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micropython/ports/stm32/spi.c

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/*
* This file is part of the MicroPython project, http://micropython.org/
*
* The MIT License (MIT)
*
* Copyright (c) 2013, 2014 Damien P. George
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*/
#include <stdio.h>
#include <string.h>
#include "py/runtime.h"
#include "py/mphal.h"
#include "extmod/machine_spi.h"
#include "irq.h"
#include "pin.h"
#include "genhdr/pins.h"
#include "bufhelper.h"
#include "dma.h"
#include "spi.h"
/// \moduleref pyb
/// \class SPI - a master-driven serial protocol
///
/// SPI is a serial protocol that is driven by a master. At the physical level
/// there are 3 lines: SCK, MOSI, MISO.
///
/// See usage model of I2C; SPI is very similar. Main difference is
/// parameters to init the SPI bus:
///
/// from pyb import SPI
/// spi = SPI(1, SPI.MASTER, baudrate=600000, polarity=1, phase=0, crc=0x7)
///
/// Only required parameter is mode, SPI.MASTER or SPI.SLAVE. Polarity can be
/// 0 or 1, and is the level the idle clock line sits at. Phase can be 0 or 1
/// to sample data on the first or second clock edge respectively. Crc can be
/// None for no CRC, or a polynomial specifier.
///
/// Additional method for SPI:
///
/// data = spi.send_recv(b'1234') # send 4 bytes and receive 4 bytes
/// buf = bytearray(4)
/// spi.send_recv(b'1234', buf) # send 4 bytes and receive 4 into buf
/// spi.send_recv(buf, buf) # send/recv 4 bytes from/to buf
// Possible DMA configurations for SPI busses:
// SPI1_TX: DMA2_Stream3.CHANNEL_3 or DMA2_Stream5.CHANNEL_3
// SPI1_RX: DMA2_Stream0.CHANNEL_3 or DMA2_Stream2.CHANNEL_3
// SPI2_TX: DMA1_Stream4.CHANNEL_0
// SPI2_RX: DMA1_Stream3.CHANNEL_0
// SPI3_TX: DMA1_Stream5.CHANNEL_0 or DMA1_Stream7.CHANNEL_0
// SPI3_RX: DMA1_Stream0.CHANNEL_0 or DMA1_Stream2.CHANNEL_0
// SPI4_TX: DMA2_Stream4.CHANNEL_5 or DMA2_Stream1.CHANNEL_4
// SPI4_RX: DMA2_Stream3.CHANNEL_5 or DMA2_Stream0.CHANNEL_4
// SPI5_TX: DMA2_Stream4.CHANNEL_2 or DMA2_Stream6.CHANNEL_7
// SPI5_RX: DMA2_Stream3.CHANNEL_2 or DMA2_Stream5.CHANNEL_7
// SPI6_TX: DMA2_Stream5.CHANNEL_1
// SPI6_RX: DMA2_Stream6.CHANNEL_1
typedef struct _pyb_spi_obj_t {
mp_obj_base_t base;
SPI_HandleTypeDef *spi;
const dma_descr_t *tx_dma_descr;
const dma_descr_t *rx_dma_descr;
} pyb_spi_obj_t;
#if defined(MICROPY_HW_SPI1_SCK)
SPI_HandleTypeDef SPIHandle1 = {.Instance = NULL};
#endif
#if defined(MICROPY_HW_SPI2_SCK)
SPI_HandleTypeDef SPIHandle2 = {.Instance = NULL};
#endif
#if defined(MICROPY_HW_SPI3_SCK)
SPI_HandleTypeDef SPIHandle3 = {.Instance = NULL};
#endif
#if defined(MICROPY_HW_SPI4_SCK)
SPI_HandleTypeDef SPIHandle4 = {.Instance = NULL};
#endif
#if defined(MICROPY_HW_SPI5_SCK)
SPI_HandleTypeDef SPIHandle5 = {.Instance = NULL};
#endif
#if defined(MICROPY_HW_SPI6_SCK)
SPI_HandleTypeDef SPIHandle6 = {.Instance = NULL};
#endif
STATIC const pyb_spi_obj_t pyb_spi_obj[] = {
#if defined(MICROPY_HW_SPI1_SCK)
{{&pyb_spi_type}, &SPIHandle1, &dma_SPI_1_TX, &dma_SPI_1_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
#if defined(MICROPY_HW_SPI2_SCK)
{{&pyb_spi_type}, &SPIHandle2, &dma_SPI_2_TX, &dma_SPI_2_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
#if defined(MICROPY_HW_SPI3_SCK)
{{&pyb_spi_type}, &SPIHandle3, &dma_SPI_3_TX, &dma_SPI_3_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
#if defined(MICROPY_HW_SPI4_SCK)
{{&pyb_spi_type}, &SPIHandle4, &dma_SPI_4_TX, &dma_SPI_4_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
