Siddharth Purohit
4 years ago
committed by
Andrew Tridgell
15 changed files with 424 additions and 23 deletions
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/*
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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* Code by
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* Andy Piper |
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* Siddharth Bharat Purohit, Cubepilot Pty. Ltd. |
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*/ |
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#include "QSPIDevice.h" |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_Math/AP_Math.h> |
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#include <AP_HAL/utility/OwnPtr.h> |
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#include <AP_InternalError/AP_InternalError.h> |
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#include "Util.h" |
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#include "Scheduler.h" |
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#include "Semaphores.h" |
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#include <stdio.h> |
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#include "hwdef/common/stm32_util.h" |
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#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST) |
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using namespace ChibiOS; |
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extern const AP_HAL::HAL& hal; |
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static const struct QSPIDriverInfo { |
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WSPIDriver *driver; |
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uint8_t busid; // used for device IDs in parameters
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} qspi_devices[] = { HAL_QSPI_BUS_LIST }; |
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#define QSPIDEV_MODE1 0 |
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#define QSPIDEV_MODE3 STM32_DCR_CK_MODE |
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// device list comes from hwdef.dat
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QSPIDesc QSPIDeviceManager::device_table[] = { HAL_QSPI_DEVICE_LIST }; |
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// Check clock sanity during runtime
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#define XSTR(x) STR(x) |
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#define STR(x) #x |
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#if (STM32_QSPICLK % HAL_QSPI1_CLK) |
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#error "QSPI Clock" STR(STM32_QSPICLK) " needs to be divisible by selected clock" STR(HAL_QSPI1_CLK) |
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#endif |
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#if defined(STM32_WSPI_USE_QUADSPI2) && STM32_WSPI_USE_QUADSPI2 |
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#if (STM32_QSPICLK % HAL_QSPI2_CLK) |
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#error "QSPI Clock" STR(STM32_QSPICLK) " needs to be divisible by selected clock" STR(HAL_QSPI2_CLK) |
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#endif |
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#endif |
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bool QSPIDevice::transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len) |
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{ |
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if (!acquire_bus(true)) { |
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return false; |
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} |
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if (!bus.bouncebuffer_setup(send, send_len, recv, recv_len)) { |
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acquire_bus(false); |
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return false; |
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} |
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wspi_command_t mode; |
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bool ret = true; |
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mode.cmd = _cmd_hdr.cmd; |
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mode.cfg = _cmd_hdr.cfg; |
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mode.addr = _cmd_hdr.addr; |
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mode.alt = _cmd_hdr.alt; |
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mode.dummy = _cmd_hdr.dummy; |
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if (send_len == 0 && recv_len == 0) { |
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// This is just a command
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ret = wspiCommand(qspi_devices[device_desc.bus].driver, &mode); |
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} else if (send_len > 0 && recv == 0) { |
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// This is a send cmd
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ret = wspiSend(qspi_devices[device_desc.bus].driver, &mode, send_len, send); |
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} else if (send_len == 0 && recv_len >= 1) { |
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// This is a receive cmd,
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// we only consume first byte of send
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ret = wspiReceive(qspi_devices[device_desc.bus].driver, &mode, recv_len, recv); |
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} else { |
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// Can't handle this transaction type
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ret = false; |
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} |
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bus.bouncebuffer_finish(send, recv, recv_len); |
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acquire_bus(false); |
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return ret; |
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} |
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void QSPIDevice::set_cmd_header(const CommandHeader& cmd_hdr) |
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{ |
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_cmd_hdr = cmd_hdr; |
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} |
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bool QSPIDevice::acquire_bus(bool acquire) |
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{ |
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if (!bus.semaphore.check_owner()) { |
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return false; |
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} |
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if (acquire) { |
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wspiAcquireBus(qspi_devices[device_desc.bus].driver); |
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if (qspi_devices[device_desc.bus].driver->config != &bus.wspicfg) { |
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// Initialise and Start WSPI driver
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bus.wspicfg.end_cb = nullptr; |
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bus.wspicfg.error_cb = nullptr; |
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bus.wspicfg.dcr = STM32_DCR_FSIZE(device_desc.size_pow2) | |
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STM32_DCR_CSHT(device_desc.ncs_clk_delay - 1) | |
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device_desc.mode; |
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wspiStart(qspi_devices[device_desc.bus].driver, &bus.wspicfg); |
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} |
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} else { |
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wspiReleaseBus(qspi_devices[device_desc.bus].driver); |
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} |
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return true; |
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} |
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/*
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return a SPIDevice given a string device name |
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*/ |
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AP_HAL::OwnPtr<AP_HAL::QSPIDevice> |
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QSPIDeviceManager::get_device(const char *name) |
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{ |
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/* Find the bus description in the table */ |
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uint8_t i; |
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for (i = 0; i<ARRAY_SIZE(device_table); i++) { |
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if (strcmp(device_table[i].name, name) == 0) { |
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break; |
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} |
