src/main/drivers/bus_busdev_spi.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdbool.h>
  19 #include <stdint.h>
  20 #include <string.h>
  21
  22 #include <platform.h>
  23 #include <build/debug.h>
  24
  25 #if defined(USE_SPI)
  26
  27 #include "drivers/io.h"
  28 #include "drivers/bus.h"
  29 #include "drivers/bus_spi.h"
  30 #include "drivers/time.h"
  31
  32 void spiChipSelectSetupDelay(void)
  33 {
  34     // CS->CLK delay, MPU6000 - 8ns
  35     delayNanos(8);
  36 }
  37
  38 void spiChipSelectHoldTime(void)
  39 {
  40     // CLK->CS delay, MPU6000 - 500ns
  41     delayNanos(500);
  42 }
  43
  44 bool spiBusInitHost(const busDevice_t * dev)
  45 {
  46     const bool spiLeadingEdge = (dev->flags & DEVFLAGS_SPI_MODE_0);
  47     return spiInitDevice(dev->busdev.spi.spiBus, spiLeadingEdge);
  48 }
  49
  50 void spiBusSelectDevice(const busDevice_t * dev)
  51 {
  52     IOLo(dev->busdev.spi.csnPin);
  53     spiChipSelectSetupDelay();
  54 }
  55
  56 void spiBusDeselectDevice(const busDevice_t * dev)
  57 {
  58     spiChipSelectHoldTime();
  59     IOHi(dev->busdev.spi.csnPin);
  60 }
  61
  62 void spiBusSetSpeed(const busDevice_t * dev, busSpeed_e speed)
  63 {
  64     const SPIClockSpeed_e spiClock[] = { SPI_CLOCK_INITIALIZATON, SPI_CLOCK_SLOW, SPI_CLOCK_STANDARD, SPI_CLOCK_FAST, SPI_CLOCK_ULTRAFAST };
  65
  66 #if defined(AT32F43x)
  67     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
  68 #else
  69     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
  70 #endif
  71
  72 #ifdef BUS_SPI_SPEED_MAX
  73     if (speed > BUS_SPI_SPEED_MAX)
  74         speed = BUS_SPI_SPEED_MAX;
  75 #endif
  76
  77     spiSetSpeed(instance, spiClock[speed]);
  78 }
  79
  80
  81 bool spiBusTransfer(const busDevice_t * dev, uint8_t * rxBuf, const uint8_t * txBuf, int length)
  82 {
  83 #if defined(AT32F43x)
  84     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
  85 #else
  86     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
  87 #endif
  88
  89     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
  90         spiBusSelectDevice(dev);
  91     }
  92
  93     spiTransfer(instance, rxBuf, txBuf, length);
  94
  95     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
  96         spiBusDeselectDevice(dev);
  97     }
  98
  99     return true;
 100 }
 101
 102 bool spiBusTransferMultiple(const busDevice_t * dev, busTransferDescriptor_t * dsc, int count)
 103 {
 104 #if defined(AT32F43x)
 105     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 106 #else
 107     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 108 #endif
 109
 110     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 111         spiBusSelectDevice(dev);
 112     }
 113
 114     for (int n = 0; n < count; n++) {
 115         spiTransfer(instance, dsc[n].rxBuf, dsc[n].txBuf, dsc[n].length);
 116     }
 117
 118     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 119         spiBusDeselectDevice(dev);
 120     }
 121
 122     return true;
 123 }
 124
 125 bool spiBusWriteRegister(const busDevice_t * dev, uint8_t reg, uint8_t data)
 126 {
 127 #if defined(AT32F43x)
 128     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 129 #else
 130     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 131 #endif
 132
 133     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 134         spiBusSelectDevice(dev);
 135     }
 136
 137     spiTransferByte(instance, reg);
 138     spiTransferByte(instance, data);
 139
 140     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 141         spiBusDeselectDevice(dev);
 142     }
 143
 144     return true;
 145 }
 146
 147 bool spiBusWriteBuffer(const busDevice_t * dev, uint8_t reg, const uint8_t * data, uint8_t length)
 148 {
 149 #if defined(AT32F43x)
 150     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 151 #else
 152     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 153 #endif
 154
 155     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 156         spiBusSelectDevice(dev);
 157     }
 158
 159     spiTransferByte(instance, reg);
 160     spiTransfer(instance, NULL, data, length);
 161
 162     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 163         spiBusDeselectDevice(dev);
 164     }
 165
 166     return true;
 167 }
 168
 169 bool spiBusReadBuffer(const busDevice_t * dev, uint8_t reg, uint8_t * data, uint8_t length)
 170 {
 171 #if defined(AT32F43x)
 172     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 173 #else
 174     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 175 #endif
 176
 177     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 178         spiBusSelectDevice(dev);
 179     }
 180
 181     spiTransferByte(instance, reg);
 182     spiTransfer(instance, data, NULL, length);
 183
 184     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 185         spiBusDeselectDevice(dev);
 186     }
 187
 188     return true;
 189 }
 190
 191 bool spiBusReadRegister(const busDevice_t * dev, uint8_t reg, uint8_t * data)
 192 {
 193 #if defined(AT32F43x)
 194     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 195 #else
 196     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 197 #endif
 198
 199     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 200         spiBusSelectDevice(dev);
 201     }
 202
 203     spiTransferByte(instance, reg);
 204     spiTransfer(instance, data, NULL, 1);
 205
 206     if (!(dev->flags & DEVFLAGS_USE_MANUAL_DEVICE_SELECT)) {
 207         spiBusDeselectDevice(dev);
 208     }
 209
 210     return true;
 211 }
 212
 213 bool spiBusIsBusy(const busDevice_t * dev)
 214 {
 215 #if defined(AT32F43x)
 216     spi_type * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 217 #else
 218     SPI_TypeDef * instance = spiInstanceByDevice(dev->busdev.spi.spiBus);
 219 #endif
 220     return spiIsBusBusy(instance);
 221 }
 222 #endif