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spi_master Kinetis support #13098

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Jun 8, 2021
Merged

spi_master Kinetis support #13098

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15bc7a8
`spi_master` Kinetis support
fauxpark Jun 3, 2021
e22c6ed
Kinetis SPIConfig has no circular field and just one LLD extension
fauxpark Jun 3, 2021
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70 changes: 62 additions & 8 deletions drivers/chibios/spi_master.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,24 +18,29 @@

#include "timer.h"

static pin_t currentSlavePin = NO_PIN;
static SPIConfig spiConfig = {false, NULL, 0, 0, 0, 0};
static pin_t currentSlavePin = NO_PIN;

#if defined(K20x) || defined(KL2x)
static SPIConfig spiConfig = {NULL, 0, 0, 0};
#else
static SPIConfig spiConfig = {false, NULL, 0, 0, 0, 0};
#endif

__attribute__((weak)) void spi_init(void) {
static bool is_initialised = false;
if (!is_initialised) {
is_initialised = true;

// Try releasing special pins for a short time
palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_INPUT);
palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_INPUT);
palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_INPUT);
setPinInput(SPI_SCK_PIN);
setPinInput(SPI_MOSI_PIN);
setPinInput(SPI_MISO_PIN);

chThdSleepMilliseconds(10);
#if defined(USE_GPIOV1)
palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), PAL_MODE_STM32_ALTERNATE_PUSHPULL);
palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), SPI_SCK_PAL_MODE);
palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), SPI_MOSI_PAL_MODE);
palSetPadMode(PAL_PORT(SPI_MISO_PIN), PAL_PAD(SPI_MISO_PIN), SPI_MISO_PAL_MODE);
#else
palSetPadMode(PAL_PORT(SPI_SCK_PIN), PAL_PAD(SPI_SCK_PIN), PAL_MODE_ALTERNATE(SPI_SCK_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(PAL_PORT(SPI_MOSI_PIN), PAL_PAD(SPI_MOSI_PIN), PAL_MODE_ALTERNATE(SPI_MOSI_PAL_MODE) | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
Expand All @@ -58,6 +63,54 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {
return false;
}

#if defined(K20x) || defined(KL2x)
spiConfig.tar0 = SPIx_CTARn_FMSZ(7) | SPIx_CTARn_ASC(1);

if (lsbFirst) {
spiConfig.tar0 |= SPIx_CTARn_LSBFE;
}

switch (mode) {
case 0:
break;
case 1:
spiConfig.tar0 |= SPIx_CTARn_CPHA;
break;
case 2:
spiConfig.tar0 |= SPIx_CTARn_CPOL;
break;
case 3:
spiConfig.tar0 |= SPIx_CTARn_CPHA | SPIx_CTARn_CPOL;
break;
}

switch (roundedDivisor) {
case 2:
spiConfig.tar0 |= SPIx_CTARn_BR(0);
break;
case 4:
spiConfig.tar0 |= SPIx_CTARn_BR(1);
break;
case 8:
spiConfig.tar0 |= SPIx_CTARn_BR(3);
break;
case 16:
spiConfig.tar0 |= SPIx_CTARn_BR(4);
break;
case 32:
spiConfig.tar0 |= SPIx_CTARn_BR(5);
break;
case 64:
spiConfig.tar0 |= SPIx_CTARn_BR(6);
break;
case 128:
spiConfig.tar0 |= SPIx_CTARn_BR(7);
break;
case 256:
spiConfig.tar0 |= SPIx_CTARn_BR(8);
break;
}
#else
spiConfig.cr1 = 0;

if (lsbFirst) {
Expand Down Expand Up @@ -103,6 +156,7 @@ bool spi_start(pin_t slavePin, bool lsbFirst, uint8_t mode, uint16_t divisor) {
spiConfig.cr1 |= SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0;
break;
}
#endif

currentSlavePin = slavePin;
spiConfig.ssport = PAL_PORT(slavePin);
Expand Down
19 changes: 16 additions & 3 deletions drivers/chibios/spi_master.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <stdbool.h>

#include "gpio.h"
#include "chibios_config.h"

#ifndef SPI_DRIVER
# define SPI_DRIVER SPID2
Expand All @@ -31,23 +32,35 @@
#endif

#ifndef SPI_SCK_PAL_MODE
# define SPI_SCK_PAL_MODE 5
# if defined(USE_GPIOV1)
# define SPI_SCK_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
# else
# define SPI_SCK_PAL_MODE 5
# endif
#endif

#ifndef SPI_MOSI_PIN
# define SPI_MOSI_PIN B15
#endif

#ifndef SPI_MOSI_PAL_MODE
# define SPI_MOSI_PAL_MODE 5
# if defined(USE_GPIOV1)
# define SPI_MOSI_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
# else
# define SPI_MOSI_PAL_MODE 5
# endif
#endif

#ifndef SPI_MISO_PIN
# define SPI_MISO_PIN B14
#endif

#ifndef SPI_MISO_PAL_MODE
# define SPI_MISO_PAL_MODE 5
# if defined(USE_GPIOV1)
# define SPI_MISO_PAL_MODE PAL_MODE_STM32_ALTERNATE_PUSHPULL
# else
# define SPI_MISO_PAL_MODE 5
# endif
#endif

typedef int16_t spi_status_t;
Expand Down