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BALibrary/src/DmaSpi.h

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#ifndef DMASPI_H
#define DMASPI_H
#include <Arduino.h>
#include <util/atomic.h>
#if(!defined(__arm__) && defined(TEENSYDUINO))
#error This library is for teensyduino 1.21 on Teensy 3.0, 3.1 and Teensy LC only.
#endif
#include <SPI.h>
#include "DMAChannel.h"
#include <core_pins.h>
//#include <core_cm7.h>
#include <arm_math.h>
//#define DEBUG_DMASPI 1
/** \brief Specifies the desired CS suppression
**/
enum TransferType
{
NORMAL, //*< The transfer will use CS at beginning and end **/
NO_START_CS, //*< Skip the CS activation at the start **/
NO_END_CS //*< SKip the CS deactivation at the end **/
};
/** \brief An abstract base class that provides an interface for chip select classes.
**/
class AbstractChipSelect
{
public:
/** \brief Called to select a chip. The implementing class can do other things as well.
**/
virtual void select(TransferType transferType = TransferType::NORMAL) = 0;
/** \brief Called to deselect a chip. The implementing class can do other things as well.
**/
virtual void deselect(TransferType transferType = TransferType::NORMAL) = 0;
/** \brief the virtual destructor needed to inherit from this class **/
virtual ~AbstractChipSelect() {}
};
/** \brief "do nothing" chip select class **/
class DummyChipSelect : public AbstractChipSelect
{
void select(TransferType transferType = TransferType::NORMAL) override {}
void deselect(TransferType transferType = TransferType::NORMAL) override {}
};
/** \brief "do nothing" chip select class that
* outputs a message through Serial when something happens
**/
class DebugChipSelect : public AbstractChipSelect
{
void select(TransferType transferType = TransferType::NORMAL) override { if (Serial) Serial.println("Debug CS: select()");}
void deselect(TransferType transferType = TransferType::NORMAL) override { if (Serial) Serial.println("Debug CS: deselect()");}
};
/** \brief An active low chip select class. This also configures the given pin.
* Warning: This class is hardcoded to manage a transaction on SPI (SPI0, that is).
* If you want to use SPI1: Use AbstractChipSelect1 (see below)
* If you want to use SPI2: Create AbstractChipSelect2 (adapt the implementation accordingly).
* Something more flexible is on the way.
**/
class ActiveLowChipSelect : public AbstractChipSelect
{
public:
/** Configures a chip select pin for OUTPUT mode,
* manages the chip selection and a corresponding SPI transaction
*
* The chip select pin is asserted \e after the SPI settings are applied
* and deasserted before the SPI transaction ends.
* \param pin the CS pin to use
* \param settings which SPI settings to apply when the chip is selected
**/
ActiveLowChipSelect(const unsigned int& pin, const SPISettings& settings)
: pin_(pin),
settings_(settings)
{
pinMode(pin, OUTPUT);
digitalWriteFast(pin, 1);
}
/** \brief begins an SPI transaction selects the chip (sets the pin to low) and
**/
void select(TransferType transferType = TransferType::NORMAL) override
{
SPI.beginTransaction(settings_);
if (transferType == TransferType::NO_START_CS) {
return;
}
digitalWriteFast(pin_, 0);
}
/** \brief deselects the chip (sets the pin to high) and ends the SPI transaction
**/
void deselect(TransferType transferType = TransferType::NORMAL) override
{
if (transferType == TransferType::NO_END_CS) {
} else {
digitalWriteFast(pin_, 1);
}
SPI.endTransaction();
}
private:
const unsigned int pin_;
const SPISettings settings_;
};
#if defined(__MK66FX1M0__) || (defined(__IMXRT1062__) && (defined(ARDUINO_TEENSY_MICROMOD) || defined(ARDUINO_TEENSY41)))
class ActiveLowChipSelect1 : public AbstractChipSelect
{
public:
/** Equivalent to AbstractChipSelect, but for SPI1.
