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micropython/stmhal/spi.c

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#include <stdio.h>
#include <string.h>
#include "stm32f4xx_hal.h"
#include "nlr.h"
#include "misc.h"
#include "mpconfig.h"
#include "qstr.h"
#include "obj.h"
#include "runtime.h"
#include "pin.h"
#include "genhdr/pins.h"
#include "spi.h"
#if !defined(MICROPU_HW_ENABLE_SPI1)
#define MICROPY_HW_ENABLE_SPI1 (1)
#endif
SPI_HandleTypeDef SPIHandle1 = {.Instance = NULL};
SPI_HandleTypeDef SPIHandle2 = {.Instance = NULL};
SPI_HandleTypeDef SPIHandle3 = {.Instance = NULL};
void spi_init0(void) {
// reset the SPI handles
memset(&SPIHandle1, 0, sizeof(SPI_HandleTypeDef));
SPIHandle1.Instance = SPI1;
memset(&SPIHandle2, 0, sizeof(SPI_HandleTypeDef));
SPIHandle2.Instance = SPI2;
memset(&SPIHandle3, 0, sizeof(SPI_HandleTypeDef));
SPIHandle3.Instance = SPI3;
}
// TODO allow to take a list of pins to use
void spi_init(SPI_HandleTypeDef *spi) {
// init the GPIO lines
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
GPIO_InitStructure.Pull = GPIO_PULLUP; // ST examples use PULLUP
const pin_obj_t *pins[4];
#if MICROPY_HW_ENABLE_SPI1
if (spi->Instance == SPI1) {
// X-skin: X5=PA4=SPI1_NSS, X6=PA5=SPI1_SCK, X7=PA6=SPI1_MISO, X8=PA7=SPI1_MOSI
pins[0] = &pin_A4;
pins[1] = &pin_A5;
pins[2] = &pin_A6;
pins[3] = &pin_A7;
GPIO_InitStructure.Alternate = GPIO_AF5_SPI1;
} else
#endif
if (spi->Instance == SPI2) {
// Y-skin: Y5=PB12=SPI2_NSS, Y6=PB13=SPI2_SCK, Y7=PB14=SPI2_MISO, Y8=PB15=SPI2_MOSI
pins[0] = &pin_B12;
pins[1] = &pin_B13;
pins[2] = &pin_B14;
pins[3] = &pin_B15;
GPIO_InitStructure.Alternate = GPIO_AF5_SPI2;
} else
#if MICROPY_HW_ENABLE_SPI3
if (spi->Instance == SPI3) {
pins[0] = &pin_A4;
pins[1] = &pin_B3;
pins[2] = &pin_B4;
pins[3] = &pin_B5;
GPIO_InitStructure.Alternate = GPIO_AF6_SPI3;
} else
#endif
{
// SPI does not exist for this board
nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "SPI bus does not exist"));
}
for (uint i = 0; i < 4; i++) {
GPIO_InitStructure.Pin = pins[i]->pin_mask;
HAL_GPIO_Init(pins[i]->gpio, &GPIO_InitStructure);
}
// enable the SPI clock
if (spi->Instance == SPI1) {
__SPI1_CLK_ENABLE();
} else if (spi->Instance == SPI2) {
__SPI2_CLK_ENABLE();
} else if (spi->Instance == SPI3) {
__SPI3_CLK_ENABLE();
}
// init the I2C device
if (HAL_SPI_Init(spi) != HAL_OK) {
// init error
// TODO should raise an exception, but this function is not necessarily going to be
// called via Python, so may not be properly wrapped in an NLR handler
printf("HardwareError: HAL_SPI_Init failed\n");
return;
}
}
void spi_deinit(SPI_HandleTypeDef *spi) {
HAL_SPI_DeInit(spi);
if (spi->Instance == SPI1) {
__SPI1_CLK_DISABLE();
} else if (spi->Instance == SPI2) {
__SPI2_CLK_DISABLE();
} else if (spi->Instance == SPI3) {
__SPI3_CLK_DISABLE();
}
}
/******************************************************************************/
/* Micro Python bindings */
#define PYB_NUM_SPI (2)
typedef struct _pyb_spi_obj_t {
mp_obj_base_t base;
SPI_HandleTypeDef *spi;
} pyb_spi_obj_t;
STATIC const pyb_spi_obj_t pyb_spi_obj[PYB_NUM_SPI] = {
{{&pyb_spi_type}, &SPIHandle1},
{{&pyb_spi_type}, &SPIHandle2}
};
STATIC void pyb_spi_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_spi_obj_t *self = self_in;
uint spi_num;
if (self->spi->Instance == SPI1) { spi_num = 1; }
else if (self->spi->Instance == SPI2) { spi_num = 2; }
else { spi_num = 3; }
if (self->spi->State == HAL_SPI_STATE_RESET) {
print(env, "SPI(%u)", spi_num);
} else {
if (self->spi->Init.Mode == SPI_MODE_MASTER) {
// compute baudrate
uint spi_clock;
if (self->spi->Instance == SPI1) {
// SPI1 is on APB2
spi_clock = HAL_RCC_GetPCLK2Freq();
} else {
// SPI2 and SPI3 are on APB1
spi_clock = HAL_RCC_GetPCLK1Freq();
}
uint baudrate = spi_clock >> ((self->spi->Init.BaudRatePrescaler >> 3) + 1);
print(env, "SPI(%u, SPI.MASTER, clock=%u, baudrate=%u)", spi_num, spi_clock, baudrate);
} else {
print(env, "SPI(%u, SPI.SLAVE)", spi_num);
}
}
}
