
ESP_LOGD(SPI_TAG, "SPI%d: New device added to CS%d, effective clock: %dkHz", host+1, freecs, dev->clk_cfg.eff_clk/1000);
|
|
return ESP_OK;
|
|
|
|
nomem:
|
|
if (dev) {
|
|
if (dev->trans_queue) vQueueDelete(dev->trans_queue);
|
|
if (dev->ret_queue) vQueueDelete(dev->ret_queue);
|
|
if (dev->semphr_polling) vSemaphoreDelete(dev->semphr_polling);
|
|
}
|
|
free(dev);
|
|
return ESP_ERR_NO_MEM;
|
|
}
|
|
|
|
esp_err_t spi_bus_remove_device(spi_device_handle_t handle)
|
|
{
|
|
int x;
|
|
SPI_CHECK(handle!=NULL, "invalid handle", ESP_ERR_INVALID_ARG);
|
|
//These checks aren't exhaustive; another thread could sneak in a transaction inbetween. These are only here to
|
|
//catch design errors and aren't meant to be triggered during normal operation.
|
|
SPI_CHECK(uxQueueMessagesWaiting(handle->trans_queue)==0, "Have unfinished transactions", ESP_ERR_INVALID_STATE);
|
|
SPI_CHECK(handle->host->cur_cs == NO_CS || atomic_load(&handle->host->device[handle->host->cur_cs])!=handle, "Have unfinished transactions", ESP_ERR_INVALID_STATE);
|
|
SPI_CHECK(uxQueueMessagesWaiting(handle->ret_queue)==0, "Have unfinished transactions", ESP_ERR_INVALID_STATE);
|
|
|
|
//return
|
|
int spics_io_num = handle->cfg.spics_io_num;
|
|
if (spics_io_num >= 0) spicommon_cs_free_io(spics_io_num);
|
|
|
|
//Kill queues
|
|
vQueueDelete(handle->trans_queue);
|
|
vQueueDelete(handle->ret_queue);
|
|
vSemaphoreDelete(handle->semphr_polling);
|
|
//Remove device from list of csses and free memory
|
|
for (x=0; x<NO_CS; x++) {
|
|
if (atomic_load(&handle->host->device[x]) == handle){
|
|
atomic_store(&handle->host->device[x], NULL);
|
|
if (x == handle->host->prev_cs) handle->host->prev_cs = NO_CS;
|
|
}
|
|
}
|
|
free(handle);
|
|
return ESP_OK;
|
|
}
|
|
|
|
static int spi_freq_for_pre_n(int fapb, int pre, int n)
|
|
{
|
|
return (fapb / (pre * n));
|
|
}
|
|
|
|
int spi_cal_clock(int fapb, int hz, int duty_cycle, uint32_t *reg_o)
|
|
{
|
|
spi_clock_reg_t reg;
|
|
int eff_clk;
|
|
|
|
//In hw, n, h and l are 1-64, pre is 1-8K. Value written to register is one lower than used value.
|
|
if (hz>((fapb/4)*3)) {
|
|
//Using Fapb directly will give us the best result here.
|
|
reg.clkcnt_l=0;
|
|
reg.clkcnt_h=0;
|
|
reg.clkcnt_n=0;
|
|
reg.clkdiv_pre=0;
|
|
reg.clk_equ_sysclk=1;
|
|
eff_clk=fapb;
|
|
} else {
|
|
//For best duty cycle resolution, we want n to be as close to 32 as possible, but
|
|
//we also need a pre/n combo that gets us as close as possible to the intended freq.
|
|
//To do this, we bruteforce n and calculate the best pre to go along with that.
|
|
//If there's a choice between pre/n combos that give the same result, use the one
|
|
//with the higher n.
|
|
int pre, n, h, l;
|
|
int bestn=-1;
|
|
int bestpre=-1;
|
|
int besterr=0;
|
|
int errval;
|
|
for (n=2; n<=64; n++) { //Start at 2: we need to be able to set h/l so we have at least one high and one low pulse.
|
|
//Effectively, this does pre=round((fapb/n)/hz).
|
|
pre=((fapb/n)+(hz/2))/hz;
|
|
if (pre<=0) pre=1;
|
|
if (pre>8192) pre=8192;
|
|
errval=abs(spi_freq_for_pre_n(fapb, pre, n)-hz);
|
|
if (bestn==-1 || errval<=besterr) {
|
|
besterr=errval;
|
|
bestn=n;
|
|
bestpre=pre;
|
|
}
|
|
}
|
|
|
|
n=bestn;
|
|
pre=bestpre;
|
|
l=n;
|
|
//This effectively does round((duty_cycle*n)/256)
|
|
h=(duty_cycle*n+127)/256;
|
|
if (h<=0) h=1;
|
|
|
|
reg.clk_equ_sysclk=0;
|
|
reg.clkcnt_n=n-1;
|
|
reg.clkdiv_pre=pre-1;
|
|
reg.clkcnt_h=h-1;
|
|
reg.clkcnt_l=l-1;
|
|
eff_clk=spi_freq_for_pre_n(fapb, pre, n);
|
|
}
|
|
if (reg_o != NULL) *reg_o = reg.val;
|
|
return eff_clk;
|
|
}
|
|
|
|
/*
|
|
* Set the spi clock according to pre-calculated register value.
|
|
*/
|
|
static inline void SPI_MASTER_ISR_ATTR spi_set_clock(spi_dev_t *hw, spi_clock_reg_t reg)
|
|
{
|
|
hw->clock.val = reg.val;
|
|
}
|
|
|
|
// Setup the device-specified configuration registers. Called every time a new
|
|
// transaction is to be sent, but only apply new configurations when the device
|
|
// changes.
|
|
static void SPI_MASTER_ISR_ATTR spi_setup_device(spi_host_t *host, int dev_id )
|
|
{
|
|
//if the configuration is already applied, skip the following.