#if defined(MICROPY_HW_SPI5_SCK)
{{&pyb_spi_type}, &SPIHandle5, &dma_SPI_5_TX, &dma_SPI_5_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
#if defined(MICROPY_HW_SPI6_SCK)
{{&pyb_spi_type}, &SPIHandle6, &dma_SPI_6_TX, &dma_SPI_6_RX},
#else
{{&pyb_spi_type}, NULL, NULL, NULL},
#endif
};
void spi_init0(void) {
// reset the SPI handles
#if defined(MICROPY_HW_SPI1_SCK)
memset(&SPIHandle1, 0, sizeof(SPI_HandleTypeDef));
SPIHandle1.Instance = SPI1;
#endif
#if defined(MICROPY_HW_SPI2_SCK)
memset(&SPIHandle2, 0, sizeof(SPI_HandleTypeDef));
SPIHandle2.Instance = SPI2;
#endif
#if defined(MICROPY_HW_SPI3_SCK)
memset(&SPIHandle3, 0, sizeof(SPI_HandleTypeDef));
SPIHandle3.Instance = SPI3;
#endif
#if defined(MICROPY_HW_SPI4_SCK)
memset(&SPIHandle4, 0, sizeof(SPI_HandleTypeDef));
SPIHandle4.Instance = SPI4;
#endif
#if defined(MICROPY_HW_SPI5_SCK)
memset(&SPIHandle5, 0, sizeof(SPI_HandleTypeDef));
SPIHandle5.Instance = SPI5;
#endif
#if defined(MICROPY_HW_SPI6_SCK)
memset(&SPIHandle6, 0, sizeof(SPI_HandleTypeDef));
SPIHandle6.Instance = SPI6;
#endif
}
STATIC int spi_find(mp_obj_t id) {
if (MP_OBJ_IS_STR(id)) {
// given a string id
const char *port = mp_obj_str_get_str(id);
if (0) {
#ifdef MICROPY_HW_SPI1_NAME
} else if (strcmp(port, MICROPY_HW_SPI1_NAME) == 0) {
return 1;
#endif
#ifdef MICROPY_HW_SPI2_NAME
} else if (strcmp(port, MICROPY_HW_SPI2_NAME) == 0) {
return 2;
#endif
#ifdef MICROPY_HW_SPI3_NAME
} else if (strcmp(port, MICROPY_HW_SPI3_NAME) == 0) {
return 3;
#endif
#ifdef MICROPY_HW_SPI4_NAME
} else if (strcmp(port, MICROPY_HW_SPI4_NAME) == 0) {
return 4;
#endif
#ifdef MICROPY_HW_SPI5_NAME
} else if (strcmp(port, MICROPY_HW_SPI5_NAME) == 0) {
return 5;
#endif
#ifdef MICROPY_HW_SPI6_NAME
} else if (strcmp(port, MICROPY_HW_SPI6_NAME) == 0) {
return 6;
#endif
}
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError,
"SPI(%s) doesn't exist", port));
} else {
// given an integer id
int spi_id = mp_obj_get_int(id);
if (spi_id >= 1 && spi_id <= MP_ARRAY_SIZE(pyb_spi_obj)
&& pyb_spi_obj[spi_id - 1].spi != NULL) {
return spi_id;
}
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError,
"SPI(%d) doesn't exist", spi_id));
}
}
// sets the parameters in the SPI_InitTypeDef struct
// if an argument is -1 then the corresponding parameter is not changed
STATIC void spi_set_params(SPI_HandleTypeDef *spi, uint32_t prescale, int32_t baudrate,
int32_t polarity, int32_t phase, int32_t bits, int32_t firstbit) {
SPI_InitTypeDef *init = &spi->Init;
if (prescale != 0xffffffff || baudrate != -1) {
if (prescale == 0xffffffff) {
// prescaler not given, so select one that yields at most the requested baudrate
mp_uint_t spi_clock;
if (spi->Instance == SPI2 || spi->Instance == SPI3) {
// SPI2 and SPI3 are on APB1
spi_clock = HAL_RCC_GetPCLK1Freq();
} else {
// SPI1, SPI4, SPI5 and SPI6 are on APB2
spi_clock = HAL_RCC_GetPCLK2Freq();
}
prescale = spi_clock / baudrate;
}
if (prescale <= 2) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; }
else if (prescale <= 4) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; }
else if (prescale <= 8) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; }
else if (prescale <= 16) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; }
else if (prescale <= 32) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; }
else if (prescale <= 64) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; }
else if (prescale <= 128) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; }
else { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; }
