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apache / nuttx / refs/heads/cmake / . / arch / xtensa / src / esp32 / esp32_spi.c
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/****************************************************************************
* arch/xtensa/src/esp32/esp32_spi.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#ifdef CONFIG_ESP32_SPI
#include <debug.h>
#include <sys/param.h>
#include <sys/types.h>
#include <inttypes.h>
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include <time.h>
#include <assert.h>
#include <nuttx/arch.h>
#include <nuttx/irq.h>
#include <nuttx/clock.h>
#include <nuttx/mutex.h>
#include <nuttx/semaphore.h>
#include <nuttx/kmalloc.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include "esp32_spi.h"
#include "esp32_gpio.h"
#include "esp32_irq.h"
#include "esp32_dma.h"
#include "xtensa.h"
#include "hardware/esp32_gpio_sigmap.h"
#include "hardware/esp32_dport.h"
#include "hardware/esp32_spi.h"
#include "hardware/esp32_soc.h"
#include "hardware/esp32_pinmap.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_ESP32_SPI2
# if defined(CONFIG_ESP32_SPI2_MASTER_IO_RW)
# define ESP32_SPI2_IO ESP32_SPI_IO_RW
# elif defined(CONFIG_ESP32_SPI2_MASTER_IO_RO)
# define ESP32_SPI2_IO ESP32_SPI_IO_R
# elif defined(CONFIG_ESP32_SPI2_MASTER_IO_WO)
# define ESP32_SPI2_IO ESP32_SPI_IO_W
# endif
#endif
#ifdef CONFIG_ESP32_SPI3
# if defined(CONFIG_ESP32_SPI3_MASTER_IO_RW)
# define ESP32_SPI3_IO ESP32_SPI_IO_RW
# elif defined(CONFIG_ESP32_SPI3_MASTER_IO_RO)
# define ESP32_SPI3_IO ESP32_SPI_IO_R
# elif defined(CONFIG_ESP32_SPI3_MASTER_IO_WO)
# define ESP32_SPI3_IO ESP32_SPI_IO_W
# endif
#endif
/* SPI DMA RX/TX description number */
#define SPI_DMADESC_NUM (CONFIG_SPI_DMADESC_NUM)
/* SPI DMA channel number */
#define SPI_DMA_CHANNEL_MAX (2)
/* SPI DMA reset before exchange */
#define SPI_DMA_RESET_MASK (SPI_AHBM_RST_M | SPI_AHBM_FIFO_RST_M | \
SPI_OUT_RST_M | SPI_IN_RST_M)
/* SPI Default speed (limited by clock divider) */
#define SPI_FREQ_DEFAULT (400000)
/* Helper for applying the mask for a given register field.
* Mask is determined by the macros suffixed with _V and _S from the
* peripheral register description.
*/
#define VALUE_MASK(_val, _field) ((_val & (_field##_V)) << (_field##_S))
/* SPI Maximum buffer size in bytes */
#define SPI_MAX_BUF_SIZE (64)
/****************************************************************************
* Private Types
****************************************************************************/
/* SPI Device hardware configuration */
struct esp32_spi_config_s
{
uint32_t id; /* SPI instance */
uint32_t clk_freq; /* SPI clock frequency */
enum spi_mode_e mode; /* SPI default mode */
uint8_t cs_pin; /* GPIO configuration for CS */
uint8_t mosi_pin; /* GPIO configuration for MOSI */
uint8_t miso_pin; /* GPIO configuration for MISO */
uint8_t clk_pin; /* GPIO configuration for CLK */
uint8_t periph; /* peripher ID */
uint8_t irq; /* Interrupt ID */
uint32_t clk_bit; /* Clock enable bit */
uint32_t rst_bit; /* SPI reset bit */
bool use_dma; /* Use DMA */
uint8_t dma_chan_s; /* DMA channel register shift */
uint8_t dma_chan; /* DMA channel */
uint32_t dma_clk_bit; /* DMA clock enable bit */
uint32_t dma_rst_bit; /* DMA reset bit */
uint32_t cs_insig; /* SPI CS input signal index */
uint32_t cs_outsig; /* SPI CS output signal index */
uint32_t mosi_insig; /* SPI MOSI input signal index */
uint32_t mosi_outsig; /* SPI MOSI output signal index */
uint32_t miso_insig; /* SPI MISO input signal index */
uint32_t miso_outsig; /* SPI MISO output signal index */
uint32_t clk_insig; /* SPI CLK input signal index */
uint32_t clk_outsig; /* SPI CLK output signal index */
uint32_t flags; /* SPI supports features */
};
struct esp32_spi_priv_s
{
/* Externally visible part of the SPI interface */
struct spi_dev_s spi_dev;
/* Port configuration */
const struct esp32_spi_config_s *config;
int refs; /* Reference count */
/* Held while chip is selected for mutual exclusion */
mutex_t lock;
/* Interrupt wait semaphore */
sem_t sem_isr;
int cpuint; /* SPI interrupt ID */
uint8_t cpu; /* CPU ID */
uint32_t frequency; /* Requested clock frequency */
uint32_t actual; /* Actual clock frequency */
enum spi_mode_e mode; /* Actual SPI hardware mode */
/* Actual SPI send/receive bits once transmission */
uint8_t nbits;
};
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int esp32_spi_lock(struct spi_dev_s *dev, bool lock);
#ifndef CONFIG_ESP32_SPI_UDCS
static void esp32_spi_select(struct spi_dev_s *dev,
uint32_t devid, bool selected);
#endif
static uint32_t esp32_spi_setfrequency(struct spi_dev_s *dev,