|
|
if (dev_id == host->prev_cs) {
|
|
return;
|
|
}
|
|
|
|
ESP_EARLY_LOGD(SPI_TAG, "SPI device changed from %d to %d", host->prev_cs, dev_id);
|
|
spi_device_t *dev = atomic_load(&host->device[dev_id]);
|
|
//Configure clock settings
|
|
spi_set_clock(host->hw, dev->clk_cfg.reg);
|
|
//Configure bit order
|
|
host->hw->ctrl.rd_bit_order=(dev->cfg.flags & SPI_DEVICE_RXBIT_LSBFIRST) ? 1 : 0;
|
|
host->hw->ctrl.wr_bit_order=(dev->cfg.flags & SPI_DEVICE_TXBIT_LSBFIRST) ? 1 : 0;
|
|
|
|
//Configure polarity
|
|
if (dev->cfg.mode==0) {
|
|
host->hw->pin.ck_idle_edge=0;
|
|
host->hw->user.ck_out_edge=0;
|
|
} else if (dev->cfg.mode==1) {
|
|
host->hw->pin.ck_idle_edge=0;
|
|
host->hw->user.ck_out_edge=1;
|
|
} else if (dev->cfg.mode==2) {
|
|
host->hw->pin.ck_idle_edge=1;
|
|
host->hw->user.ck_out_edge=1;
|
|
} else if (dev->cfg.mode==3) {
|
|
host->hw->pin.ck_idle_edge=1;
|
|
host->hw->user.ck_out_edge=0;
|
|
}
|
|
//Configure misc stuff
|
|
host->hw->user.doutdin=(dev->cfg.flags & SPI_DEVICE_HALFDUPLEX) ? 0 : 1;
|
|
host->hw->user.sio=(dev->cfg.flags & SPI_DEVICE_3WIRE) ? 1 : 0;
|
|
//Configure CS pin and timing
|
|
host->hw->ctrl2.setup_time=dev->cfg.cs_ena_pretrans-1;
|
|
host->hw->user.cs_setup=dev->cfg.cs_ena_pretrans ? 1 : 0;
|
|
//set hold_time to 0 will not actually append delay to CS
|
|
//set it to 1 since we do need at least one clock of hold time in most cases
|
|
host->hw->ctrl2.hold_time=dev->cfg.cs_ena_posttrans;
|
|
if (host->hw->ctrl2.hold_time == 0) host->hw->ctrl2.hold_time = 1;
|
|
host->hw->user.cs_hold=1;
|
|
|
|
host->hw->pin.cs0_dis = (dev_id == 0) ? 0 : 1;
|
|
host->hw->pin.cs1_dis = (dev_id == 1) ? 0 : 1;
|
|
host->hw->pin.cs2_dis = (dev_id == 2) ? 0 : 1;
|
|
//Record the device just configured to save time for next time
|
|
host->prev_cs = dev_id;
|
|
}
|
|
|
|
/*-----------------------------------------------------------------------------
|
|
Arbitration Functions
|
|
-----------------------------------------------------------------------------*/
|
|
|
|
static inline void spi_isr_invoke(spi_device_t *dev)
|
|
{
|
|
int acquire_cs = atomic_load(&dev->host->acquire_cs);
|
|
if (acquire_cs == dev->id || acquire_cs == NO_CS) {
|
|
esp_intr_enable(dev->host->intr);
|
|
}
|
|
//otherwise wait for bus release to invoke
|
|
}
|
|
|
|
/* This function try to race for the arbitration between devices.
|
|
* Even if this returns successfully, the ISR may be still running.
|
|
* Call device_wait_for_isr_idle to make sure the ISR is done.
|
|
*/
|
|
static SPI_MASTER_ISR_ATTR esp_err_t device_acquire_bus_internal(spi_device_t *handle, TickType_t wait)
|
|
{
|
|
spi_host_t *host = handle->host;
|
|
SPI_CHECK(wait==portMAX_DELAY, "acquire finite time not supported now.", ESP_ERR_INVALID_ARG);
|
|
|
|
if (atomic_load(&host->acquire_cs) == handle->id) {
|
|
// Quickly skip if the bus is already acquired.
|
|
// Usually this is only when the bus is locked.
|
|
assert(host->bus_locked);
|
|
return ESP_OK;
|
|
} else {
|
|
// Declare we are waiting for the bus so that if we get blocked later, other device or the ISR will yield to us after their using.
|
|
handle->waiting = true;
|
|
// Clear the semaphore before checking
|
|
xSemaphoreTake(handle->semphr_polling, 0);
|
|
|
|
int no_cs = NO_CS;
|
|
atomic_compare_exchange_weak(&host->acquire_cs, &no_cs, handle->id);
|
|
if (atomic_load(&host->acquire_cs) != handle->id) {
|
|
//block until the bus is acquired (help by other task)
|
|
BaseType_t ret = xSemaphoreTake(handle->semphr_polling, wait);
|
|
//TODO: add timeout handling here.
|
|
if (ret == pdFALSE) return ESP_ERR_TIMEOUT;
|
|
}
|
|
handle->waiting = false;
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
/* This function check for whether the ISR is done, if not, block until semaphore given.
|
|
*/
|
|
static inline SPI_MASTER_ISR_ATTR esp_err_t device_wait_for_isr_idle(spi_device_t *handle, TickType_t wait)
|
|
{
|
|
//quickly skip if the isr is already free
|
|
if (!handle->host->isr_free) {
|
|
// Clear the semaphore before checking
|
|
xSemaphoreTake(handle->semphr_polling, 0);
|
|
if (!handle->host->isr_free) {
|
|
//block until the the isr is free and give us the semaphore
|
|
BaseType_t ret = xSemaphoreTake(handle->semphr_polling, wait);
|
|
//TODO: add timeout handling here.
|
|
if (ret == pdFALSE) return ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
/* This function release the bus acquired by device_acquire_internal.
|
|
And it also tries to help other device to acquire the bus.