}
if (polarity != -1) {
init->CLKPolarity = polarity == 0 ? SPI_POLARITY_LOW : SPI_POLARITY_HIGH;
}
if (phase != -1) {
init->CLKPhase = phase == 0 ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE;
}
if (bits != -1) {
init->DataSize = (bits == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT;
}
if (firstbit != -1) {
init->FirstBit = firstbit;
}
}
// TODO allow to take a list of pins to use
void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) {
const pyb_spi_obj_t *self;
const pin_obj_t *pins[4] = { NULL, NULL, NULL, NULL };
if (0) {
#if defined(MICROPY_HW_SPI1_SCK)
} else if (spi->Instance == SPI1) {
self = &pyb_spi_obj[0];
#if defined(MICROPY_HW_SPI1_NSS)
pins[0] = &MICROPY_HW_SPI1_NSS;
#endif
pins[1] = &MICROPY_HW_SPI1_SCK;
#if defined(MICROPY_HW_SPI1_MISO)
pins[2] = &MICROPY_HW_SPI1_MISO;
#endif
pins[3] = &MICROPY_HW_SPI1_MOSI;
// enable the SPI clock
__SPI1_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_SPI2_SCK)
} else if (spi->Instance == SPI2) {
self = &pyb_spi_obj[1];
#if defined(MICROPY_HW_SPI2_NSS)
pins[0] = &MICROPY_HW_SPI2_NSS;
#endif
pins[1] = &MICROPY_HW_SPI2_SCK;
#if defined(MICROPY_HW_SPI2_MISO)
pins[2] = &MICROPY_HW_SPI2_MISO;
#endif
pins[3] = &MICROPY_HW_SPI2_MOSI;
// enable the SPI clock
__SPI2_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_SPI3_SCK)
} else if (spi->Instance == SPI3) {
self = &pyb_spi_obj[2];
#if defined(MICROPY_HW_SPI3_NSS)
pins[0] = &MICROPY_HW_SPI3_NSS;
#endif
pins[1] = &MICROPY_HW_SPI3_SCK;
#if defined(MICROPY_HW_SPI3_MISO)
pins[2] = &MICROPY_HW_SPI3_MISO;
#endif
pins[3] = &MICROPY_HW_SPI3_MOSI;
// enable the SPI clock
__SPI3_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_SPI4_SCK)
} else if (spi->Instance == SPI4) {
self = &pyb_spi_obj[3];
#if defined(MICROPY_HW_SPI4_NSS)
pins[0] = &MICROPY_HW_SPI4_NSS;
#endif
pins[1] = &MICROPY_HW_SPI4_SCK;
#if defined(MICROPY_HW_SPI4_MISO)
pins[2] = &MICROPY_HW_SPI4_MISO;
#endif
pins[3] = &MICROPY_HW_SPI4_MOSI;
// enable the SPI clock
__SPI4_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_SPI5_SCK)
} else if (spi->Instance == SPI5) {
self = &pyb_spi_obj[4];
#if defined(MICROPY_HW_SPI5_NSS)
pins[0] = &MICROPY_HW_SPI5_NSS;
#endif
pins[1] = &MICROPY_HW_SPI5_SCK;
#if defined(MICROPY_HW_SPI5_MISO)
pins[2] = &MICROPY_HW_SPI5_MISO;
#endif
pins[3] = &MICROPY_HW_SPI5_MOSI;
// enable the SPI clock
__SPI5_CLK_ENABLE();
#endif
#if defined(MICROPY_HW_SPI6_SCK)
} else if (spi->Instance == SPI6) {
self = &pyb_spi_obj[5];
#if defined(MICROPY_HW_SPI6_NSS)
pins[0] = &MICROPY_HW_SPI6_NSS;
#endif
pins[1] = &MICROPY_HW_SPI6_SCK;
#if defined(MICROPY_HW_SPI6_MISO)
pins[2] = &MICROPY_HW_SPI6_MISO;
#endif
pins[3] = &MICROPY_HW_SPI6_MOSI;
// enable the SPI clock
__SPI6_CLK_ENABLE();
#endif
} else {
// SPI does not exist for this board (shouldn't get here, should be checked by caller)
return;
}
// init the GPIO lines
uint32_t mode = MP_HAL_PIN_MODE_ALT;
uint32_t pull = spi->Init.CLKPolarity == SPI_POLARITY_LOW ? MP_HAL_PIN_PULL_DOWN : MP_HAL_PIN_PULL_UP;
for (uint i = (enable_nss_pin ? 0 : 1); i < 4; i++) {
if (pins[i] == NULL) {
continue;
}
mp_hal_pin_config_alt(pins[i], mode, pull, AF_FN_SPI, (self - &pyb_spi_obj[0]) + 1);
}
// init the SPI 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("OSError: HAL_SPI_Init failed\n");
return;
}
// After calling HAL_SPI_Init() it seems that the DMA gets disconnected if
// it was previously configured. So we invalidate the DMA channel to force
// an initialisation the next time we use it.