uint32_t frequency);
static void esp32_spi_setmode(struct spi_dev_s *dev,
enum spi_mode_e mode);
static void esp32_spi_setbits(struct spi_dev_s *dev, int nbits);
#ifdef CONFIG_SPI_HWFEATURES
static int esp32_spi_hwfeatures(struct spi_dev_s *dev,
spi_hwfeatures_t features);
#endif
static uint32_t esp32_spi_send(struct spi_dev_s *dev, uint32_t wd);
static void esp32_spi_exchange(struct spi_dev_s *dev,
const void *txbuffer,
void *rxbuffer, size_t nwords);
#ifndef CONFIG_SPI_EXCHANGE
static void esp32_spi_sndblock(struct spi_dev_s *dev,
const void *txbuffer,
size_t nwords);
static void esp32_spi_recvblock(struct spi_dev_s *dev,
void *rxbuffer,
size_t nwords);
#endif
#ifdef CONFIG_SPI_TRIGGER
static int esp32_spi_trigger(struct spi_dev_s *dev);
#endif
static void esp32_spi_init(struct spi_dev_s *dev);
static void esp32_spi_deinit(struct spi_dev_s *dev);
/****************************************************************************
* Private Data
****************************************************************************/
#ifdef CONFIG_ESP32_SPI2
static const struct esp32_spi_config_s esp32_spi2_config =
{
.id = 2,
.clk_freq = SPI_FREQ_DEFAULT,
.mode = SPIDEV_MODE0,
.cs_pin = CONFIG_ESP32_SPI2_CSPIN,
.mosi_pin = CONFIG_ESP32_SPI2_MOSIPIN,
.miso_pin = CONFIG_ESP32_SPI2_MISOPIN,
.clk_pin = CONFIG_ESP32_SPI2_CLKPIN,
.periph = ESP32_PERIPH_SPI2,
.irq = ESP32_IRQ_SPI2,
.clk_bit = DPORT_SPI_CLK_EN_2,
.rst_bit = DPORT_SPI_RST_2,
#ifdef CONFIG_ESP32_SPI2_DMA
.use_dma = true,
#else
.use_dma = false,
#endif
.dma_chan_s = 2,
.dma_chan = 1,
.dma_clk_bit = DPORT_SPI_DMA_CLK_EN,
.dma_rst_bit = DPORT_SPI_DMA_RST,
.cs_insig = HSPICS0_IN_IDX,
.cs_outsig = HSPICS0_OUT_IDX,
.mosi_insig = HSPID_IN_IDX,
.mosi_outsig = HSPID_OUT_IDX,
.miso_insig = HSPIQ_IN_IDX,
.miso_outsig = HSPIQ_OUT_IDX,
.clk_insig = HSPICLK_IN_IDX,
.clk_outsig = HSPICLK_OUT_IDX,
.flags = ESP32_SPI2_IO
};
static const struct spi_ops_s esp32_spi2_ops =
{
.lock = esp32_spi_lock,
#ifdef CONFIG_ESP32_SPI_UDCS
.select = esp32_spi2_select,
#else
.select = esp32_spi_select,
#endif
.setfrequency = esp32_spi_setfrequency,
.setmode = esp32_spi_setmode,
.setbits = esp32_spi_setbits,
#ifdef CONFIG_SPI_HWFEATURES
.hwfeatures = esp32_spi_hwfeatures,
#endif
.status = esp32_spi2_status,
#ifdef CONFIG_SPI_CMDDATA
.cmddata = esp32_spi2_cmddata,
#endif
.send = esp32_spi_send,
#ifdef CONFIG_SPI_EXCHANGE
.exchange = esp32_spi_exchange,
#else
.sndblock = esp32_spi_sndblock,
.recvblock = esp32_spi_recvblock,
#endif
#ifdef CONFIG_SPI_TRIGGER
.trigger = esp32_spi_trigger,
#endif
.registercallback = NULL,
};
static struct esp32_spi_priv_s esp32_spi2_priv =
{
.spi_dev =
{
.ops = &esp32_spi2_ops
},
.config = &esp32_spi2_config,
.lock = NXMUTEX_INITIALIZER,
.sem_isr = SEM_INITIALIZER(0),
};
#endif /* CONFIG_ESP32_SPI2 */
#ifdef CONFIG_ESP32_SPI3
static const struct esp32_spi_config_s esp32_spi3_config =
{
.id = 3,
.clk_freq = SPI_FREQ_DEFAULT,
.mode = SPIDEV_MODE0,
.cs_pin = CONFIG_ESP32_SPI3_CSPIN,
.mosi_pin = CONFIG_ESP32_SPI3_MOSIPIN,
.miso_pin = CONFIG_ESP32_SPI3_MISOPIN,
.clk_pin = CONFIG_ESP32_SPI3_CLKPIN,
.periph = ESP32_PERIPH_SPI3,
.irq = ESP32_IRQ_SPI3,
.clk_bit = DPORT_SPI_CLK_EN,
.rst_bit = DPORT_SPI_RST,
#ifdef CONFIG_ESP32_SPI3_DMA
.use_dma = true,
#else
.use_dma = false,
#endif
.dma_chan_s = 4,
.dma_chan = 2,
.dma_clk_bit = DPORT_SPI_DMA_CLK_EN,
.dma_rst_bit = DPORT_SPI_DMA_RST,
.cs_insig = VSPICS0_IN_IDX,
.cs_outsig = VSPICS0_OUT_IDX,
.mosi_insig = VSPID_IN_IDX,
.mosi_outsig = VSPID_OUT_IDX,
.miso_insig = VSPIQ_IN_IDX,
.miso_outsig = VSPIQ_OUT_IDX,
.clk_insig = VSPICLK_IN_IDX,
.clk_outsig = VSPICLK_OUT_MUX_IDX,
.flags = ESP32_SPI3_IO
};
static const struct spi_ops_s esp32_spi3_ops =
{
.lock = esp32_spi_lock,
#ifdef CONFIG_ESP32_SPI_UDCS
.select = esp32_spi3_select,
#else
.select = esp32_spi_select,
#endif
.setfrequency = esp32_spi_setfrequency,
.setmode = esp32_spi_setmode,
.setbits = esp32_spi_setbits,
#ifdef CONFIG_SPI_HWFEATURES
.hwfeatures = esp32_spi_hwfeatures,
#endif
.status = esp32_spi3_status,
#ifdef CONFIG_SPI_CMDDATA
.cmddata = esp32_spi3_cmddata,
#endif
.send = esp32_spi_send,
#ifdef CONFIG_SPI_EXCHANGE
.exchange = esp32_spi_exchange,
#else
.sndblock = esp32_spi_sndblock,
.recvblock = esp32_spi_recvblock,
#endif
#ifdef CONFIG_SPI_TRIGGER
.trigger = esp32_spi_trigger,
#endif
.registercallback = NULL,
};
static struct esp32_spi_priv_s esp32_spi3_priv =
{
.spi_dev =
{
.ops = &esp32_spi3_ops
},
.config = &esp32_spi3_config,
.lock = NXMUTEX_INITIALIZER,
.sem_isr = SEM_INITIALIZER(0),
};
#endif /* CONFIG_ESP32_SPI3 */
/* SPI DMA RX/TX description */