|
|
If the bus acquring is not needed, it goes through all device queues to see whether to invoke the ISR
|
|
*/
|
|
static SPI_MASTER_ISR_ATTR void device_release_bus_internal(spi_host_t *host)
|
|
{
|
|
//release the bus
|
|
atomic_store(&host->acquire_cs, NO_CS);
|
|
//first try to restore the acquiring device
|
|
for (int i = 0; i < NO_CS; i++) {
|
|
//search for all registered devices
|
|
spi_device_t* dev = atomic_load(&host->device[i]);
|
|
if (dev && dev->waiting) {
|
|
int no_cs = NO_CS;
|
|
atomic_compare_exchange_weak(&host->acquire_cs, &no_cs, i);
|
|
if (atomic_load(&host->acquire_cs) == i) {
|
|
// Success to acquire for new device
|
|
BaseType_t ret = uxQueueMessagesWaiting(dev->trans_queue);
|
|
if (ret > 0) {
|
|
// If there are transactions in the queue, the ISR should be invoked first
|
|
// Resume the interrupt to send the task a signal
|
|
spi_isr_invoke(dev);
|
|
} else {
|
|
// Otherwise resume the task directly.
|
|
xSemaphoreGive(dev->semphr_polling);
|
|
}
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
//if no devices waiting, searching in device queues to see whether to recover the ISR
|
|
for( int i = 0; i < NO_CS; i++) {
|
|
spi_device_t *dev = atomic_load(&host->device[i]);
|
|
if (dev == NULL) continue;
|
|
BaseType_t ret = uxQueueMessagesWaiting(dev->trans_queue);
|
|
if ( ret != 0) {
|
|
spi_isr_invoke(dev);
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
static inline SPI_MASTER_ISR_ATTR bool device_is_polling(spi_device_t *handle)
|
|
{
|
|
return atomic_load(&handle->host->acquire_cs) == handle->id && handle->host->polling;
|
|
}
|
|
|
|
/*-----------------------------------------------------------------------------
|
|
Working Functions
|
|
-----------------------------------------------------------------------------*/
|
|
|
|
// The function is called to send a new transaction, in ISR or in the task.
|
|
// Setup the transaction-specified registers and linked-list used by the DMA (or FIFO if DMA is not used)
|
|
static void SPI_MASTER_ISR_ATTR spi_new_trans(spi_device_t *dev, spi_trans_priv_t *trans_buf)
|
|
{
|
|
spi_transaction_t *trans = NULL;
|
|
spi_host_t *host = dev->host;
|
|
int dev_id = dev->id;
|
|
|
|
//clear int bit
|
|
host->hw->slave.trans_done = 0;
|
|
|
|
trans = trans_buf->trans;
|
|
host->cur_cs = dev_id;
|
|
//We should be done with the transmission.
|
|
assert(host->hw->cmd.usr == 0);
|
|
|
|
//Reconfigure according to device settings, the function only has effect when the dev_id is changed.
|
|
spi_setup_device(host, dev_id);
|
|
|
|
//Reset DMA peripheral
|
|
host->hw->dma_conf.val |= SPI_OUT_RST|SPI_IN_RST|SPI_AHBM_RST|SPI_AHBM_FIFO_RST;
|
|
host->hw->dma_out_link.start=0;
|
|
host->hw->dma_in_link.start=0;
|
|
host->hw->dma_conf.val &= ~(SPI_OUT_RST|SPI_IN_RST|SPI_AHBM_RST|SPI_AHBM_FIFO_RST);
|
|
host->hw->dma_conf.out_data_burst_en=1;
|
|
host->hw->dma_conf.indscr_burst_en=1;
|
|
host->hw->dma_conf.outdscr_burst_en=1;
|
|
//Set up QIO/DIO if needed
|
|
host->hw->ctrl.val &= ~(SPI_FREAD_DUAL|SPI_FREAD_QUAD|SPI_FREAD_DIO|SPI_FREAD_QIO);
|
|
host->hw->user.val &= ~(SPI_FWRITE_DUAL|SPI_FWRITE_QUAD|SPI_FWRITE_DIO|SPI_FWRITE_QIO);
|
|
if (trans->flags & SPI_TRANS_MODE_DIO) {
|
|
if (trans->flags & SPI_TRANS_MODE_DIOQIO_ADDR) {
|
|
host->hw->ctrl.fread_dio=1;
|
|
host->hw->user.fwrite_dio=1;
|
|
} else {
|
|
host->hw->ctrl.fread_dual=1;
|
|
host->hw->user.fwrite_dual=1;
|
|
}
|
|
host->hw->ctrl.fastrd_mode=1;
|
|
} else if (trans->flags & SPI_TRANS_MODE_QIO) {
|
|
if (trans->flags & SPI_TRANS_MODE_DIOQIO_ADDR) {
|
|
host->hw->ctrl.fread_qio=1;
|
|
host->hw->user.fwrite_qio=1;
|
|
} else {
|
|
host->hw->ctrl.fread_quad=1;
|
|
host->hw->user.fwrite_quad=1;
|
|
}
|
|
host->hw->ctrl.fastrd_mode=1;
|
|
}
|
|
|
|
//Fill DMA descriptors
|
|
int extra_dummy=0;
|
|
if (trans_buf->buffer_to_rcv) {
|
|
if (host->dma_chan == 0) {
|
|
//No need to setup anything; we'll copy the result out of the work registers directly later.