**/
ActiveLowChipSelect1(const unsigned int& pin, const SPISettings& settings)
: pin_(pin),
settings_(settings)
{
pinMode(pin, OUTPUT);
digitalWriteFast(pin, 1);
}
/** \brief begins an SPI transaction selects the chip (sets the pin to low) and
**/
void select(TransferType transferType = TransferType::NORMAL) override
{
SPI1.beginTransaction(settings_);
if (transferType == TransferType::NO_START_CS) {
return;
}
digitalWriteFast(pin_, 0);
}
/** \brief deselects the chip (sets the pin to high) and ends the SPI transaction
**/
void deselect(TransferType transferType = TransferType::NORMAL) override
{
if (transferType == TransferType::NO_END_CS) {
} else {
digitalWriteFast(pin_, 1);
}
SPI1.endTransaction();
}
private:
const unsigned int pin_;
const SPISettings settings_;
};
#endif // defined(__MK66FX1M0__) || (defined(__IMXRT1062__) && defined(ARDUINO_TEENSY_MICROMOD))
#if defined(DEBUG_DMASPI)
#define DMASPI_PRINT(x) do { if (Serial) { Serial.printf x ; Serial.flush();} } while (0);
#else
#define DMASPI_PRINT(x) do {} while (0);
#endif
namespace DmaSpi
{
/** \brief describes an SPI transfer
*
* Transfers are kept in a queue (intrusive linked list) until they are processed by the DmaSpi driver.
*
**/
class Transfer
{
public:
/** \brief The Transfer's current state.
*
**/
enum State
{
idle, /**< The Transfer is idle, the DmaSpi has not seen it yet. **/
eDone, /**< The Transfer is done. **/
pending, /**< Queued, but not handled yet. **/
inProgress, /**< The DmaSpi driver is currently busy executing this Transfer. **/
error /**< An error occured. **/
};
/** \brief Creates a Transfer object.
* \param pSource pointer to the data source. If this is nullptr, the fill value is used instead.
* \param transferCount the number of SPI transfers to perform.
* \param pDest pointer to the data sink. If this is nullptr, data received from the slave will be discarded.
* \param fill if pSource is nullptr, this value is sent to the slave instead.
* \param cs pointer to a chip select object.
* If not nullptr, cs->select() is called when the Transfer is started and cs->deselect() is called when the Transfer is finished.
**/
Transfer(const uint8_t* pSource = nullptr,
const uint16_t& transferCount = 0,
volatile uint8_t* pDest = nullptr,
const uint8_t& fill = 0,
AbstractChipSelect* cs = nullptr,
TransferType transferType = TransferType::NORMAL,
uint8_t *pSourceIntermediate = nullptr,
volatile uint8_t *pDestIntermediate = nullptr
) : m_state(State::idle),
m_pSource(pSource),
m_transferCount(transferCount),
m_pDest(pDest),
m_fill(fill),
m_pNext(nullptr),
m_pSelect(cs),
m_transferType(transferType),
m_pSourceIntermediate(pSourceIntermediate),
m_pDestIntermediate(pDestIntermediate)
{
DMASPI_PRINT(("Transfer @ %p\n", this));
};
/** \brief Check if the Transfer is busy, i.e. may not be modified.
**/
bool busy() const {return ((m_state == State::pending) || (m_state == State::inProgress) || (m_state == State::error));}
/** \brief Check if the Transfer is done.
**/
bool done() const {return (m_state == State::eDone);}
// private:
volatile State m_state;
const uint8_t* m_pSource;
uint16_t m_transferCount;
volatile uint8_t* m_pDest;
uint8_t m_fill;
Transfer* m_pNext;
AbstractChipSelect* m_pSelect;
TransferType m_transferType;
uint8_t *m_pSourceIntermediate = nullptr;
volatile uint8_t *m_pDestIntermediate = nullptr;
volatile uint8_t *m_pDestOriginal = nullptr;
};
} // namespace DmaSpi
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
class AbstractDmaSpi
{
public:
using Transfer = DmaSpi::Transfer;
/** \brief arduino-style initialization.
*
* During initialization, two DMA channels are allocated. If that fails, this function returns false.
* If the channels could be allocated, those DMA channel fields that don't change during DMA SPI operation
* are initialized to the values they will have at runtime.
*
* \return true if initialization was successful; false otherwise.