STATIC const mp_arg_parse_t pyb_spi_init_accepted_args[] = {
{ MP_QSTR_mode, MP_ARG_PARSE_REQUIRED | MP_ARG_PARSE_INT, {.u_int = 0} },
{ MP_QSTR_baudrate, MP_ARG_PARSE_INT, {.u_int = 328125} },
{ MP_QSTR_clkpol, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_POLARITY_LOW} },
{ MP_QSTR_clkphase, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_PHASE_1EDGE} },
{ MP_QSTR_dir, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_DIRECTION_2LINES} },
{ MP_QSTR_size, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = 8} },
{ MP_QSTR_nss, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_NSS_SOFT} },
{ MP_QSTR_firstbit, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_FIRSTBIT_MSB} },
{ MP_QSTR_ti, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_BOOL, {.u_bool = false} },
{ MP_QSTR_crcpoly, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_OBJ, {.u_obj = mp_const_none} },
};
#define PYB_SPI_INIT_NUM_ARGS (sizeof(pyb_spi_init_accepted_args) / sizeof(pyb_spi_init_accepted_args[0]))
STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
// parse keyword args
mp_arg_parse_val_t vals[PYB_SPI_INIT_NUM_ARGS];
mp_arg_parse_all(n_args, args, kw_args, PYB_SPI_INIT_NUM_ARGS, pyb_spi_init_accepted_args, vals);
// set the SPI configuration values
SPI_InitTypeDef *init = &self->spi->Init;
init->Mode = vals[0].u_int;
// compute the baudrate prescaler from the requested baudrate
// select a prescaler that yields at most the requested baudrate
uint spi_clock;
if (self->spi->Instance == SPI1) {
// SPI1 is on APB2
spi_clock = HAL_RCC_GetPCLK2Freq();
} else {
// SPI2 and SPI3 are on APB1
spi_clock = HAL_RCC_GetPCLK1Freq();
}
uint br_prescale = spi_clock / vals[1].u_int;
if (br_prescale <= 2) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; }
else if (br_prescale <= 4) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; }
else if (br_prescale <= 8) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; }
else if (br_prescale <= 16) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; }
else if (br_prescale <= 32) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; }
else if (br_prescale <= 64) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; }
else if (br_prescale <= 128) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; }
else { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; }
init->CLKPolarity = vals[2].u_int;
init->CLKPhase = vals[3].u_int;
init->Direction = vals[4].u_int;
init->DataSize = (vals[5].u_int == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT;
init->NSS = vals[6].u_int;
init->FirstBit = vals[7].u_int;
init->TIMode = vals[8].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED;
if (vals[9].u_obj == mp_const_none) {
init->CRCCalculation = SPI_CRCCALCULATION_DISABLED;
init->CRCPolynomial = 0;
} else {
init->CRCCalculation = SPI_CRCCALCULATION_ENABLED;
init->CRCPolynomial = mp_obj_get_int(vals[9].u_obj);
}
// init the SPI bus
spi_init(self->spi);
return mp_const_none;
}
STATIC mp_obj_t pyb_spi_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// get SPI number
machine_int_t spi_id = mp_obj_get_int(args[0]) - 1;
// check SPI number
if (!(0 <= spi_id && spi_id < PYB_NUM_SPI)) {
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "SPI bus %d does not exist", spi_id + 1));
}
// get SPI object
const pyb_spi_obj_t *spi_obj = &pyb_spi_obj[spi_id];
if (n_args > 1 || n_kw > 0) {
// start the peripheral
mp_map_t kw_args;
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
pyb_spi_init_helper(spi_obj, n_args - 1, args + 1, &kw_args);
}
return (mp_obj_t)spi_obj;
}
STATIC mp_obj_t pyb_spi_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
return pyb_spi_init_helper(args[0], n_args - 1, args + 1, kw_args);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_init_obj, 1, pyb_spi_init);
STATIC mp_obj_t pyb_spi_deinit(mp_obj_t self_in) {
pyb_spi_obj_t *self = self_in;
spi_deinit(self->spi);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_spi_deinit_obj, pyb_spi_deinit);