dma_invalidate_channel(self->tx_dma_descr);
dma_invalidate_channel(self->rx_dma_descr);
}
void spi_deinit(SPI_HandleTypeDef *spi) {
HAL_SPI_DeInit(spi);
if (0) {
#if defined(MICROPY_HW_SPI1_SCK)
} else if (spi->Instance == SPI1) {
__SPI1_FORCE_RESET();
__SPI1_RELEASE_RESET();
__SPI1_CLK_DISABLE();
#endif
#if defined(MICROPY_HW_SPI2_SCK)
} else if (spi->Instance == SPI2) {
__SPI2_FORCE_RESET();
__SPI2_RELEASE_RESET();
__SPI2_CLK_DISABLE();
#endif
#if defined(MICROPY_HW_SPI3_SCK)
} else if (spi->Instance == SPI3) {
__SPI3_FORCE_RESET();
__SPI3_RELEASE_RESET();
__SPI3_CLK_DISABLE();
#endif
#if defined(MICROPY_HW_SPI4_SCK)
} else if (spi->Instance == SPI4) {
__SPI4_FORCE_RESET();
__SPI4_RELEASE_RESET();
__SPI4_CLK_DISABLE();
#endif
#if defined(MICROPY_HW_SPI5_SCK)
} else if (spi->Instance == SPI5) {
__SPI5_FORCE_RESET();
__SPI5_RELEASE_RESET();
__SPI5_CLK_DISABLE();
#endif
#if defined(MICROPY_HW_SPI6_SCK)
} else if (spi->Instance == SPI6) {
__SPI6_FORCE_RESET();
__SPI6_RELEASE_RESET();
__SPI6_CLK_DISABLE();
#endif
}
}
STATIC HAL_StatusTypeDef spi_wait_dma_finished(SPI_HandleTypeDef *spi, uint32_t timeout) {
uint32_t start = HAL_GetTick();
for (;;) {
// Do an atomic check of the state; WFI will exit even if IRQs are disabled
uint32_t irq_state = disable_irq();
if (spi->State == HAL_SPI_STATE_READY) {
enable_irq(irq_state);
return HAL_OK;
}
__WFI();
enable_irq(irq_state);
if (HAL_GetTick() - start >= timeout) {
return HAL_TIMEOUT;
}
}
return HAL_OK;
}
// A transfer of "len" bytes should take len*8*1000/baudrate milliseconds.
// To simplify the calculation we assume the baudrate is never less than 8kHz
// and use that value for the baudrate in the formula, plus a small constant.
#define SPI_TRANSFER_TIMEOUT(len) ((len) + 100)
STATIC void spi_transfer(const pyb_spi_obj_t *self, size_t len, const uint8_t *src, uint8_t *dest, uint32_t timeout) {
// Note: there seems to be a problem sending 1 byte using DMA the first
// time directly after the SPI/DMA is initialised. The cause of this is
// unknown but we sidestep the issue by using polling for 1 byte transfer.