* \see end()
**/
static bool begin()
{
if(init_count_ > 0)
{
return true; // this is not particularly bad, so we can return true
}
init_count_++;
DMASPI_PRINT(("DmaSpi::begin() : "));
// create DMA channels, might fail
if (!createDmaChannels())
{
DMASPI_PRINT(("could not create DMA channels\n"));
return false;
}
state_ = eStopped;
// tx: known destination (SPI), no interrupt, finish silently
begin_setup_txChannel();
if (txChannel_()->error())
{
destroyDmaChannels();
DMASPI_PRINT(("tx channel error\n"));
return false;
}
// rx: known source (SPI), interrupt on completion
begin_setup_rxChannel();
if (rxChannel_()->error())
{
destroyDmaChannels();
DMASPI_PRINT(("rx channel error\n"));
return false;
}
return true;
}
static void begin_setup_txChannel() {DMASPI_INSTANCE::begin_setup_txChannel_impl();}
static void begin_setup_rxChannel() {DMASPI_INSTANCE::begin_setup_rxChannel_impl();}
/** \brief Allow the DMA SPI to start handling Transfers. This must be called after begin().
* \see running()
* \see busy()
* \see stop()
* \see stopping()
* \see stopped()
**/
static void start()
{
DMASPI_PRINT(("DmaSpi::start() : state_ = "));
switch(state_)
{
case eStopped:
DMASPI_PRINT(("eStopped\n"));
state_ = eRunning;
beginPendingTransfer();
break;
case eRunning:
DMASPI_PRINT(("eRunning\n"));
break;
case eStopping:
DMASPI_PRINT(("eStopping\n"));
state_ = eRunning;
break;
default:
DMASPI_PRINT(("unknown\n"));
state_ = eError;
break;
}
}
/** \brief check if the DMA SPI is in running state.
* \return true if the DMA SPI is in running state, false otherwise.
* \see start()
* \see busy()
* \see stop()
* \see stopping()
* \see stopped()
**/
static bool running() {return state_ == eRunning;}
/** \brief register a Transfer to be handled by the DMA SPI.
* \return false if the Transfer had an invalid transfer count (zero or greater than 32767), true otherwise.
* \post the Transfer state is Transfer::State::pending, or Transfer::State::error if the transfer count was invalid.
**/
static bool registerTransfer(Transfer& transfer)
{
DMASPI_PRINT(("DmaSpi::registerTransfer(%p)\n", &transfer));
if ((transfer.busy())
|| (transfer.m_transferCount == 0) // no zero length transfers allowed
|| (transfer.m_transferCount >= 0x8000)) // max CITER/BITER count with ELINK = 0 is 0x7FFF, so reject
{
DMASPI_PRINT((" Transfer is busy or invalid, dropped\n"));
transfer.m_state = Transfer::State::error;
return false;
}
addTransferToQueue(transfer);
if ((state_ == eRunning) && (!busy()))
{
DMASPI_PRINT((" starting transfer\n"));
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
{
beginPendingTransfer();
}
}
return true;
}
/** \brief Check if the DMA SPI is busy, which means that it is currently handling a Transfer.
\return true if a Transfer is being handled.
* \see start()
* \see running()
* \see stop()
* \see stopping()
* \see stopped()
**/
static bool busy()
{
return (m_pCurrentTransfer != nullptr);
}
/** \brief Request the DMA SPI to stop handling Transfers.
*
* The stopping driver may finish a current Transfer, but it will then not start a new, pending one.