struct esp32_dmadesc_s s_dma_rxdesc[SPI_DMA_CHANNEL_MAX][SPI_DMADESC_NUM];
struct esp32_dmadesc_s s_dma_txdesc[SPI_DMA_CHANNEL_MAX][SPI_DMADESC_NUM];
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: esp32_spi_set_regbits
*
* Description:
* Set the bits of the SPI register
*
* Input Parameters:
* addr - Address of the register of interest
* bits - Bits to be set
*
* Returned Value:
* None
*
****************************************************************************/
static inline void esp32_spi_set_regbits(uint32_t addr, uint32_t bits)
{
uint32_t tmp = getreg32(addr);
putreg32(tmp | bits, addr);
}
/****************************************************************************
* Name: esp32_spi_reset_regbits
*
* Description:
* Clear the bits of the SPI register
*
* Input Parameters:
* addr - Address of the register of interest
* bits - Bits to be cleared
*
* Returned Value:
* None
*
****************************************************************************/
static inline void esp32_spi_reset_regbits(uint32_t addr, uint32_t bits)
{
uint32_t tmp = getreg32(addr);
putreg32(tmp & (~bits), addr);
}
/****************************************************************************
* Name: esp32_spi_iomux
*
* Description:
* Check if the option SPI GPIO pins can use IOMUX directly
*
* Input Parameters:
* priv - Private SPI device structure
*
* Returned Value:
* True if can use IOMUX or false if can't.
*
****************************************************************************/
static inline bool esp32_spi_iomux(struct esp32_spi_priv_s *priv)
{
bool mapped = false;
const struct esp32_spi_config_s *cfg = priv->config;
if (cfg->id == 2)
{
if ((!(cfg->flags & ESP32_SPI_IO_W) ||
cfg->mosi_pin == SPI2_IOMUX_MOSIPIN) &&
#ifndef CONFIG_ESP32_SPI_SWCS
cfg->cs_pin == SPI2_IOMUX_CSPIN &&
#endif
(!(cfg->flags & ESP32_SPI_IO_R) ||
cfg->miso_pin == SPI2_IOMUX_MISOPIN) &&
cfg->clk_pin == SPI2_IOMUX_CLKPIN)
{
mapped = true;
}
}
else if (cfg->id == 3)
{
if ((!(cfg->flags & ESP32_SPI_IO_W) ||
cfg->mosi_pin == SPI3_IOMUX_MOSIPIN) &&
#ifndef CONFIG_ESP32_SPI_SWCS
cfg->cs_pin == SPI3_IOMUX_CSPIN &&
#endif
(!(cfg->flags & ESP32_SPI_IO_R) ||
cfg->miso_pin == SPI3_IOMUX_MISOPIN) &&
cfg->clk_pin == SPI3_IOMUX_CLKPIN)
{
mapped = true;
}
}
return mapped;
}
/****************************************************************************
* Name: esp32_spi_lock
*
* Description:
* Lock or unlock the SPI device
*
* Input Parameters:
* priv - Private SPI device structure
* lock - true: Lock spi bus, false: unlock SPI bus
*
* Returned Value:
* The result of lock or unlock the SPI device
*
****************************************************************************/
static int esp32_spi_lock(struct spi_dev_s *dev, bool lock)
{
int ret;
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
if (lock)
{
ret = nxmutex_lock(&priv->lock);
}
else
{
ret = nxmutex_unlock(&priv->lock);
}
return ret;
}
/****************************************************************************
* Name: esp32_spi_sem_waitdone
*
* Description:
* Wait for a transfer to complete
*
****************************************************************************/
static int esp32_spi_sem_waitdone(struct esp32_spi_priv_s *priv)
{
return nxsem_tickwait_uninterruptible(&priv->sem_isr, SEC2TICK(10));
}
/****************************************************************************
* Name: esp32_spi_select
*
* Description:
* Enable/disable the SPI chip select. The implementation of this method
* must include handshaking: If a device is selected, it must hold off
* all other attempts to select the device until the device is deselected.
*
* If disable ESP32_SPI_SWCS, driver will use hardware CS so that when
* once transmission is started, hardware select the device and when this
* transmission is done, hardware deselect the device automatically. And
* the function will do nothing.
*
* Input Parameters:
* priv - Private SPI device structure
* devid - Identifies the device to select
* selected - true: slave selected, false: slave de-selected
*
* Returned Value:
* None
*
****************************************************************************/
#ifndef CONFIG_ESP32_SPI_UDCS
static void esp32_spi_select(struct spi_dev_s *dev,
uint32_t devid, bool selected)
{
#ifdef CONFIG_ESP32_SPI_SWCS
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
esp32_gpiowrite(priv->config->cs_pin, !selected);
#endif
spiinfo("devid: %08" PRIx32 " CS: %s\n",
devid, selected ? "select" : "free");
}
#endif
/****************************************************************************
* Name: esp32_spi_setfrequency
*
* Description:
* Set the SPI frequency.