HAL_StatusTypeDef status;
if (dest == NULL) {
// send only
if (len == 1 || query_irq() == IRQ_STATE_DISABLED) {
status = HAL_SPI_Transmit(self->spi, (uint8_t*)src, len, timeout);
} else {
DMA_HandleTypeDef tx_dma;
dma_init(&tx_dma, self->tx_dma_descr, self->spi);
self->spi->hdmatx = &tx_dma;
self->spi->hdmarx = NULL;
MP_HAL_CLEAN_DCACHE(src, len);
status = HAL_SPI_Transmit_DMA(self->spi, (uint8_t*)src, len);
if (status == HAL_OK) {
status = spi_wait_dma_finished(self->spi, timeout);
}
dma_deinit(self->tx_dma_descr);
}
} else if (src == NULL) {
// receive only
if (len == 1 || query_irq() == IRQ_STATE_DISABLED) {
status = HAL_SPI_Receive(self->spi, dest, len, timeout);
} else {
DMA_HandleTypeDef tx_dma, rx_dma;
if (self->spi->Init.Mode == SPI_MODE_MASTER) {
// in master mode the HAL actually does a TransmitReceive call
dma_init(&tx_dma, self->tx_dma_descr, self->spi);
self->spi->hdmatx = &tx_dma;
} else {
self->spi->hdmatx = NULL;
}
dma_init(&rx_dma, self->rx_dma_descr, self->spi);
self->spi->hdmarx = &rx_dma;
MP_HAL_CLEANINVALIDATE_DCACHE(dest, len);
status = HAL_SPI_Receive_DMA(self->spi, dest, len);
if (status == HAL_OK) {
status = spi_wait_dma_finished(self->spi, timeout);
}
if (self->spi->hdmatx != NULL) {
dma_deinit(self->tx_dma_descr);
}
dma_deinit(self->rx_dma_descr);
}
} else {
// send and receive
if (len == 1 || query_irq() == IRQ_STATE_DISABLED) {
status = HAL_SPI_TransmitReceive(self->spi, (uint8_t*)src, dest, len, timeout);
} else {
DMA_HandleTypeDef tx_dma, rx_dma;
dma_init(&tx_dma, self->tx_dma_descr, self->spi);
self->spi->hdmatx = &tx_dma;
dma_init(&rx_dma, self->rx_dma_descr, self->spi);
self->spi->hdmarx = &rx_dma;
MP_HAL_CLEAN_DCACHE(src, len);
MP_HAL_CLEANINVALIDATE_DCACHE(dest, len);
status = HAL_SPI_TransmitReceive_DMA(self->spi, (uint8_t*)src, dest, len);
if (status == HAL_OK) {
status = spi_wait_dma_finished(self->spi, timeout);
}
dma_deinit(self->tx_dma_descr);
dma_deinit(self->rx_dma_descr);
}
}
if (status != HAL_OK) {
mp_hal_raise(status);
}
}
STATIC void spi_print(const mp_print_t *print, SPI_HandleTypeDef *spi, bool legacy) {
uint spi_num = 1; // default to SPI1
if (spi->Instance == SPI2) { spi_num = 2; }
else if (spi->Instance == SPI3) { spi_num = 3; }
#if defined(SPI4)
else if (spi->Instance == SPI4) { spi_num = 4; }
#endif
#if defined(SPI5)
else if (spi->Instance == SPI5) { spi_num = 5; }
#endif
#if defined(SPI6)
else if (spi->Instance == SPI6) { spi_num = 6; }
#endif
mp_printf(print, "SPI(%u", spi_num);
if (spi->State != HAL_SPI_STATE_RESET) {
if (spi->Init.Mode == SPI_MODE_MASTER) {
// compute baudrate
uint spi_clock;
if (spi->Instance == SPI2 || spi->Instance == SPI3) {
// SPI2 and SPI3 are on APB1
spi_clock = HAL_RCC_GetPCLK1Freq();
} else {
// SPI1, SPI4, SPI5 and SPI6 are on APB2
spi_clock = HAL_RCC_GetPCLK2Freq();
}
uint log_prescaler = (spi->Init.BaudRatePrescaler >> 3) + 1;
uint baudrate = spi_clock >> log_prescaler;
if (legacy) {
mp_printf(print, ", SPI.MASTER");
}
mp_printf(print, ", baudrate=%u", baudrate);
if (legacy) {
mp_printf(print, ", prescaler=%u", 1 << log_prescaler);
}
} else {
mp_printf(print, ", SPI.SLAVE");
}
mp_printf(print, ", polarity=%u, phase=%u, bits=%u", spi->Init.CLKPolarity == SPI_POLARITY_LOW ? 0 : 1, spi->Init.CLKPhase == SPI_PHASE_1EDGE ? 0 : 1, spi->Init.DataSize == SPI_DATASIZE_8BIT ? 8 : 16);
if (spi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLED) {
mp_printf(print, ", crc=0x%x", spi->Init.CRCPolynomial);
}
}
mp_print_str(print, ")");
}
/******************************************************************************/
/* MicroPython bindings for legacy pyb API */
SPI_HandleTypeDef *spi_get_handle(mp_obj_t o) {
if (!MP_OBJ_IS_TYPE(o, &pyb_spi_type)) {
mp_raise_ValueError("expecting an SPI object");
}
pyb_spi_obj_t *self = o;
return self->spi;
}
STATIC void pyb_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
pyb_spi_obj_t *self = self_in;
spi_print(print, self->spi, true);
}
/// \method init(mode, baudrate=328125, *, polarity=1, phase=0, bits=8, firstbit=SPI.MSB, ti=False, crc=None)
///
/// Initialise the SPI bus with the given parameters:
///
/// - `mode` must be either `SPI.MASTER` or `SPI.SLAVE`.
/// - `baudrate` is the SCK clock rate (only sensible for a master).
STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 328125} },
{ MP_QSTR_prescaler, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0xffffffff} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} },
{ MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_dir, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_DIRECTION_2LINES} },
{ MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
{ MP_QSTR_nss, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_NSS_SOFT} },
{ MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} },
{ MP_QSTR_ti, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} },
{ MP_QSTR_crc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} },
};
// parse args
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// set the SPI configuration values
SPI_InitTypeDef *init = &self->spi->Init;
init->Mode = args[0].u_int;
spi_set_params(self->spi, args[2].u_int, args[1].u_int, args[3].u_int, args[4].u_int,
args[6].u_int, args[8].u_int);
init->Direction = args[5].u_int;
init->NSS = args[7].u_int;
init->TIMode = args[9].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED;
if (args[10].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(args[10].u_obj);
}
// init the SPI bus
spi_init(self->spi, init->NSS != SPI_NSS_SOFT);
return mp_const_none;
}
/// \classmethod \constructor(bus, ...)
///
/// Construct an SPI object on the given bus. `bus` can be 1 or 2.
/// With no additional parameters, the SPI object is created but not
/// initialised (it has the settings from the last initialisation of
/// the bus, if any). If extra arguments are given, the bus is initialised.
/// See `init` for parameters of initialisation.
///
/// The physical pins of the SPI busses are:
///
/// - `SPI(1)` is on the X position: `(NSS, SCK, MISO, MOSI) = (X5, X6, X7, X8) = (PA4, PA5, PA6, PA7)`
/// - `SPI(2)` is on the Y position: `(NSS, SCK, MISO, MOSI) = (Y5, Y6, Y7, Y8) = (PB12, PB13, PB14, PB15)`
///
/// At the moment, the NSS pin is not used by the SPI driver and is free
/// for other use.
STATIC mp_obj_t pyb_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args) {
// check arguments
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
// work out SPI bus
int spi_id = spi_find(args[0]);
// get SPI object
const pyb_spi_obj_t *spi_obj = &pyb_spi_obj[spi_id - 1];
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(size_t 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);
/// \method deinit()
/// Turn off the SPI bus.
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);
/// \method send(send, *, timeout=5000)
/// Send data on the bus:
///
/// - `send` is the data to send (an integer to send, or a buffer object).
/// - `timeout` is the timeout in milliseconds to wait for the send.
///
/// Return value: `None`.
STATIC mp_obj_t pyb_spi_send(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
// TODO assumes transmission size is 8-bits wide
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
// parse args
pyb_spi_obj_t *self = pos_args[0];
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// get the buffer to send from
mp_buffer_info_t bufinfo;
uint8_t data[1];
pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data);
// send the data
spi_transfer(self, bufinfo.len, bufinfo.buf, NULL, args[1].u_int);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_send_obj, 1, pyb_spi_send);
/// \method recv(recv, *, timeout=5000)
///
/// Receive data on the bus:
///
/// - `recv` can be an integer, which is the number of bytes to receive,
/// or a mutable buffer, which will be filled with received bytes.
/// - `timeout` is the timeout in milliseconds to wait for the receive.
///
/// Return value: if `recv` is an integer then a new buffer of the bytes received,
/// otherwise the same buffer that was passed in to `recv`.
STATIC mp_obj_t pyb_spi_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
// TODO assumes transmission size is 8-bits wide
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_recv, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
// parse args
pyb_spi_obj_t *self = pos_args[0];
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// get the buffer to receive into
vstr_t vstr;
mp_obj_t o_ret = pyb_buf_get_for_recv(args[0].u_obj, &vstr);
// receive the data
spi_transfer(self, vstr.len, NULL, (uint8_t*)vstr.buf, args[1].u_int);
// return the received data
if (o_ret != MP_OBJ_NULL) {
return o_ret;
} else {
return mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr);
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_recv_obj, 1, pyb_spi_recv);
/// \method send_recv(send, recv=None, *, timeout=5000)
///
/// Send and receive data on the bus at the same time:
///
/// - `send` is the data to send (an integer to send, or a buffer object).
/// - `recv` is a mutable buffer which will be filled with received bytes.
/// It can be the same as `send`, or omitted. If omitted, a new buffer will
/// be created.
/// - `timeout` is the timeout in milliseconds to wait for the receive.
///
/// Return value: the buffer with the received bytes.