* \see start()
* \see running()
* \see busy()
* \see stopping()
* \see stopped()
**/
static void stop()
{
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
{
switch(state_)
{
case eStopped:
break;
case eRunning:
if (busy())
{
state_ = eStopping;
}
else
{
// this means that the DMA SPI simply has nothing to do
state_ = eStopped;
}
break;
case eStopping:
break;
default:
state_ = eError;
break;
}
}
}
/** \brief See if the DMA SPI is currently switching from running to stopped state
* \return true if the DMA SPI is switching from running to stopped state
* \see start()
* \see running()
* \see busy()
* \see stop()
* \see stopped()
**/
static bool stopping() { return (state_ == eStopping); }
/** \brief See if the DMA SPI is stopped
* \return true if the DMA SPI is in stopped state, i.e. not handling pending Transfers
* \see start()
* \see running()
* \see busy()
* \see stop()
* \see stopping()
**/
static bool stopped() { return (state_ == eStopped); }
/** \brief Shut down the DMA SPI
*
* Deallocates DMA channels and sets the internal state to error (this might not be an intelligent name for that)
* \see begin()
**/
static void end()
{
if (init_count_ == 0)
{
state_ = eError;
return;
}
if (init_count_ == 1)
{
init_count_--;
destroyDmaChannels();
state_ = eError;
return;
}
else
{
init_count_--;
return;
}
}
/** \brief get the last value that was read from a slave, but discarded because the Transfer didn't specify a sink
**/
static uint8_t devNull()
{
return m_devNull;
}
protected:
enum EState
{
eStopped,
eRunning,
eStopping,
eError
};
static void addTransferToQueue(Transfer& transfer)
{
transfer.m_state = Transfer::State::pending;
transfer.m_pNext = nullptr;
DMASPI_PRINT((" DmaSpi::addTransferToQueue() : queueing transfer\n"));
ATOMIC_BLOCK(ATOMIC_RESTORESTATE)
{
if (m_pNextTransfer == nullptr)
{
m_pNextTransfer = &transfer;
}
else
{
m_pLastTransfer->m_pNext = &transfer;
}
m_pLastTransfer = &transfer;
}
}
static void post_finishCurrentTransfer() {DMASPI_INSTANCE::post_finishCurrentTransfer_impl();}
// finishCurrentTransfer is called from rxISR_()
static void finishCurrentTransfer()
{
DMASPI_PRINT((" inside finishCurrentTransfer()\n"));
if (m_pCurrentTransfer->m_pSelect != nullptr)
{
m_pCurrentTransfer->m_pSelect->deselect(m_pCurrentTransfer->m_transferType);
}
else
{
m_Spi.endTransaction();
}
m_pCurrentTransfer->m_state = Transfer::State::eDone;
DMASPI_PRINT((" finishCurrentTransfer() @ %p\n", m_pCurrentTransfer));
m_pCurrentTransfer = nullptr;
post_finishCurrentTransfer();
}
static bool createDmaChannels()
{
if (txChannel_() == nullptr)
{
return false;
}
if (rxChannel_() == nullptr)
{
delete txChannel_();
return false;
}
return true;
}
static void destroyDmaChannels()
{
if (rxChannel_() != nullptr)
{
delete rxChannel_();
}
if (txChannel_() != nullptr)
{
delete txChannel_();
}
}
static DMAChannel* rxChannel_()
{
static DMAChannel* pChannel = new DMAChannel();
return pChannel;
}
static DMAChannel* txChannel_()
{
static DMAChannel* pChannel = new DMAChannel();
return pChannel;
}
static void rxIsr_()
{
DMASPI_PRINT(("DmaSpi::rxIsr_()\n"));
rxChannel_()->clearInterrupt();
// end current transfer: deselect and mark as done
// Check if intermediate buffer was used
if (m_pCurrentTransfer->m_pDestIntermediate) {
// copy when using an intermediate buffer
memcpy((void *)m_pCurrentTransfer->m_pDestOriginal, // DMA contents copied to original
(void *)m_pCurrentTransfer->m_pDest, // source is the actual DMA buffer
m_pCurrentTransfer->m_transferCount);
}
finishCurrentTransfer();
DMASPI_PRINT((" state = "));
switch(state_)
{
case eStopped: // this should not happen!