*
* Input Parameters:
* dev - Device-specific state data
* frequency - The SPI frequency requested
*
* Returned Value:
* Returns the actual frequency selected
*
****************************************************************************/
static uint32_t esp32_spi_setfrequency(struct spi_dev_s *dev,
uint32_t frequency)
{
uint32_t reg_val;
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
const uint32_t duty_cycle = 128;
if (priv->frequency == frequency)
{
/* We are already at this frequency. Return the actual. */
return priv->actual;
}
if (frequency > ((APB_CLK_FREQ / 4) * 3))
{
reg_val = SPI_CLK_EQU_SYSCLK_M;
priv->actual = APB_CLK_FREQ;
}
else
{
int pre;
int n;
int h;
int l;
int bestn = -1;
int bestpre = -1;
int besterr = 0;
int errval;
for (n = 2; n <= 64; n++)
{
pre = ((APB_CLK_FREQ / n) + (frequency / 2)) / frequency;
if (pre <= 0)
{
pre = 1;
}
if (pre > 8192)
{
pre = 8192;
}
errval = abs(APB_CLK_FREQ / (pre * n) - frequency);
if (bestn == -1 || errval <= besterr)
{
besterr = errval;
bestn = n;
bestpre = pre;
}
}
n = bestn;
pre = bestpre;
l = n;
h = (duty_cycle * n + 127) / 256;
if (h <= 0)
{
h = 1;
}
reg_val = ((l - 1) << SPI_CLKCNT_L_S) |
((h - 1) << SPI_CLKCNT_H_S) |
((n - 1) << SPI_CLKCNT_N_S) |
((pre - 1) << SPI_CLKDIV_PRE_S);
priv->actual = APB_CLK_FREQ / (n * pre);
}
priv->frequency = frequency;
putreg32(reg_val, SPI_CLOCK_REG(priv->config->id));
spiinfo("frequency=%d, actual=%d\n", priv->frequency, priv->actual);
return priv->actual;
}
/****************************************************************************
* Name: esp32_spi_setmode
*
* Description:
* Set the SPI mode.
*
* Input Parameters:
* dev - Device-specific state data
* mode - The requested SPI mode
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_setmode(struct spi_dev_s *dev,
enum spi_mode_e mode)
{
uint32_t ck_idle_edge;
uint32_t ck_out_edge;
uint32_t delay_mode;
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
spiinfo("mode=%d\n", mode);
/* Has the mode changed? */
if (mode != priv->mode)
{
switch (mode)
{
case SPIDEV_MODE0: /* CPOL=0; CPHA=0 */
ck_idle_edge = 0;
ck_out_edge = 0;
delay_mode = 0;
break;
case SPIDEV_MODE1: /* CPOL=0; CPHA=1 */
ck_idle_edge = 0;
ck_out_edge = 1;
delay_mode = 2;
break;
case SPIDEV_MODE2: /* CPOL=1; CPHA=0 */
ck_idle_edge = 1;
ck_out_edge = 1;
delay_mode = 2;
break;
case SPIDEV_MODE3: /* CPOL=1; CPHA=1 */
ck_idle_edge = 1;
ck_out_edge = 0;
delay_mode = 0;
break;
default:
return;
}
const uint32_t id = priv->config->id;
esp32_spi_reset_regbits(SPI_PIN_REG(id), SPI_CK_IDLE_EDGE_M);
esp32_spi_set_regbits(SPI_PIN_REG(id),
VALUE_MASK(ck_idle_edge, SPI_CK_IDLE_EDGE));
esp32_spi_reset_regbits(SPI_USER_REG(id), SPI_CK_OUT_EDGE_M);
esp32_spi_set_regbits(SPI_USER_REG(id),
VALUE_MASK(ck_out_edge, SPI_CK_OUT_EDGE));
esp32_spi_reset_regbits(SPI_CTRL2_REG(id),
SPI_MISO_DELAY_MODE_M |
SPI_MISO_DELAY_NUM_M |
SPI_MOSI_DELAY_NUM_M |
SPI_MOSI_DELAY_MODE_M);
esp32_spi_set_regbits(SPI_CTRL2_REG(id),
VALUE_MASK(delay_mode, SPI_MISO_DELAY_MODE) |
VALUE_MASK(delay_mode, SPI_MOSI_DELAY_MODE));
priv->mode = mode;
}
}
/****************************************************************************
* Name: esp32_spi_setbits
*
* Description:
* Set the number of bits per word.
*
* Input Parameters:
* dev - Device-specific state data
* nbits - The number of bits in an SPI word.
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_setbits(struct spi_dev_s *dev, int nbits)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
spiinfo("nbits=%d\n", nbits);
priv->nbits = nbits;
}
/****************************************************************************
* Name: esp32_spi_hwfeatures
*
* Description:
* Set hardware-specific feature flags.
*
* Input Parameters:
* dev - Device-specific state data
* features - H/W feature flags
*
* Returned Value:
* Zero (OK) if the selected H/W features are enabled; A negated errno
* value if any H/W feature is not supportable.
*
****************************************************************************/
#ifdef CONFIG_SPI_HWFEATURES
static int esp32_spi_hwfeatures(struct spi_dev_s *dev,
spi_hwfeatures_t features)
{
/* Other H/W features are not supported */
return (features == 0) ? OK : -ENOSYS;
}
#endif
/****************************************************************************
* Name: esp32_spi_dma_exchange
*
* Description:
* Exchange a block of data from SPI by DMA.
*
* Input Parameters:
* priv - SPI private state data
* txbuffer - A pointer to the buffer of data to be sent
* rxbuffer - A pointer to the buffer in which to receive data
* nwords - the length of data that to be exchanged in units of words.