STATIC mp_obj_t pyb_spi_send_recv(size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
// TODO assumes transmission size is 8-bits wide
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_recv, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} },
};
// parse args
pyb_spi_obj_t *self = pos_args[0];
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// get buffers to send from/receive to
mp_buffer_info_t bufinfo_send;
uint8_t data_send[1];
mp_buffer_info_t bufinfo_recv;
vstr_t vstr_recv;
mp_obj_t o_ret;
if (args[0].u_obj == args[1].u_obj) {
// same object for send and receive, it must be a r/w buffer
mp_get_buffer_raise(args[0].u_obj, &bufinfo_send, MP_BUFFER_RW);
bufinfo_recv = bufinfo_send;
o_ret = args[0].u_obj;
} else {
// get the buffer to send from
pyb_buf_get_for_send(args[0].u_obj, &bufinfo_send, data_send);
// get the buffer to receive into
if (args[1].u_obj == MP_OBJ_NULL) {
// only send argument given, so create a fresh buffer of the send length
vstr_init_len(&vstr_recv, bufinfo_send.len);
bufinfo_recv.len = vstr_recv.len;
bufinfo_recv.buf = vstr_recv.buf;
o_ret = MP_OBJ_NULL;
} else {
// recv argument given
mp_get_buffer_raise(args[1].u_obj, &bufinfo_recv, MP_BUFFER_WRITE);
if (bufinfo_recv.len != bufinfo_send.len) {
mp_raise_ValueError("recv must be same length as send");
}
o_ret = args[1].u_obj;
}
}
// do the transfer
spi_transfer(self, bufinfo_send.len, bufinfo_send.buf, bufinfo_recv.buf, args[2].u_int);
// return the received data
if (o_ret != MP_OBJ_NULL) {
return o_ret;
} else {
return mp_obj_new_str_from_vstr(&mp_type_bytes, &vstr_recv);
}
}
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_send_recv_obj, 1, pyb_spi_send_recv);
STATIC const mp_rom_map_elem_t pyb_spi_locals_dict_table[] = {
// instance methods
{ MP_ROM_QSTR(MP_QSTR_init), MP_ROM_PTR(&pyb_spi_init_obj) },
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pyb_spi_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_read), MP_ROM_PTR(&mp_machine_spi_read_obj) },
{ MP_ROM_QSTR(MP_QSTR_readinto), MP_ROM_PTR(&mp_machine_spi_readinto_obj) },
{ MP_ROM_QSTR(MP_QSTR_write), MP_ROM_PTR(&mp_machine_spi_write_obj) },
{ MP_ROM_QSTR(MP_QSTR_write_readinto), MP_ROM_PTR(&mp_machine_spi_write_readinto_obj) },
// legacy methods
{ MP_ROM_QSTR(MP_QSTR_send), MP_ROM_PTR(&pyb_spi_send_obj) },
{ MP_ROM_QSTR(MP_QSTR_recv), MP_ROM_PTR(&pyb_spi_recv_obj) },
{ MP_ROM_QSTR(MP_QSTR_send_recv), MP_ROM_PTR(&pyb_spi_send_recv_obj) },
// class constants
/// \constant MASTER - for initialising the bus to master mode
/// \constant SLAVE - for initialising the bus to slave mode
/// \constant MSB - set the first bit to MSB
/// \constant LSB - set the first bit to LSB
{ MP_ROM_QSTR(MP_QSTR_MASTER), MP_ROM_INT(SPI_MODE_MASTER) },
{ MP_ROM_QSTR(MP_QSTR_SLAVE), MP_ROM_INT(SPI_MODE_SLAVE) },
{ MP_ROM_QSTR(MP_QSTR_MSB), MP_ROM_INT(SPI_FIRSTBIT_MSB) },
{ MP_ROM_QSTR(MP_QSTR_LSB), MP_ROM_INT(SPI_FIRSTBIT_LSB) },
/* TODO
{ MP_ROM_QSTR(MP_QSTR_DIRECTION_2LINES ((uint32_t)0x00000000)
{ MP_ROM_QSTR(MP_QSTR_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY
{ MP_ROM_QSTR(MP_QSTR_DIRECTION_1LINE SPI_CR1_BIDIMODE
{ MP_ROM_QSTR(MP_QSTR_NSS_SOFT SPI_CR1_SSM
{ MP_ROM_QSTR(MP_QSTR_NSS_HARD_INPUT ((uint32_t)0x00000000)
{ MP_ROM_QSTR(MP_QSTR_NSS_HARD_OUTPUT ((uint32_t)0x00040000)
*/
};
STATIC MP_DEFINE_CONST_DICT(pyb_spi_locals_dict, pyb_spi_locals_dict_table);
STATIC void spi_transfer_machine(mp_obj_base_t *self_in, size_t len, const uint8_t *src, uint8_t *dest) {
spi_transfer((pyb_spi_obj_t*)self_in, len, src, dest, SPI_TRANSFER_TIMEOUT(len));
}
STATIC const mp_machine_spi_p_t pyb_spi_p = {
.transfer = spi_transfer_machine,
};
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,
.protocol = &pyb_spi_p,
.locals_dict = (mp_obj_dict_t*)&pyb_spi_locals_dict,
};
/******************************************************************************/
// Implementation of hard SPI for machine module
typedef struct _machine_hard_spi_obj_t {