DMASPI_PRINT(("eStopped\n"));
state_ = eError;
break;
case eRunning:
DMASPI_PRINT(("eRunning\n"));
beginPendingTransfer();
break;
case eStopping:
DMASPI_PRINT(("eStopping\n"));
state_ = eStopped;
break;
case eError:
DMASPI_PRINT(("eError\n"));
break;
default:
DMASPI_PRINT(("eUnknown\n"));
state_ = eError;
break;
}
}
static void pre_cs() {DMASPI_INSTANCE::pre_cs_impl();}
static void post_cs() {DMASPI_INSTANCE::post_cs_impl();}
static void beginPendingTransfer()
{
if (m_pNextTransfer == nullptr)
{
DMASPI_PRINT(("DmaSpi::beginPendingTransfer: no pending transfer\n"));
return;
}
m_pCurrentTransfer = m_pNextTransfer;
DMASPI_PRINT(("DmaSpi::beginPendingTransfer: starting transfer @ %p\n", m_pCurrentTransfer));
m_pCurrentTransfer->m_state = Transfer::State::inProgress;
m_pNextTransfer = m_pNextTransfer->m_pNext;
if (m_pNextTransfer == nullptr)
{
DMASPI_PRINT((" this was the last in the queue\n"));
m_pLastTransfer = nullptr;
}
// configure Rx DMA
if (m_pCurrentTransfer->m_pDest != nullptr)
{
// real data sink
DMASPI_PRINT((" real sink\n"));
// Check for intermediate buffer
if (m_pCurrentTransfer->m_pDestIntermediate) {
// Modify the DMA so it will fill the intermediate buffer instead
// store the original buffer for memcpy in rx_isr()
m_pCurrentTransfer->m_pDestOriginal = m_pCurrentTransfer->m_pDest;
m_pCurrentTransfer->m_pDest = m_pCurrentTransfer->m_pDestIntermediate;
}
arm_dcache_flush_delete((void *)m_pCurrentTransfer->m_pDest, m_pCurrentTransfer->m_transferCount);
rxChannel_()->destinationBuffer(m_pCurrentTransfer->m_pDest,
m_pCurrentTransfer->m_transferCount);
}
else
{
// dummy data sink
DMASPI_PRINT((" dummy sink\n"));
rxChannel_()->destination(m_devNull);
rxChannel_()->transferCount(m_pCurrentTransfer->m_transferCount);
}
// configure Tx DMA
if (m_pCurrentTransfer->m_pSource != nullptr)
{
// real data source
if (m_pCurrentTransfer->m_pSourceIntermediate) {
// copy and use the intermediate buffer
memcpy((void*)m_pCurrentTransfer->m_pSourceIntermediate,
(void*)m_pCurrentTransfer->m_pSource,
m_pCurrentTransfer->m_transferCount
);
// DMA will now transfer from intermediate buffer
m_pCurrentTransfer->m_pSource = m_pCurrentTransfer->m_pSourceIntermediate;
}
DMASPI_PRINT((" real source\n"));
arm_dcache_flush_delete((void *)m_pCurrentTransfer->m_pSource, m_pCurrentTransfer->m_transferCount);
txChannel_()->sourceBuffer(m_pCurrentTransfer->m_pSource,
m_pCurrentTransfer->m_transferCount);
}
else
{
// dummy data source
DMASPI_PRINT((" dummy source\n"));
txChannel_()->source(m_pCurrentTransfer->m_fill);
txChannel_()->transferCount(m_pCurrentTransfer->m_transferCount);
}
DMASPI_PRINT(("calling pre_cs() "));
pre_cs();
// Select Chip
if (m_pCurrentTransfer->m_pSelect != nullptr)
{
m_pCurrentTransfer->m_pSelect->select(m_pCurrentTransfer->m_transferType);
}
else
{
m_Spi.beginTransaction(SPISettings());
}
DMASPI_PRINT(("calling post_cs() "));
post_cs();
}
static size_t init_count_;
static volatile EState state_;
static Transfer* volatile m_pCurrentTransfer;
static Transfer* volatile m_pNextTransfer;
static Transfer* volatile m_pLastTransfer;
static volatile uint8_t m_devNull;
//static SPICLASS& m_Spi;
};
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
size_t AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::init_count_ = 0;
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
volatile typename AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::EState AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::state_ = eError;
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
typename AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::Transfer* volatile AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::m_pNextTransfer = nullptr;
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