* The wordsize is determined by the number of bits-per-word
* selected for the SPI interface. If nbits <= 8, the data is
* packed into uint8_t's; if nbits >8, the data is packed into
* uint16_t's
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_dma_exchange(struct esp32_spi_priv_s *priv,
const void *txbuffer,
void *rxbuffer,
uint32_t nwords)
{
const uint32_t total = nwords * (priv->nbits / 8);
uint32_t bytes = total;
uint8_t *tp;
uint8_t *rp;
uint32_t n;
uint32_t regval;
struct esp32_dmadesc_s *dma_tx_desc;
struct esp32_dmadesc_s *dma_rx_desc;
#ifdef CONFIG_ESP32_SPIRAM
uint8_t *alloctp = NULL;
uint8_t *allocrp = NULL;
#endif
/* Define these constants outside transfer loop to avoid wasting CPU time
* with register offset calculation.
*/
const uint32_t id = priv->config->id;
const uint8_t dma_desc_idx = priv->config->dma_chan - 1;
const uintptr_t spi_dma_in_link_reg = SPI_DMA_IN_LINK_REG(id);
const uintptr_t spi_dma_out_link_reg = SPI_DMA_OUT_LINK_REG(id);
const uintptr_t spi_slave_reg = SPI_SLAVE_REG(id);
const uintptr_t spi_dma_conf_reg = SPI_DMA_CONF_REG(id);
const uintptr_t spi_mosi_dlen_reg = SPI_MOSI_DLEN_REG(id);
const uintptr_t spi_miso_dlen_reg = SPI_MISO_DLEN_REG(id);
const uintptr_t spi_user_reg = SPI_USER_REG(id);
const uintptr_t spi_cmd_reg = SPI_CMD_REG(id);
DEBUGASSERT((txbuffer != NULL) || (rxbuffer != NULL));
/* If the buffer comes from PSRAM, allocate a new one from DRAM */
#ifdef CONFIG_ESP32_SPIRAM
if (esp32_ptr_extram(txbuffer))
{
# ifdef CONFIG_MM_KERNEL_HEAP
alloctp = kmm_malloc(total);
# elif defined(CONFIG_XTENSA_IMEM_USE_SEPARATE_HEAP)
alloctp = xtensa_imm_malloc(total);
# endif
DEBUGASSERT(alloctp != NULL);
memcpy(alloctp, txbuffer, total);
tp = alloctp;
}
else
#endif
{
tp = (uint8_t *)txbuffer;
}
#ifdef CONFIG_ESP32_SPIRAM
if (esp32_ptr_extram(rxbuffer))
{
# ifdef CONFIG_MM_KERNEL_HEAP
allocrp = kmm_malloc(total);
# elif defined(CONFIG_XTENSA_IMEM_USE_SEPARATE_HEAP)
allocrp = xtensa_imm_malloc(total);
# endif
DEBUGASSERT(allocrp != NULL);
rp = allocrp;
}
else
#endif
{
rp = (uint8_t *)rxbuffer;
}
if (tp == NULL)
{
tp = rp;
}
dma_tx_desc = s_dma_txdesc[dma_desc_idx];
dma_rx_desc = s_dma_rxdesc[dma_desc_idx];
esp32_spi_reset_regbits(spi_slave_reg, SPI_TRANS_DONE_M);
esp32_spi_set_regbits(spi_slave_reg, SPI_INT_EN_M);
while (bytes != 0)
{
putreg32(0, spi_dma_in_link_reg);
putreg32(0, spi_dma_out_link_reg);
esp32_spi_set_regbits(spi_slave_reg, SPI_SYNC_RESET_M);
esp32_spi_reset_regbits(spi_slave_reg, SPI_SYNC_RESET_M);
esp32_spi_set_regbits(spi_dma_conf_reg, SPI_DMA_RESET_MASK);
esp32_spi_reset_regbits(spi_dma_conf_reg, SPI_DMA_RESET_MASK);
n = esp32_dma_init(dma_tx_desc, SPI_DMADESC_NUM, tp, bytes);
regval = VALUE_MASK((uintptr_t)dma_tx_desc, SPI_OUTLINK_ADDR);
regval |= SPI_OUTLINK_START_M;
putreg32(regval, spi_dma_out_link_reg);
putreg32((n * 8 - 1), spi_mosi_dlen_reg);
esp32_spi_set_regbits(spi_user_reg, SPI_USR_MOSI_M);
tp += n;
if (rp != NULL)
{
esp32_dma_init(dma_rx_desc, SPI_DMADESC_NUM, rp, bytes);
regval = VALUE_MASK((uintptr_t)dma_rx_desc, SPI_INLINK_ADDR);
regval |= SPI_INLINK_START_M;
putreg32(regval, spi_dma_in_link_reg);
putreg32((n * 8 - 1), spi_miso_dlen_reg);
esp32_spi_set_regbits(spi_user_reg, SPI_USR_MISO_M);
rp += n;
}
else
{
esp32_spi_reset_regbits(spi_user_reg, SPI_USR_MISO_M);
}
esp32_spi_set_regbits(spi_cmd_reg, SPI_USR_M);
esp32_spi_sem_waitdone(priv);
bytes -= n;
}
esp32_spi_reset_regbits(spi_slave_reg, SPI_INT_EN_M);
#ifdef CONFIG_ESP32_SPIRAM
if (allocrp)
{
memcpy(rxbuffer, allocrp, total);
# ifdef CONFIG_MM_KERNEL_HEAP
kmm_free(allocrp);
# elif defined(CONFIG_XTENSA_IMEM_USE_SEPARATE_HEAP)
xtensa_imm_free(allocrp);
# endif
}
#endif
#ifdef CONFIG_ESP32_SPIRAM
if (alloctp)
{
# ifdef CONFIG_MM_KERNEL_HEAP
kmm_free(alloctp);
# elif defined(CONFIG_XTENSA_IMEM_USE_SEPARATE_HEAP)
xtensa_imm_free(alloctp);
# endif
}
#endif
}
/****************************************************************************
* Name: esp32_spi_poll_send
*
* Description:
* Send one word on SPI by polling mode.
*
* Input Parameters:
* priv - SPI private state data
* wd - The word to send. The size of the data is determined by the
* number of bits selected for the SPI interface.
*
* Returned Value:
* Received value.