|
|
} else {
|
|
spicommon_setup_dma_desc_links(host->dmadesc_rx, ((trans->rxlength+7)/8), (uint8_t*)trans_buf->buffer_to_rcv, true);
|
|
host->hw->dma_in_link.addr=(int)(&host->dmadesc_rx[0]) & 0xFFFFF;
|
|
host->hw->dma_in_link.start=1;
|
|
}
|
|
//when no_dummy is not set and in half-duplex mode, sets the dummy bit if RX phase exist
|
|
if (((dev->cfg.flags&SPI_DEVICE_NO_DUMMY)==0) && (dev->cfg.flags&SPI_DEVICE_HALFDUPLEX)) {
|
|
extra_dummy=dev->clk_cfg.dummy_num;
|
|
}
|
|
} else {
|
|
//DMA temporary workaround: let RX DMA work somehow to avoid the issue in ESP32 v0/v1 silicon
|
|
if (host->dma_chan != 0 ) {
|
|
host->hw->dma_in_link.addr=0;
|
|
host->hw->dma_in_link.start=1;
|
|
}
|
|
}
|
|
|
|
if (trans_buf->buffer_to_send) {
|
|
if (host->dma_chan == 0) {
|
|
//Need to copy data to registers manually
|
|
for (int x=0; x < trans->length; x+=32) {
|
|
//Use memcpy to get around alignment issues for txdata
|
|
uint32_t word;
|
|
memcpy(&word, &trans_buf->buffer_to_send[x/32], 4);
|
|
host->hw->data_buf[(x/32)]=word;
|
|
}
|
|
} else {
|
|
spicommon_setup_dma_desc_links(host->dmadesc_tx, (trans->length+7)/8, (uint8_t*)trans_buf->buffer_to_send, false);
|
|
host->hw->dma_out_link.addr=(int)(&host->dmadesc_tx[0]) & 0xFFFFF;
|
|
host->hw->dma_out_link.start=1;
|
|
}
|
|
}
|
|
|
|
//SPI iface needs to be configured for a delay in some cases.
|
|
//configure dummy bits
|
|
int base_dummy_bits;
|
|
if (trans->flags & SPI_TRANS_VARIABLE_DUMMY) {
|
|
base_dummy_bits = ((spi_transaction_ext_t *)trans)->dummy_bits;
|
|
} else {
|
|
base_dummy_bits = dev->cfg.dummy_bits;
|
|
}
|
|
host->hw->user.usr_dummy=(base_dummy_bits+extra_dummy) ? 1 : 0;
|
|
host->hw->user1.usr_dummy_cyclelen=base_dummy_bits+extra_dummy-1;
|
|
|
|
int miso_long_delay = 0;
|
|
if (dev->clk_cfg.miso_delay<0) {
|
|
//if the data comes too late, delay half a SPI clock to improve reading
|
|
miso_long_delay = 1;
|
|
host->hw->ctrl2.miso_delay_num = 0;
|
|
} else {
|
|
//if the data is so fast that dummy_bit is used, delay some apb clocks to meet the timing
|
|
host->hw->ctrl2.miso_delay_num = extra_dummy ? dev->clk_cfg.miso_delay : 0;
|
|
}
|
|
|
|
if (miso_long_delay) {
|
|
switch (dev->cfg.mode) {
|
|
case 0:
|
|
host->hw->ctrl2.miso_delay_mode = 2;
|
|
break;
|
|
case 1:
|
|
host->hw->ctrl2.miso_delay_mode = 1;
|
|
break;
|
|
case 2:
|
|
host->hw->ctrl2.miso_delay_mode = 1;
|
|
break;
|
|
case 3:
|
|
host->hw->ctrl2.miso_delay_mode = 2;
|
|
break;
|
|
}
|
|
} else {
|
|
host->hw->ctrl2.miso_delay_mode = 0;
|
|
}
|
|
|
|
host->hw->mosi_dlen.usr_mosi_dbitlen=trans->length-1;
|
|
if ( dev->cfg.flags & SPI_DEVICE_HALFDUPLEX ) {
|
|
host->hw->miso_dlen.usr_miso_dbitlen=trans->rxlength-1;
|
|
} else {
|
|
//rxlength is not used in full-duplex mode
|
|
host->hw->miso_dlen.usr_miso_dbitlen=trans->length-1;
|
|
}
|
|
|
|
//Configure bit sizes, load addr and command
|
|
int cmdlen;
|
|
int addrlen;
|
|
if (!(dev->cfg.flags & SPI_DEVICE_HALFDUPLEX) && dev->cfg.cs_ena_pretrans != 0) {
|
|
/* The command and address phase is not compatible with cs_ena_pretrans
|
|
* in full duplex mode.
|
|
*/
|
|
cmdlen = 0;
|
|
addrlen = 0;
|
|
} else {
|
|
if (trans->flags & SPI_TRANS_VARIABLE_CMD) {
|
|
cmdlen = ((spi_transaction_ext_t *)trans)->command_bits;
|
|
} else {
|
|
cmdlen = dev->cfg.command_bits;
|
|
}
|
|
if (trans->flags & SPI_TRANS_VARIABLE_ADDR) {
|
|
addrlen = ((spi_transaction_ext_t *)trans)->address_bits;
|
|
} else {
|
|
addrlen = dev->cfg.address_bits;
|
|
}
|
|
}
|
|
|
|
host->hw->user1.usr_addr_bitlen=addrlen-1;
|
|
host->hw->user2.usr_command_bitlen=cmdlen-1;
|
|
host->hw->user.usr_addr=addrlen ? 1 : 0;
|
|
host->hw->user.usr_command=cmdlen ? 1 : 0;
|
|
|
|
if ((dev->cfg.flags & SPI_DEVICE_TXBIT_LSBFIRST)==0) {
|
|
/* Output command will be sent from bit 7 to 0 of command_value, and
|
|
* then bit 15 to 8 of the same register field. Shift and swap to send
|
|
* more straightly.
|
|
*/
|
|
host->hw->user2.usr_command_value = SPI_SWAP_DATA_TX(trans->cmd, cmdlen);
|
|
|
|
// shift the address to MSB of addr (and maybe slv_wr_status) register.
|
|
// output address will be sent from MSB to LSB of addr register, then comes the MSB to LSB of slv_wr_status register.