typename AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::Transfer* volatile AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::m_pCurrentTransfer = nullptr;
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
typename AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::Transfer* volatile AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::m_pLastTransfer = nullptr;
template<typename DMASPI_INSTANCE, typename SPICLASS, SPICLASS& m_Spi>
volatile uint8_t AbstractDmaSpi<DMASPI_INSTANCE, SPICLASS, m_Spi>::m_devNull = 0;
// void dump_dma(DMAChannel *dmabc)
// {
// if (Serial) {
// Serial.printf("%x %x:", (uint32_t)dmabc, (uint32_t)dmabc->TCD);
// Serial.printf("SA:%x SO:%d AT:%x NB:%x SL:%d DA:%x DO: %d CI:%x DL:%x CS:%x BI:%x\n", (uint32_t)dmabc->TCD->SADDR,
// dmabc->TCD->SOFF, dmabc->TCD->ATTR, dmabc->TCD->NBYTES, dmabc->TCD->SLAST, (uint32_t)dmabc->TCD->DADDR,
// dmabc->TCD->DOFF, dmabc->TCD->CITER, dmabc->TCD->DLASTSGA, dmabc->TCD->CSR, dmabc->TCD->BITER);
// Serial.flush();
// }
// }
#if defined(__IMXRT1062__) // T4.0
class DmaSpi0 : public AbstractDmaSpi<DmaSpi0, SPIClass, SPI>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)IMXRT_LPSPI4_S.TDR);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_LPSPI4_TX);
//txChannel_()->triggerAtTransfersOf(*rxChannel_);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)IMXRT_LPSPI4_S.RDR); // POPR is the receive fifo register for the SPI
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_LPSPI4_RX); // The DMA RX id for MT66 is 14
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
if (LPSPI4_SR & 0x1800) {
DMASPI_PRINT(("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!ERROR SR reg is %08X\n", LPSPI4_SR));
}
DMASPI_PRINT(("********************************************CHECK SR reg is %08X\n", LPSPI4_SR));
IMXRT_LPSPI4_S.TCR = (IMXRT_LPSPI4_S.TCR & ~(LPSPI_TCR_FRAMESZ(31))) | LPSPI_TCR_FRAMESZ(7);
IMXRT_LPSPI4_S.FCR = 0;
//IMXRT_LPSPI4_S.CR = LPSPI_CR_MEN | LPSPI_CR_RRF | LPSPI_CR_RTF;
IMXRT_LPSPI4_S.CR = LPSPI_CR_MEN; // I had to add the enable otherwise it wont' work
// Lets try to output the first byte to make sure that we are in 8 bit mode...
IMXRT_LPSPI4_S.DER = LPSPI_DER_TDDE | LPSPI_DER_RDDE; //enable DMA on both TX and RX
IMXRT_LPSPI4_S.SR = 0x3f00; // clear out all of the other status...
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
DMASPI_PRINT(("Done post_cs_impl()\n"));
}
static void post_finishCurrentTransfer_impl()
{
IMXRT_LPSPI4_S.FCR = LPSPI_FCR_TXWATER(15); // _spi_fcr_save; // restore the FSR status...
IMXRT_LPSPI4_S.DER = 0; // DMA no longer doing TX (or RX)
IMXRT_LPSPI4_S.CR = LPSPI_CR_MEN | LPSPI_CR_RRF | LPSPI_CR_RTF; // actually clear both...
IMXRT_LPSPI4_S.SR = 0x3f00; // clear out all of the other status...
}
private:
};
extern DmaSpi0 DMASPI0;
#if (defined(__IMXRT1062__) && (defined(ARDUINO_TEENSY_MICROMOD) || defined (ARDUINO_TEENSY41)))
// On T4.X, SPI1 is LPSPI3
class DmaSpi1 : public AbstractDmaSpi<DmaSpi1, SPIClass, SPI1>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)IMXRT_LPSPI3_S.TDR);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_LPSPI3_TX);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)IMXRT_LPSPI3_S.RDR); // POPR is the receive fifo register for the SPI
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_LPSPI3_RX); // The DMA RX id for MT66 is 14
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
if (LPSPI3_SR & 0x1800) {
DMASPI_PRINT(("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!ERROR SR reg is %08X\n\r", LPSPI3_SR));
}
DMASPI_PRINT(("********************************************CHECK SR reg is %08X\n\r", LPSPI3_SR));
IMXRT_LPSPI3_S.TCR = (IMXRT_LPSPI3_S.TCR & ~(LPSPI_TCR_FRAMESZ(31))) | LPSPI_TCR_FRAMESZ(7);
IMXRT_LPSPI3_S.FCR = 0;
IMXRT_LPSPI3_S.CR = LPSPI_CR_MEN; // I had to add the enable otherwise it wont' work
// Lets try to output the first byte to make sure that we are in 8 bit mode...