*
****************************************************************************/
static uint32_t esp32_spi_poll_send(struct esp32_spi_priv_s *priv,
uint32_t wd)
{
uint32_t val;
const uintptr_t spi_miso_dlen_reg = SPI_MISO_DLEN_REG(priv->config->id);
const uintptr_t spi_mosi_dlen_reg = SPI_MOSI_DLEN_REG(priv->config->id);
const uintptr_t spi_w0_reg = SPI_W0_REG(priv->config->id);
const uintptr_t spi_cmd_reg = SPI_CMD_REG(priv->config->id);
putreg32((priv->nbits - 1), spi_miso_dlen_reg);
putreg32((priv->nbits - 1), spi_mosi_dlen_reg);
putreg32(wd, spi_w0_reg);
esp32_spi_set_regbits(spi_cmd_reg, SPI_USR_M);
while ((getreg32(spi_cmd_reg) & SPI_USR_M) != 0)
{
;
}
val = getreg32(spi_w0_reg);
spiinfo("send=0x%" PRIx32 " and recv=0x%" PRIx32 "\n", wd, val);
return val;
}
/****************************************************************************
* Name: esp32_spi_send
*
* Description:
* Send one word on SPI.
*
* Input Parameters:
* dev - Device-specific state data
* wd - The word to send. The size of the data is determined by the
* number of bits selected for the SPI interface.
*
* Returned Value:
* Received value.
*
****************************************************************************/
static uint32_t esp32_spi_send(struct spi_dev_s *dev, uint32_t wd)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
return esp32_spi_poll_send(priv, wd);
}
/****************************************************************************
* Name: esp32_spi_poll_exchange
*
* Description:
* Exchange a block of data from SPI.
*
* Input Parameters:
* priv - SPI private state data
* txbuffer - A pointer to the buffer of data to be sent
* rxbuffer - A pointer to the buffer in which to receive data
* nwords - The length of data that to be exchanged in units of words.
* The wordsize is determined by the number of bits-per-word
* selected for the SPI interface. If nbits <= 8, the data is
* packed into uint8_t's; if nbits >8, the data is packed into
* uint16_t's
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_poll_exchange(struct esp32_spi_priv_s *priv,
const void *txbuffer,
void *rxbuffer,
size_t nwords)
{
const uintptr_t spi_user_reg = SPI_USER_REG(priv->config->id);
const uintptr_t spi_w0_reg = SPI_W0_REG(priv->config->id);
const uintptr_t spi_cmd_reg = SPI_CMD_REG(priv->config->id);
const uintptr_t spi_miso_dlen_reg = SPI_MISO_DLEN_REG(priv->config->id);
const uintptr_t spi_mosi_dlen_reg = SPI_MOSI_DLEN_REG(priv->config->id);
const uint32_t total_bytes = nwords * (priv->nbits / 8);
uintptr_t bytes_remaining = total_bytes;
uint8_t *tp = (uint8_t *)txbuffer;
uint8_t *rp = (uint8_t *)rxbuffer;
while (bytes_remaining != 0)
{
/* Initialize data_buf_reg with the address of the first data buffer
* register (W0).
*/
uintptr_t data_buf_reg = spi_w0_reg;
uint32_t transfer_size = MIN(SPI_MAX_BUF_SIZE, bytes_remaining);
/* Write data words to data buffer registers.
* SPI peripheral contains 16 registers (W0 - W15).
*/
for (int i = 0 ; i < transfer_size; i += sizeof(uint32_t))
{
uint32_t w_wd = UINT32_MAX;
if (tp != NULL)
{
memcpy(&w_wd, tp, sizeof(uint32_t));
tp += sizeof(uintptr_t);
}
putreg32(w_wd, data_buf_reg);
spiinfo("send=0x%" PRIx32 " data_reg=0x%" PRIx32 "\n",
w_wd, data_buf_reg);
/* Update data_buf_reg to point to the next data buffer register. */
data_buf_reg += sizeof(uintptr_t);
}
esp32_spi_set_regbits(spi_user_reg, SPI_USR_MOSI_M);
if (rp == NULL)
{
esp32_spi_reset_regbits(spi_user_reg, SPI_USR_MISO_M);
}
else
{
esp32_spi_set_regbits(spi_user_reg, SPI_USR_MISO_M);
}
putreg32((transfer_size * 8) - 1, spi_mosi_dlen_reg);
putreg32((transfer_size * 8) - 1, spi_miso_dlen_reg);
/* Trigger start of user-defined transaction for master. */
esp32_spi_set_regbits(spi_cmd_reg, SPI_USR_M);
/* Wait for the user-defined transaction to finish. */
while ((getreg32(spi_cmd_reg) & SPI_USR_M) != 0)
{
;
}
if (rp != NULL)
{
/* Set data_buf_reg with the address of the first data buffer
* register (W0).
*/
data_buf_reg = spi_w0_reg;
/* Read received data words from SPI data buffer registers. */
for (int i = 0 ; i < transfer_size; i += sizeof(uint32_t))
{
uint32_t r_wd = getreg32(data_buf_reg);
spiinfo("recv=0x%" PRIx32 " data_reg=0x%" PRIx32 "\n",
r_wd, data_buf_reg);
memcpy(rp, &r_wd, sizeof(uint32_t));
rp += sizeof(uintptr_t);
/* Update data_buf_reg to point to the next data buffer
* register.
*/
data_buf_reg += sizeof(uintptr_t);
}
}
bytes_remaining -= transfer_size;
}
}
/****************************************************************************
* Name: esp32_spi_exchange
*
* Description:
* Exchange a block of data from SPI.
*
* Input Parameters:
* dev - Device-specific state data
* txbuffer - A pointer to the buffer of data to be sent
* rxbuffer - A pointer to the buffer in which to receive data
* nwords - The length of data that to be exchanged in units of words.