|
|
if (addrlen > 32) {
|
|
host->hw->addr = trans->addr >> (addrlen - 32);
|
|
host->hw->slv_wr_status = trans->addr << (64 - addrlen);
|
|
} else {
|
|
host->hw->addr = trans->addr << (32 - addrlen);
|
|
}
|
|
} else {
|
|
/* The output command start from bit0 to bit 15, kept as is.
|
|
* The output address start from the LSB of the highest byte, i.e.
|
|
* addr[24] -> addr[31]
|
|
* ...
|
|
* addr[0] -> addr[7]
|
|
* slv_wr_status[24] -> slv_wr_status[31]
|
|
* ...
|
|
* slv_wr_status[0] -> slv_wr_status[7]
|
|
* So swap the byte order to let the LSB sent first.
|
|
*/
|
|
host->hw->user2.usr_command_value = trans->cmd;
|
|
uint64_t addr = __builtin_bswap64(trans->addr);
|
|
host->hw->addr = addr>>32;
|
|
host->hw->slv_wr_status = addr;
|
|
}
|
|
|
|
if ((!(dev->cfg.flags & SPI_DEVICE_HALFDUPLEX) && trans_buf->buffer_to_rcv) ||
|
|
trans_buf->buffer_to_send) {
|
|
host->hw->user.usr_mosi = 1;
|
|
} else {
|
|
host->hw->user.usr_mosi = 0;
|
|
}
|
|
host->hw->user.usr_miso = (trans_buf->buffer_to_rcv) ? 1 : 0;
|
|
|
|
//Call pre-transmission callback, if any
|
|
if (dev->cfg.pre_cb) dev->cfg.pre_cb(trans);
|
|
//Kick off transfer
|
|
host->hw->cmd.usr=1;
|
|
}
|
|
|
|
// The function is called when a transaction is done, in ISR or in the task.
|
|
// Fetch the data from FIFO and call the ``post_cb``.
|
|
static void SPI_MASTER_ISR_ATTR spi_post_trans(spi_host_t *host)
|
|
{
|
|
spi_transaction_t *cur_trans = host->cur_trans_buf.trans;
|
|
if (host->cur_trans_buf.buffer_to_rcv && host->dma_chan == 0 ) {
|
|
//Need to copy from SPI regs to result buffer.
|
|
for (int x = 0; x < cur_trans->rxlength; x += 32) {
|
|
//Do a memcpy to get around possible alignment issues in rx_buffer
|
|
uint32_t word = host->hw->data_buf[x / 32];
|
|
int len = cur_trans->rxlength - x;
|
|
if (len > 32) len = 32;
|
|
memcpy(&host->cur_trans_buf.buffer_to_rcv[x / 32], &word, (len + 7) / 8);
|
|
}
|
|
}
|
|
//Call post-transaction callback, if any
|
|
spi_device_t* dev = atomic_load(&host->device[host->cur_cs]);
|
|
if (dev->cfg.post_cb) dev->cfg.post_cb(cur_trans);
|
|
|
|
host->cur_cs = NO_CS;
|
|
}
|
|
|
|
// This is run in interrupt context.
|
|
static void SPI_MASTER_ISR_ATTR spi_intr(void *arg)
|
|
{
|
|
int i;
|
|
BaseType_t r;
|
|
BaseType_t do_yield = pdFALSE;
|
|
spi_host_t *host = (spi_host_t *)arg;
|
|
|
|
assert(host->hw->slave.trans_done == 1);
|
|
|
|
/*------------ deal with the in-flight transaction -----------------*/
|
|
if (host->cur_cs != NO_CS) {
|
|
//Okay, transaction is done.
|
|
const int cs = host->cur_cs;
|
|
//Tell common code DMA workaround that our DMA channel is idle. If needed, the code will do a DMA reset.
|
|
if (host->dma_chan) {
|
|
spicommon_dmaworkaround_idle(host->dma_chan);
|
|
}
|
|
|
|
//cur_cs is changed to NO_CS here
|
|
spi_post_trans(host);
|
|
//Return transaction descriptor.
|
|
xQueueSendFromISR(atomic_load(&host->device[cs])->ret_queue, &host->cur_trans_buf, &do_yield);
|
|
#ifdef CONFIG_PM_ENABLE
|
|
//Release APB frequency lock
|
|
esp_pm_lock_release(host->pm_lock);
|
|
#endif
|
|
}
|
|
|
|
/*------------ new transaction starts here ------------------*/
|
|
assert(host->cur_cs == NO_CS);
|
|
|
|
// Clear isr_free before the checking of acquire_cs so that the task will always block if we find the bus is not acquired.
|
|
// Small possiblility that the task is blocked but we find the bus is acquired.
|
|
host->isr_free = false;
|
|
|
|
/* When the bus is not occupied, the task uses esp_intr_enable to inform the ISR there's new transaction.
|
|
* If the queue is empty, we disable the system interrupt.
|
|
* We disable this first, to avoid the conflict when the task enable and the ISR disable at the same time
|
|
* If the transaction is sent (queue not empty), we will re-ebale it (see below).
|
|
*/
|
|
esp_intr_disable( host->intr );
|
|
int acquire_cs = atomic_load(&host->acquire_cs);
|
|
if (acquire_cs != NO_CS) {
|
|
// Only look in the queue of the occupying device.
|
|
i = acquire_cs;
|
|
spi_device_t* dev = atomic_load(&host->device[i]);
|
|
assert(dev);
|
|
r = xQueueReceiveFromISR(dev->trans_queue, &host->cur_trans_buf, &do_yield);
|
|
// If the Queue is empty, skip the sending by setting i=NO_CS
|
|
// Otherwise i is kept as is and the transaction will be sent.