IMXRT_LPSPI3_S.DER = LPSPI_DER_TDDE | LPSPI_DER_RDDE; //enable DMA on both TX and RX
IMXRT_LPSPI3_S.SR = 0x3f00; // clear out all of the other status...
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
DMASPI_PRINT(("Done post_cs_impl()\n\r"));
}
static void post_finishCurrentTransfer_impl()
{
IMXRT_LPSPI3_S.FCR = LPSPI_FCR_TXWATER(15); // _spi_fcr_save; // restore the FSR status...
IMXRT_LPSPI3_S.DER = 0; // DMA no longer doing TX (or RX)
IMXRT_LPSPI3_S.CR = LPSPI_CR_MEN | LPSPI_CR_RRF | LPSPI_CR_RTF; // actually clear both...
IMXRT_LPSPI3_S.SR = 0x3f00; // clear out all of the other status...
}
private:
};
extern DmaSpi1 DMASPI1;
#endif // (defined(__IMXRT1062__) && defined(ARDUINO_TEENSY_MICROMOD))
#elif defined(KINETISK)
class DmaSpi0 : public AbstractDmaSpi<DmaSpi0, SPIClass, SPI>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)SPI0_PUSHR); // PUSHR is the transmit fifo register for the SPI
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI0_TX); // The DMA TX id for MT66 is 15
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)SPI0_POPR); // POPR is the receive fifo register for the SPI
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI0_RX); // The DMA RX id for MT66 is 14
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
SPI0_SR = 0xFF0F0000; // Clear various flags including Transfer complete, TXRX Status, End of Queue, Transmit FIFO underflow, Transmit FIFO Fill, Rx FIFO overflow, Rx fifo drain
// Request Select Enable Register
// RFDF_RE Rx fifo drain request enable, enables the RFDF flag in SPI0_SR
// RFDF_DIRS Rx fifo drain selects DMA request instead of interrupt request
// TFFF_RE Transmit Fifo fill request enable
// TFFF_DIRS Transmit fifo fill selct DMA instead of interrupt
SPI0_RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS | SPI_RSER_TFFF_RE | SPI_RSER_TFFF_DIRS;
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
}
static void post_finishCurrentTransfer_impl()
{
SPI0_RSER = 0; //DSPI DMA/Interrupt Request Select and Enable Register
SPI0_SR = 0xFF0F0000; // DSPI status register clear flags, same as above
}
private:
};
extern DmaSpi0 DMASPI0;
#if defined(__MK66FX1M0__)
class DmaSpi1 : public AbstractDmaSpi<DmaSpi1, SPIClass, SPI1>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)SPI1_PUSHR);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI1_TX);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)SPI1_POPR);
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI1_RX);
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
SPI1_SR = 0xFF0F0000;
SPI1_RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS | SPI_RSER_TFFF_RE | SPI_RSER_TFFF_DIRS;
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
}
static void post_finishCurrentTransfer_impl()
{
SPI1_RSER = 0;
SPI1_SR = 0xFF0F0000;
}
private:
};
/*
class DmaSpi2 : public AbstractDmaSpi<DmaSpi2, SPIClass, SPI2>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)SPI2_PUSHR);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI2_TX);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)SPI2_POPR);
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI2_RX);
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
SPI2_SR = 0xFF0F0000;
SPI2_RSER = SPI_RSER_RFDF_RE | SPI_RSER_RFDF_DIRS | SPI_RSER_TFFF_RE | SPI_RSER_TFFF_DIRS;
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
}
static void post_finishCurrentTransfer_impl()
{
SPI2_RSER = 0;
SPI2_SR = 0xFF0F0000;
}
private:
};
*/
extern DmaSpi1 DMASPI1;
//extern DmaSpi2 DMASPI2;
#endif // defined(__MK66FX1M0__)
#elif defined(KINETISL)