* The wordsize is determined by the number of bits-per-word
* selected for the SPI interface. If nbits <= 8, the data is
* packed into uint8_t's; if nbits >8, the data is packed into
* uint16_t's
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_exchange(struct spi_dev_s *dev,
const void *txbuffer,
void *rxbuffer,
size_t nwords)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
#ifdef CONFIG_ESP32_SPI_DMATHRESHOLD
size_t thld = CONFIG_ESP32_SPI_DMATHRESHOLD;
#else
size_t thld = 0;
#endif
if (priv->config->use_dma && nwords > thld)
{
esp32_spi_dma_exchange(priv, txbuffer, rxbuffer, nwords);
}
else
{
esp32_spi_poll_exchange(priv, txbuffer, rxbuffer, nwords);
}
}
#ifndef CONFIG_SPI_EXCHANGE
/****************************************************************************
* Name: esp32_spi_sndblock
*
* Description:
* Send a block of data on SPI.
*
* Input Parameters:
* dev - Device-specific state data
* txbuffer - A pointer to the buffer of data to be sent
* nwords - The length of data to send from the buffer in number of
* words. The wordsize is determined by the number of
* bits-per-word selected for the SPI interface. If nbits <= 8,
* the data is packed into uint8_t's; if nbits >8, the data is
* packed into uint16_t's
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_sndblock(struct spi_dev_s *dev,
const void *txbuffer,
size_t nwords)
{
spiinfo("txbuffer=%p nwords=%d\n", txbuffer, nwords);
esp32_spi_exchange(dev, txbuffer, NULL, nwords);
}
/****************************************************************************
* Name: esp32_spi_recvblock
*
* Description:
* Receive a block of data from SPI.
*
* Input Parameters:
* dev - Device-specific state data
* rxbuffer - A pointer to the buffer in which to receive data
* nwords - The length of data that can be received in the buffer in
* number of words. The wordsize is determined by the number of
* bits-per-word selected for the SPI interface. If nbits <= 8,
* the data is packed into uint8_t's; if nbits >8, the data is
* packed into uint16_t's
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_recvblock(struct spi_dev_s *dev,
void *rxbuffer,
size_t nwords)
{
spiinfo("rxbuffer=%p nwords=%d\n", rxbuffer, nwords);
esp32_spi_exchange(dev, NULL, rxbuffer, nwords);
}
#endif
/****************************************************************************
* Name: esp32_spi_trigger
*
* Description:
* Trigger a previously configured DMA transfer.
*
* Input Parameters:
* dev - Device-specific state data
*
* Returned Value:
* OK - Trigger was fired
* -ENOSYS - Trigger not fired due to lack of DMA or low level support
* -EIO - Trigger not fired because not previously primed
*
****************************************************************************/
#ifdef CONFIG_SPI_TRIGGER
static int esp32_spi_trigger(struct spi_dev_s *dev)
{
return -ENOSYS;
}
#endif
/****************************************************************************
* Name: esp32_spi_init
*
* Description:
* Initialize ESP32 SPI hardware interface
*
* Input Parameters:
* dev - Device-specific state data
*
* Returned Value:
* None
*
****************************************************************************/
static void esp32_spi_init(struct spi_dev_s *dev)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
const struct esp32_spi_config_s *config = priv->config;
uint32_t regval;
esp32_gpiowrite(config->cs_pin, 1);
esp32_gpiowrite(config->clk_pin, 1);
if (config->flags & ESP32_SPI_IO_W)
{
esp32_gpiowrite(config->mosi_pin, 1);
}
if (config->flags & ESP32_SPI_IO_R)
{
esp32_gpiowrite(config->miso_pin, 1);
}
#ifdef CONFIG_ESP32_SPI_SWCS
esp32_configgpio(config->cs_pin, OUTPUT);
esp32_gpio_matrix_out(config->cs_pin, SIG_GPIO_OUT_IDX, 0, 0);
#endif
if (esp32_spi_iomux(priv))
{
#ifndef CONFIG_ESP32_SPI_SWCS
esp32_configgpio(config->cs_pin, OUTPUT_FUNCTION_2);
esp32_gpio_matrix_out(config->cs_pin, SIG_GPIO_OUT_IDX, 0, 0);
#endif
esp32_configgpio(config->clk_pin, OUTPUT_FUNCTION_2);
esp32_gpio_matrix_out(config->clk_pin, SIG_GPIO_OUT_IDX, 0, 0);
if (config->flags & ESP32_SPI_IO_W)
{
esp32_configgpio(config->mosi_pin, OUTPUT_FUNCTION_2);
esp32_gpio_matrix_out(config->mosi_pin, SIG_GPIO_OUT_IDX, 0, 0);
}
if (config->flags & ESP32_SPI_IO_R)
{
esp32_configgpio(config->miso_pin, INPUT_FUNCTION_2 | PULLUP);
esp32_gpio_matrix_out(config->miso_pin, SIG_GPIO_OUT_IDX, 0, 0);
}
}
else
{
#ifndef CONFIG_ESP32_SPI_SWCS
esp32_configgpio(config->cs_pin, OUTPUT_FUNCTION_3);
esp32_gpio_matrix_out(config->cs_pin, config->cs_outsig, 0, 0);
#endif
esp32_configgpio(config->clk_pin, OUTPUT_FUNCTION_3);
esp32_gpio_matrix_out(config->clk_pin, config->clk_outsig, 0, 0);
if (config->flags & ESP32_SPI_IO_W)
{
esp32_configgpio(config->mosi_pin, OUTPUT_FUNCTION_3);
esp32_gpio_matrix_out(config->mosi_pin, config->mosi_outsig, 0, 0);
}
if (config->flags & ESP32_SPI_IO_R)
{
esp32_configgpio(config->miso_pin, INPUT_FUNCTION_3 | PULLUP);
esp32_gpio_matrix_in(config->miso_pin, config->miso_insig, 0);