|
|
if (!r) {
|
|
// Set the free to true before resume the task
|
|
host->isr_free = true;
|
|
xSemaphoreGiveFromISR(dev->semphr_polling, &do_yield);
|
|
i = NO_CS;
|
|
}
|
|
} else {
|
|
//Go through all device queues to find a transaction to send
|
|
//ToDo: This is a stupidly simple low-cs-first priority scheme. Make this configurable somehow. - JD
|
|
for (i = 0; i < NO_CS; i++) {
|
|
spi_device_t* dev = atomic_load(&host->device[i]);
|
|
if (dev) {
|
|
r = xQueueReceiveFromISR(dev->trans_queue, &host->cur_trans_buf, &do_yield);
|
|
//Stop looking if we have a transaction to send.
|
|
if (r) break;
|
|
}
|
|
}
|
|
if (i==NO_CS) {
|
|
host->isr_free = true;
|
|
}
|
|
}
|
|
|
|
// Actually send the transaction
|
|
if (i != NO_CS) {
|
|
spi_trans_priv_t *const cur_trans_buf = &host->cur_trans_buf;
|
|
if (host->dma_chan != 0 && (cur_trans_buf->buffer_to_rcv || cur_trans_buf->buffer_to_send)) {
|
|
//mark channel as active, so that the DMA will not be reset by the slave
|
|
spicommon_dmaworkaround_transfer_active(host->dma_chan);
|
|
}
|
|
spi_new_trans(atomic_load(&host->device[i]), cur_trans_buf);
|
|
//re-enable interrupt disabled above
|
|
esp_intr_enable(host->intr);
|
|
}
|
|
if (do_yield) portYIELD_FROM_ISR();
|
|
}
|
|
|
|
static SPI_MASTER_ISR_ATTR esp_err_t check_trans_valid(spi_device_handle_t handle, spi_transaction_t *trans_desc)
|
|
{
|
|
SPI_CHECK(handle!=NULL, "invalid dev handle", ESP_ERR_INVALID_ARG);
|
|
spi_host_t *host = handle->host;
|
|
//check transmission length
|
|
SPI_CHECK((trans_desc->flags & SPI_TRANS_USE_RXDATA)==0 ||trans_desc->rxlength <= 32, "rxdata transfer > 32 bits without configured DMA", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK((trans_desc->flags & SPI_TRANS_USE_TXDATA)==0 ||trans_desc->length <= 32, "txdata transfer > 32 bits without configured DMA", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK(trans_desc->length <= handle->host->max_transfer_sz*8, "txdata transfer > host maximum", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK(trans_desc->rxlength <= handle->host->max_transfer_sz*8, "rxdata transfer > host maximum", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK((handle->cfg.flags & SPI_DEVICE_HALFDUPLEX) || trans_desc->rxlength <= trans_desc->length, "rx length > tx length in full duplex mode", ESP_ERR_INVALID_ARG);
|
|
//check working mode
|
|
SPI_CHECK(!((trans_desc->flags & (SPI_TRANS_MODE_DIO|SPI_TRANS_MODE_QIO)) && (handle->cfg.flags & SPI_DEVICE_3WIRE)), "incompatible iface params", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK(!((trans_desc->flags & (SPI_TRANS_MODE_DIO|SPI_TRANS_MODE_QIO)) && (!(handle->cfg.flags & SPI_DEVICE_HALFDUPLEX))), "incompatible iface params", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK( !(handle->cfg.flags & SPI_DEVICE_HALFDUPLEX) || host->dma_chan == 0 || !(trans_desc->flags & SPI_TRANS_USE_RXDATA || trans_desc->rx_buffer != NULL)
|
|
|| !(trans_desc->flags & SPI_TRANS_USE_TXDATA || trans_desc->tx_buffer!=NULL), "SPI half duplex mode does not support using DMA with both MOSI and MISO phases.", ESP_ERR_INVALID_ARG );
|
|
//MOSI phase is skipped only when both tx_buffer and SPI_TRANS_USE_TXDATA are not set.
|
|
SPI_CHECK(trans_desc->length != 0 || (trans_desc->tx_buffer == NULL && !(trans_desc->flags & SPI_TRANS_USE_TXDATA)),
|
|
"trans tx_buffer should be NULL and SPI_TRANS_USE_TXDATA should be cleared to skip MOSI phase.", ESP_ERR_INVALID_ARG);
|
|
//MISO phase is skipped only when both rx_buffer and SPI_TRANS_USE_RXDATA are not set.
|
|
//If set rxlength=0 in full_duplex mode, it will be automatically set to length
|
|
SPI_CHECK(!(handle->cfg.flags & SPI_DEVICE_HALFDUPLEX) || trans_desc->rxlength != 0 ||
|
|
(trans_desc->rx_buffer == NULL && ((trans_desc->flags & SPI_TRANS_USE_RXDATA)==0)),
|
|
"trans rx_buffer should be NULL and SPI_TRANS_USE_RXDATA should be cleared to skip MISO phase.", ESP_ERR_INVALID_ARG);
|
|
//In Full duplex mode, default rxlength to be the same as length, if not filled in.
|
|
// set rxlength to length is ok, even when rx buffer=NULL
|
|
if (trans_desc->rxlength==0 && !(handle->cfg.flags & SPI_DEVICE_HALFDUPLEX)) {
|
|
trans_desc->rxlength=trans_desc->length;
|
|
}
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
static SPI_MASTER_ISR_ATTR void uninstall_priv_desc(spi_trans_priv_t* trans_buf)
|
|
{
|
|
spi_transaction_t *trans_desc = trans_buf->trans;
|
|
if ((void *)trans_buf->buffer_to_send != &trans_desc->tx_data[0] &&
|
|
trans_buf->buffer_to_send != trans_desc->tx_buffer) {
|
|
free((void *)trans_buf->buffer_to_send); //force free, ignore const
|
|
}
|
|
//copy data from temporary DMA-capable buffer back to IRAM buffer and free the temporary one.