class DmaSpi0 : public AbstractDmaSpi<DmaSpi0, SPIClass, SPI>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)SPI0_DL);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI0_TX);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)SPI0_DL);
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI0_RX);
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
// disable SPI and enable SPI DMA requests
SPI0_C1 &= ~(SPI_C1_SPE);
SPI0_C2 |= SPI_C2_TXDMAE | SPI_C2_RXDMAE;
}
static void post_cs_impl()
{
rxChannel_()->enable();
txChannel_()->enable();
}
static void post_finishCurrentTransfer_impl()
{
SPI0_C2 = 0;
txChannel_()->clearComplete();
rxChannel_()->clearComplete();
}
private:
};
class DmaSpi1 : public AbstractDmaSpi<DmaSpi1, SPIClass, SPI1>
{
public:
static void begin_setup_txChannel_impl()
{
txChannel_()->disable();
txChannel_()->destination((volatile uint8_t&)SPI1_DL);
txChannel_()->disableOnCompletion();
txChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI1_TX);
}
static void begin_setup_rxChannel_impl()
{
rxChannel_()->disable();
rxChannel_()->source((volatile uint8_t&)SPI1_DL);
rxChannel_()->disableOnCompletion();
rxChannel_()->triggerAtHardwareEvent(DMAMUX_SOURCE_SPI1_RX);
rxChannel_()->attachInterrupt(rxIsr_);
rxChannel_()->interruptAtCompletion();
}
static void pre_cs_impl()
{
// disable SPI and enable SPI DMA requests
SPI1_C1 &= ~(SPI_C1_SPE);
SPI1_C2 |= SPI_C2_TXDMAE | SPI_C2_RXDMAE;
}
// static void dumpCFG(const char *sz, uint32_t* p)
// {
// DMASPI_PRINT(("%s: %x %x %x %x \n", sz, p[0], p[1], p[2], p[3]));
// }
static void post_cs_impl()
{
DMASPI_PRINT(("post_cs S C1 C2: %x %x %x\n", SPI1_S, SPI1_C1, SPI1_C2));
// dumpCFG("RX", (uint32_t*)(void*)rxChannel_()->CFG);
// dumpCFG("TX", (uint32_t*)(void*)txChannel_()->CFG);
rxChannel_()->enable();
txChannel_()->enable();
}
static void post_finishCurrentTransfer_impl()
{
SPI1_C2 = 0;
txChannel_()->clearComplete();
rxChannel_()->clearComplete();
}
private:
};
extern DmaSpi0 DMASPI0;
extern DmaSpi1 DMASPI1;
#else
#error Unknown chip
#endif // KINETISK else KINETISL
class DmaSpiGeneric
{
public:
using Transfer = DmaSpi::Transfer;
DmaSpiGeneric() {
m_spiDma0 = &DMASPI0;
#if defined(__MK66FX1M0__)
m_spiDma1 = &DMASPI1;
#endif
}
DmaSpiGeneric(int spiId) : DmaSpiGeneric() {
m_spiSelect = spiId;
}
bool begin () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->begin();
default :
return m_spiDma0->begin();
}
}
void start () {
switch(m_spiSelect) {
case 1 : m_spiDma1->start(); return;
default :
m_spiDma0->start(); return;
}
}
bool running () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->running();
default :
return m_spiDma0->running();
}
}
bool registerTransfer (Transfer& transfer) {
switch(m_spiSelect) {
case 1 : return m_spiDma1->registerTransfer(transfer);
default :
return m_spiDma0->registerTransfer(transfer);
}
}
bool busy () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->busy();
default :
return m_spiDma0->busy();
}
}
void stop () {
switch(m_spiSelect) {
case 1 : m_spiDma1->stop(); return;
default :
m_spiDma0->stop(); return;
}
}
bool stopping () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->stopping();
default :
return m_spiDma0->stopping();
}
}
bool stopped () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->stopped();
default :
return m_spiDma0->stopped();
}
}
void end () {
switch(m_spiSelect) {
case 1 : m_spiDma1->end(); return;
default :
m_spiDma0->end(); return;
}
}
uint8_t devNull () {
switch(m_spiSelect) {
case 1 : return m_spiDma1->devNull();
default :
return m_spiDma0->devNull();
}
}
private:
int m_spiSelect = 0;
DmaSpi0 *m_spiDma0 = nullptr;
#if defined(__MK66FX1M0__)
DmaSpi1 *m_spiDma1 = nullptr;
#else
// just make it Spi0 so it compiles atleast
DmaSpi0 *m_spiDma1 = nullptr;
#endif
};
#endif // DMASPI_H