STATIC mp_obj_t pyb_spi_send(mp_obj_t self_in, mp_obj_t data_in) {
// TODO assumes transmission size is 8-bits wide
// TODO accept timeout as keyword argument
pyb_spi_obj_t *self = self_in;
uint8_t data[1];
mp_buffer_info_t bufinfo;
if (MP_OBJ_IS_INT(data_in)) {
data[0] = mp_obj_get_int(data_in);
bufinfo.buf = data;
bufinfo.len = 1;
bufinfo.typecode = 'B';
} else {
mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
}
HAL_StatusTypeDef status = HAL_SPI_Transmit(self->spi, bufinfo.buf, bufinfo.len, 1000);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_Transmit failed with code %d", status));
}
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_send_obj, pyb_spi_send);
STATIC mp_obj_t pyb_spi_recv(mp_obj_t self_in, mp_obj_t n_in) {
// TODO assumes transmission size is 8-bits wide
// TODO accept timeout as keyword argument
pyb_spi_obj_t *self = self_in;
machine_uint_t n = mp_obj_get_int(n_in);
byte *data;
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
HAL_StatusTypeDef status = HAL_SPI_Receive(self->spi, data, n, 1000);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_Receive failed with code %d", status));
}
return mp_obj_str_builder_end(o);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_recv_obj, pyb_spi_recv);
STATIC mp_obj_t pyb_spi_send_recv(mp_obj_t self_in, mp_obj_t data_in) {
// TODO assumes transmission size is 8-bits wide
// TODO accept timeout as keyword argument
pyb_spi_obj_t *self = self_in;
uint8_t data_send[1];
mp_buffer_info_t bufinfo;
if (MP_OBJ_IS_INT(data_in)) {
data_send[0] = mp_obj_get_int(data_in);
bufinfo.buf = data_send;
bufinfo.len = 1;
bufinfo.typecode = 'B';
} else {
mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
}
byte *data_recv;
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, bufinfo.len, &data_recv);
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(self->spi, bufinfo.buf, data_recv, bufinfo.len, 1000);
if (status != HAL_OK) {
// TODO really need a HardwareError object, or something
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_TransmitReceive failed with code %d", status));
}
return mp_obj_str_builder_end(o);
}
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_send_recv_obj, pyb_spi_send_recv);
STATIC const mp_map_elem_t pyb_spi_locals_dict_table[] = {
// instance methods
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_spi_init_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_spi_deinit_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_spi_send_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_spi_recv_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_send_recv), (mp_obj_t)&pyb_spi_send_recv_obj },
// class constants
{ MP_OBJ_NEW_QSTR(MP_QSTR_MASTER), MP_OBJ_NEW_SMALL_INT(SPI_MODE_MASTER) },
{ MP_OBJ_NEW_QSTR(MP_QSTR_SLAVE), MP_OBJ_NEW_SMALL_INT(SPI_MODE_SLAVE) },
/* TODO
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_2LINES ((uint32_t)0x00000000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_1LINE SPI_CR1_BIDIMODE
{ MP_OBJ_NEW_QSTR(MP_QSTR_POLARITY_LOW ((uint32_t)0x00000000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_POLARITY_HIGH SPI_CR1_CPOL
{ MP_OBJ_NEW_QSTR(MP_QSTR_PHASE_1EDGE ((uint32_t)0x00000000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_PHASE_2EDGE SPI_CR1_CPHA
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_SOFT SPI_CR1_SSM
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_HARD_INPUT ((uint32_t)0x00000000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_HARD_OUTPUT ((uint32_t)0x00040000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_FIRSTBIT_MSB ((uint32_t)0x00000000)
{ MP_OBJ_NEW_QSTR(MP_QSTR_FIRSTBIT_LSB SPI_CR1_LSBFIRST
*/
};
STATIC MP_DEFINE_CONST_DICT(pyb_spi_locals_dict, pyb_spi_locals_dict_table);
const mp_obj_type_t pyb_spi_type = {
{ &mp_type_type },
.name = MP_QSTR_SPI,
.print = pyb_spi_print,
.make_new = pyb_spi_make_new,
.locals_dict = (mp_obj_t)&pyb_spi_locals_dict,
};
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