|
|
if ((void *)trans_buf->buffer_to_rcv != &trans_desc->rx_data[0] &&
|
|
trans_buf->buffer_to_rcv != trans_desc->rx_buffer) {
|
|
if (trans_desc->flags & SPI_TRANS_USE_RXDATA) {
|
|
memcpy((uint8_t *) & trans_desc->rx_data[0], trans_buf->buffer_to_rcv, (trans_desc->rxlength + 7) / 8);
|
|
} else {
|
|
memcpy(trans_desc->rx_buffer, trans_buf->buffer_to_rcv, (trans_desc->rxlength + 7) / 8);
|
|
}
|
|
free(trans_buf->buffer_to_rcv);
|
|
}
|
|
}
|
|
|
|
static SPI_MASTER_ISR_ATTR esp_err_t setup_priv_desc(spi_transaction_t *trans_desc, spi_trans_priv_t* new_desc, bool isdma)
|
|
{
|
|
*new_desc = (spi_trans_priv_t) { .trans = trans_desc, };
|
|
|
|
// rx memory assign
|
|
uint32_t* rcv_ptr;
|
|
if ( trans_desc->flags & SPI_TRANS_USE_RXDATA ) {
|
|
rcv_ptr = (uint32_t *)&trans_desc->rx_data[0];
|
|
} else {
|
|
//if not use RXDATA neither rx_buffer, buffer_to_rcv assigned to NULL
|
|
rcv_ptr = trans_desc->rx_buffer;
|
|
}
|
|
if (rcv_ptr && isdma && (!esp_ptr_dma_capable(rcv_ptr) || ((int)rcv_ptr % 4 != 0))) {
|
|
//if rxbuf in the desc not DMA-capable, malloc a new one. The rx buffer need to be length of multiples of 32 bits to avoid heap corruption.
|
|
ESP_LOGI( SPI_TAG, "Allocate RX buffer for DMA" );
|
|
rcv_ptr = heap_caps_malloc((trans_desc->rxlength + 31) / 8, MALLOC_CAP_DMA);
|
|
if (rcv_ptr == NULL) goto clean_up;
|
|
}
|
|
new_desc->buffer_to_rcv = rcv_ptr;
|
|
|
|
// tx memory assign
|
|
const uint32_t *send_ptr;
|
|
if ( trans_desc->flags & SPI_TRANS_USE_TXDATA ) {
|
|
send_ptr = (uint32_t *)&trans_desc->tx_data[0];
|
|
} else {
|
|
//if not use TXDATA neither tx_buffer, tx data assigned to NULL
|
|
send_ptr = trans_desc->tx_buffer ;
|
|
}
|
|
if (send_ptr && isdma && !esp_ptr_dma_capable( send_ptr )) {
|
|
//if txbuf in the desc not DMA-capable, malloc a new one
|
|
ESP_LOGI( SPI_TAG, "Allocate TX buffer for DMA" );
|
|
uint32_t *temp = heap_caps_malloc((trans_desc->length + 7) / 8, MALLOC_CAP_DMA);
|
|
if (temp == NULL) goto clean_up;
|
|
|
|
memcpy( temp, send_ptr, (trans_desc->length + 7) / 8 );
|
|
send_ptr = temp;
|
|
}
|
|
new_desc->buffer_to_send = send_ptr;
|
|
|
|
return ESP_OK;
|
|
|
|
clean_up:
|
|
uninstall_priv_desc(new_desc);
|
|
return ESP_ERR_NO_MEM;
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ATTR spi_device_queue_trans(spi_device_handle_t handle, spi_transaction_t *trans_desc, TickType_t ticks_to_wait)
|
|
{
|
|
esp_err_t ret = check_trans_valid(handle, trans_desc);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
spi_host_t *host = handle->host;
|
|
|
|
SPI_CHECK( !device_is_polling(handle), "Cannot queue new transaction while previous polling transaction is not terminated.", ESP_ERR_INVALID_STATE );
|
|
|
|
spi_trans_priv_t trans_buf;
|
|
ret = setup_priv_desc(trans_desc, &trans_buf, (host->dma_chan!=0));
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
#ifdef CONFIG_PM_ENABLE
|
|
esp_pm_lock_acquire(host->pm_lock);
|
|
#endif
|
|
//Send to queue and invoke the ISR.
|
|
|
|
BaseType_t r = xQueueSend(handle->trans_queue, (void *)&trans_buf, ticks_to_wait);
|
|
if (!r) {
|
|
ret = ESP_ERR_TIMEOUT;
|
|
#ifdef CONFIG_PM_ENABLE
|
|
//Release APB frequency lock
|
|
esp_pm_lock_release(host->pm_lock);
|
|
#endif
|
|
goto clean_up;
|
|
}
|
|
spi_isr_invoke(handle);
|
|
return ESP_OK;
|
|
|
|
clean_up:
|
|
uninstall_priv_desc(&trans_buf);
|
|
return ret;
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ATTR spi_device_get_trans_result(spi_device_handle_t handle, spi_transaction_t **trans_desc, TickType_t ticks_to_wait)
|
|
{
|
|
BaseType_t r;
|
|
spi_trans_priv_t trans_buf;
|
|
SPI_CHECK(handle!=NULL, "invalid dev handle", ESP_ERR_INVALID_ARG);
|
|
|
|
//use the interrupt, block until return
|
|
r=xQueueReceive(handle->ret_queue, (void*)&trans_buf, ticks_to_wait);
|
|
if (!r) {
|
|
// The memory occupied by rx and tx DMA buffer destroyed only when receiving from the queue (transaction finished).
|
|
// If timeout, wait and retry.
|
|
// Every in-flight transaction request occupies internal memory as DMA buffer if needed.