mp_obj_base_t base;
const pyb_spi_obj_t *pyb;
} machine_hard_spi_obj_t;
STATIC const machine_hard_spi_obj_t machine_hard_spi_obj[] = {
{{&machine_hard_spi_type}, &pyb_spi_obj[0]},
{{&machine_hard_spi_type}, &pyb_spi_obj[1]},
{{&machine_hard_spi_type}, &pyb_spi_obj[2]},
{{&machine_hard_spi_type}, &pyb_spi_obj[3]},
{{&machine_hard_spi_type}, &pyb_spi_obj[4]},
{{&machine_hard_spi_type}, &pyb_spi_obj[5]},
};
STATIC void machine_hard_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind) {
machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in;
spi_print(print, self->pyb->spi, false);
}
mp_obj_t machine_hard_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
enum { ARG_id, ARG_baudrate, ARG_polarity, ARG_phase, ARG_bits, ARG_firstbit, ARG_sck, ARG_mosi, ARG_miso };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_id, MP_ARG_OBJ, {.u_obj = MP_OBJ_NEW_SMALL_INT(-1)} },
{ MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 500000} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} },
{ MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} },
{ MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} },
{ MP_QSTR_sck, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_mosi, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
{ MP_QSTR_miso, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// get static peripheral object
int spi_id = spi_find(args[ARG_id].u_obj);
const machine_hard_spi_obj_t *self = &machine_hard_spi_obj[spi_id - 1];
// here we would check the sck/mosi/miso pins and configure them, but it's not implemented
if (args[ARG_sck].u_obj != MP_OBJ_NULL
|| args[ARG_mosi].u_obj != MP_OBJ_NULL
|| args[ARG_miso].u_obj != MP_OBJ_NULL) {
mp_raise_ValueError("explicit choice of sck/mosi/miso is not implemented");
}
// set the SPI configuration values
SPI_InitTypeDef *init = &self->pyb->spi->Init;
init->Mode = SPI_MODE_MASTER;
// these parameters are not currently configurable
init->Direction = SPI_DIRECTION_2LINES;
init->NSS = SPI_NSS_SOFT;
init->TIMode = SPI_TIMODE_DISABLED;
init->CRCCalculation = SPI_CRCCALCULATION_DISABLED;
init->CRCPolynomial = 0;
// set configurable paramaters
spi_set_params(self->pyb->spi, 0xffffffff, args[ARG_baudrate].u_int,
args[ARG_polarity].u_int, args[ARG_phase].u_int, args[ARG_bits].u_int,
args[ARG_firstbit].u_int);
// init the SPI bus
spi_init(self->pyb->spi, false);
return MP_OBJ_FROM_PTR(self);
}
STATIC void machine_hard_spi_init(mp_obj_base_t *self_in, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) {
machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in;
enum { ARG_baudrate, ARG_polarity, ARG_phase, ARG_bits, ARG_firstbit };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
{ MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1} },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
// set the SPI configuration values
spi_set_params(self->pyb->spi, 0xffffffff, args[ARG_baudrate].u_int,
args[ARG_polarity].u_int, args[ARG_phase].u_int, args[ARG_bits].u_int,
args[ARG_firstbit].u_int);
// re-init the SPI bus
spi_init(self->pyb->spi, false);
}
STATIC void machine_hard_spi_deinit(mp_obj_base_t *self_in) {
machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in;
spi_deinit(self->pyb->spi);
}
STATIC void machine_hard_spi_transfer(mp_obj_base_t *self_in, size_t len, const uint8_t *src, uint8_t *dest) {
machine_hard_spi_obj_t *self = (machine_hard_spi_obj_t*)self_in;
spi_transfer(self->pyb, len, src, dest, SPI_TRANSFER_TIMEOUT(len));
}
STATIC const mp_machine_spi_p_t machine_hard_spi_p = {
.init = machine_hard_spi_init,
.deinit = machine_hard_spi_deinit,
.transfer = machine_hard_spi_transfer,
};
const mp_obj_type_t machine_hard_spi_type = {
{ &mp_type_type },
.name = MP_QSTR_SPI,
.print = machine_hard_spi_print,
.make_new = mp_machine_spi_make_new, // delegate to master constructor
.protocol = &machine_hard_spi_p,
.locals_dict = (mp_obj_t)&mp_machine_spi_locals_dict,
};
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