}
}
modifyreg32(DPORT_PERIP_CLK_EN_REG, 0, config->clk_bit);
modifyreg32(DPORT_PERIP_RST_EN_REG, config->rst_bit, 0);
regval = SPI_DOUTDIN_M | SPI_USR_MISO_M | SPI_USR_MOSI_M | SPI_CS_HOLD_M;
putreg32(regval, SPI_USER_REG(config->id));
putreg32(0, SPI_USER1_REG(config->id));
putreg32(0, SPI_SLAVE_REG(config->id));
putreg32(SPI_CS1_DIS_M | SPI_CS2_DIS_M, SPI_PIN_REG(config->id));
#ifdef CONFIG_ESP32_SPI_SWCS
esp32_spi_set_regbits(SPI_PIN_REG(config->id), SPI_CS0_DIS_M);
#endif
putreg32(0, SPI_CTRL_REG(config->id));
putreg32(VALUE_MASK(0, SPI_HOLD_TIME), SPI_CTRL2_REG(config->id));
if (config->use_dma)
{
modifyreg32(DPORT_PERIP_CLK_EN_REG, 0, config->dma_clk_bit);
modifyreg32(DPORT_PERIP_RST_EN_REG, config->dma_rst_bit, 0);
modifyreg32(DPORT_SPI_DMA_CHAN_SEL_REG, 0,
(config->dma_chan << config->dma_chan_s));
regval = SPI_OUT_DATA_BURST_EN_M |
SPI_INDSCR_BURST_EN_M |
SPI_OUTDSCR_BURST_EN_M;
putreg32(regval, SPI_DMA_CONF_REG(config->id));
}
esp32_spi_setfrequency(dev, config->clk_freq);
esp32_spi_setbits(dev, 8);
esp32_spi_setmode(dev, config->mode);
}
/****************************************************************************
* Name: esp32_spi_deinit
*
* Description:
* Deinitialize ESP32 SPI hardware interface
*
* Input Parameters:
* dev - Device-specific state data
*
* Returned Value:
* None.
*
****************************************************************************/
static void esp32_spi_deinit(struct spi_dev_s *dev)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
if (priv->config->use_dma)
{
modifyreg32(DPORT_PERIP_RST_EN_REG, 0, priv->config->dma_rst_bit);
modifyreg32(DPORT_PERIP_CLK_EN_REG, priv->config->dma_clk_bit, 0);
}
modifyreg32(DPORT_PERIP_RST_EN_REG, 0, priv->config->rst_bit);
modifyreg32(DPORT_PERIP_CLK_EN_REG, priv->config->clk_bit, 0);
priv->frequency = 0;
priv->actual = 0;
priv->mode = SPIDEV_MODE0;
priv->nbits = 0;
}
/****************************************************************************
* Name: esp32_spi_interrupt
*
* Description:
* Common SPI DMA interrupt handler.
*
* Input Parameters:
* irq - Number of the IRQ that generated the interrupt
* context - Interrupt register state save info
* arg - SPI controller private data
*
* Returned Value:
* Standard interrupt return value.
*
****************************************************************************/
static int esp32_spi_interrupt(int irq, void *context, void *arg)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)arg;
esp32_spi_reset_regbits(SPI_SLAVE_REG(priv->config->id), SPI_TRANS_DONE_M);
nxsem_post(&priv->sem_isr);
return 0;
}
/****************************************************************************
* Name: esp32_spibus_initialize
*
* Description:
* Initialize the selected SPI bus.
*
* Input Parameters:
* port - Port number (for hardware that has multiple SPI interfaces)
*
* Returned Value:
* Valid SPI device structure reference on success; NULL on failure.
*
****************************************************************************/
struct spi_dev_s *esp32_spibus_initialize(int port)
{
int ret;
struct spi_dev_s *spi_dev;
struct esp32_spi_priv_s *priv;
switch (port)
{
#ifdef CONFIG_ESP32_SPI2
case ESP32_SPI2:
priv = &esp32_spi2_priv;
break;
#endif
#ifdef CONFIG_ESP32_SPI3
case ESP32_SPI3:
priv = &esp32_spi3_priv;
break;
#endif
default:
return NULL;
}
spi_dev = (struct spi_dev_s *)priv;
nxmutex_lock(&priv->lock);
if (priv->refs != 0)
{
priv->refs++;
nxmutex_unlock(&priv->lock);
return spi_dev;
}
if (priv->config->use_dma)
{
/* Set up to receive peripheral interrupts on the current CPU */
priv->cpu = up_cpu_index();
priv->cpuint = esp32_setup_irq(priv->cpu, priv->config->periph,
1, ESP32_CPUINT_LEVEL);
if (priv->cpuint < 0)
{
nxmutex_unlock(&priv->lock);
return NULL;
}
ret = irq_attach(priv->config->irq, esp32_spi_interrupt, priv);
if (ret != OK)
{
esp32_teardown_irq(priv->cpu,
priv->config->periph,
priv->cpuint);
nxmutex_unlock(&priv->lock);
return NULL;
}
up_enable_irq(priv->config->irq);
}
esp32_spi_init(spi_dev);
priv->refs++;
nxmutex_unlock(&priv->lock);
return spi_dev;
}
/****************************************************************************
* Name: esp32_spibus_uninitialize
*
* Description:
* Uninitialize an SPI bus.
*
* Input Parameters:
* dev - Device-specific state data
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR).
*
****************************************************************************/
int esp32_spibus_uninitialize(struct spi_dev_s *dev)
{
struct esp32_spi_priv_s *priv = (struct esp32_spi_priv_s *)dev;
DEBUGASSERT(dev);
if (priv->refs == 0)
{
return ERROR;
}
nxmutex_lock(&priv->lock);
if (--priv->refs != 0)
{
nxmutex_unlock(&priv->lock);
return OK;
}
if (priv->config->use_dma)
{
up_disable_irq(priv->config->irq);
esp32_teardown_irq(priv->cpu,
priv->config->periph,
priv->cpuint);
}
esp32_spi_deinit(dev);
nxmutex_unlock(&priv->lock);
return OK;
}
#endif /* CONFIG_ESP32_SPI */