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
//release temporary buffers
|
|
uninstall_priv_desc(&trans_buf);
|
|
(*trans_desc) = trans_buf.trans;
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
//Porcelain to do one blocking transmission.
|
|
esp_err_t SPI_MASTER_ATTR spi_device_transmit(spi_device_handle_t handle, spi_transaction_t *trans_desc)
|
|
{
|
|
esp_err_t ret;
|
|
spi_transaction_t *ret_trans;
|
|
//ToDo: check if any spi transfers in flight
|
|
ret = spi_device_queue_trans(handle, trans_desc, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
ret = spi_device_get_trans_result(handle, &ret_trans, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
assert(ret_trans == trans_desc);
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ATTR spi_device_acquire_bus(spi_device_t *device, TickType_t wait)
|
|
{
|
|
spi_host_t *const host = device->host;
|
|
SPI_CHECK(wait==portMAX_DELAY, "acquire finite time not supported now.", ESP_ERR_INVALID_ARG);
|
|
SPI_CHECK( !device_is_polling(device), "Cannot acquire bus when a polling transaction is in progress.", ESP_ERR_INVALID_STATE );
|
|
|
|
esp_err_t ret = device_acquire_bus_internal(device, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
ret = device_wait_for_isr_idle(device, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
device->host->bus_locked = true;
|
|
|
|
ESP_LOGD(SPI_TAG, "device%d acquired the bus", device->id);
|
|
|
|
#ifdef CONFIG_PM_ENABLE
|
|
// though we don't suggest to block the task before ``release_bus``, still allow doing so.
|
|
// this keeps the spi clock at 80MHz even if all tasks are blocked
|
|
esp_pm_lock_acquire(device->host->pm_lock);
|
|
#endif
|
|
//configure the device so that we don't need to do it again in the following transactions
|
|
spi_setup_device( host, device->id );
|
|
//the DMA is also occupied by the device, all the slave devices that using DMA should wait until bus released.
|
|
if (host->dma_chan != 0) {
|
|
spicommon_dmaworkaround_transfer_active(host->dma_chan);
|
|
}
|
|
return ESP_OK;
|
|
}
|
|
|
|
// This function restore configurations required in the non-polling mode
|
|
void SPI_MASTER_ATTR spi_device_release_bus(spi_device_t *dev)
|
|
{
|
|
spi_host_t *host = dev->host;
|
|
|
|
if (device_is_polling(dev)){
|
|
ESP_LOGE(SPI_TAG, "Cannot release bus when a polling transaction is in progress.");
|
|
assert(0);
|
|
}
|
|
|
|
if (host->dma_chan != 0) {
|
|
spicommon_dmaworkaround_idle(host->dma_chan);
|
|
}
|
|
//Tell common code DMA workaround that our DMA channel is idle. If needed, the code will do a DMA reset.
|
|
|
|
//allow clock to be lower than 80MHz when all tasks blocked
|
|
#ifdef CONFIG_PM_ENABLE
|
|
//Release APB frequency lock
|
|
esp_pm_lock_release(host->pm_lock);
|
|
#endif
|
|
ESP_LOGD(SPI_TAG, "device%d release bus", dev->id);
|
|
|
|
dev->host->bus_locked = false;
|
|
device_release_bus_internal(dev->host);
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ISR_ATTR spi_device_polling_start(spi_device_handle_t handle, spi_transaction_t *trans_desc, TickType_t ticks_to_wait)
|
|
{
|
|
esp_err_t ret;
|
|
SPI_CHECK(ticks_to_wait == portMAX_DELAY, "currently timeout is not available for polling transactions", ESP_ERR_INVALID_ARG);
|
|
|
|
spi_host_t *host = handle->host;
|
|
ret = check_trans_valid(handle, trans_desc);
|
|
if (ret!=ESP_OK) return ret;
|
|
|
|
SPI_CHECK( !device_is_polling(handle), "Cannot send polling transaction while the previous polling transaction is not terminated.", ESP_ERR_INVALID_STATE );
|
|
|
|
ret = setup_priv_desc(trans_desc, &host->cur_trans_buf, (handle->host->dma_chan!=0));
|
|
if (ret!=ESP_OK) return ret;
|
|
|
|
device_acquire_bus_internal(handle, portMAX_DELAY);
|
|
device_wait_for_isr_idle(handle, portMAX_DELAY);
|
|
|
|
assert(atomic_load(&host->acquire_cs) == handle->id);
|
|
assert(host->isr_free);
|
|
|
|
//Polling, no interrupt is used.
|
|
host->polling = true;
|
|
|
|
ESP_LOGV(SPI_TAG, "polling trans");
|
|
spi_new_trans(handle, &host->cur_trans_buf);
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ISR_ATTR spi_device_polling_end(spi_device_handle_t handle, TickType_t ticks_to_wait)
|
|
{
|
|
SPI_CHECK(handle != NULL, "invalid dev handle", ESP_ERR_INVALID_ARG);
|
|
spi_host_t *host = handle->host;
|
|
|
|
//if (host->acquire_cs == handle->id && host->polling) {
|
|
assert(host->cur_cs == atomic_load(&host->acquire_cs));
|
|
TickType_t start = xTaskGetTickCount();
|
|
|
|
while (!host->hw->slave.trans_done) {
|
|
TickType_t end = xTaskGetTickCount();
|
|
if (end - start > ticks_to_wait) {
|
|
return ESP_ERR_TIMEOUT;
|
|
}
|
|
}
|
|
ESP_LOGV(SPI_TAG, "polling trans done");
|
|
//deal with the in-flight transaction
|
|
spi_post_trans(host);
|
|
//release temporary buffers
|
|
uninstall_priv_desc(&host->cur_trans_buf);
|
|
host->polling = false;
|
|
|
|
if (!host->bus_locked) {
|
|
device_release_bus_internal(host);
|
|
}
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
esp_err_t SPI_MASTER_ISR_ATTR spi_device_polling_transmit(spi_device_handle_t handle, spi_transaction_t* trans_desc)
|
|
{
|
|
esp_err_t ret;
|
|
ret = spi_device_polling_start(handle, trans_desc, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
ret = spi_device_polling_end(handle, portMAX_DELAY);
|
|
if (ret != ESP_OK) return ret;
|
|
|
|
return ESP_OK;
|
|
}
|
|
|
|
|