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} |
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if (i == ARRAY_SIZE(device_table)) { |
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return AP_HAL::OwnPtr<AP_HAL::QSPIDevice>(nullptr); |
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} |
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QSPIDesc &desc = device_table[i]; |
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// find the bus
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QSPIBus *busp; |
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for (busp = buses; busp; busp = (QSPIBus *)busp->next) { |
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if (busp->bus == desc.bus) { |
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break; |
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} |
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} |
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if (busp == nullptr) { |
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// create a new one
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busp = new QSPIBus(desc.bus); |
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if (busp == nullptr) { |
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return nullptr; |
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} |
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busp->next = buses; |
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busp->bus = desc.bus; |
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buses = busp; |
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} |
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return AP_HAL::OwnPtr<AP_HAL::QSPIDevice>(new QSPIDevice(*busp, desc)); |
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} |
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#endif // #if HAL_USE_QSPI == TRUE && defined(HAL_QPI_DEVICE_LIST)
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@ -0,0 +1,132 @@
@@ -0,0 +1,132 @@
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/*
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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* |
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* Code by
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* Andy Piper |
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* Siddharth Bharat Purohit, Cubepilot Pty. Ltd. |
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*/ |
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#pragma once |
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#include <inttypes.h> |
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#include <AP_HAL/HAL.h> |
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#include <AP_HAL/QSPIDevice.h> |
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#include "AP_HAL_ChibiOS.h" |
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#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST) |
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#include "Semaphores.h" |
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#include "Scheduler.h" |
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#include "Device.h" |
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namespace ChibiOS |
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{ |
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struct QSPIDesc { |
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QSPIDesc(const char *_name, uint8_t _bus, |
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uint32_t _mode, uint32_t _speed, |
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uint8_t _size_pow2, uint8_t _ncs_clk_shift) |
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: name(_name), bus(_bus), mode(_mode), speed(_speed), |
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size_pow2(_size_pow2), ncs_clk_delay(_ncs_clk_shift) |
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{ |
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} |
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const char *name; // name of the device
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uint8_t bus; // qspi bus being used
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uint8_t device; // device id
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uint32_t mode; // clock mode
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uint32_t speed; // clock speed
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uint8_t size_pow2; // size as power of 2
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uint8_t ncs_clk_delay; // number of clk cycles to wait while transitioning NCS
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}; |
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class QSPIBus : public DeviceBus |
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{ |
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public: |
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QSPIBus(uint8_t _bus) : |
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DeviceBus(APM_SPI_PRIORITY, true), |
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bus(_bus) {} |
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uint8_t bus; |
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WSPIConfig wspicfg; |
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bool qspi_started; |
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}; |
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class QSPIDevice : public AP_HAL::QSPIDevice |
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{ |
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public: |
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static QSPIDevice *from(AP_HAL::QSPIDevice *dev) |
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{ |
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return static_cast<QSPIDevice*>(dev); |
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} |
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QSPIDevice(QSPIBus &_bus, QSPIDesc &_device_desc) : |
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bus(_bus), |
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device_desc(_device_desc) |
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{} |
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bool set_speed(Speed speed) override |
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{ |
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return true; |
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} |
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PeriodicHandle register_periodic_callback(uint32_t period_usec, PeriodicCb) override |
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{ |
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return nullptr; |
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} |
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bool adjust_periodic_callback(PeriodicHandle h, uint32_t period_usec) override |
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{ |
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return false; |
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} |
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/* See AP_HAL::Device::transfer() */ |
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bool transfer(const uint8_t *send, uint32_t send_len, |
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uint8_t *recv, uint32_t recv_len) override; |
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void set_cmd_header(const CommandHeader& cmd_hdr) override; |
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AP_HAL::Semaphore* get_semaphore() override |
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{ |
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// if asking for invalid bus number use bus 0 semaphore
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return &bus.semaphore; |
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} |
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bool acquire_bus(bool acquire); |
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private: |
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QSPIBus &bus; |
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QSPIDesc &device_desc; |
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CommandHeader _cmd_hdr; |
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}; |
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class QSPIDeviceManager : public AP_HAL::QSPIDeviceManager |
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{ |
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public: |
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friend class QSPIDevice; |
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static QSPIDeviceManager *from(AP_HAL::QSPIDeviceManager *qspi_mgr) |
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{ |
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return static_cast<QSPIDeviceManager*>(qspi_mgr); |
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} |
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AP_HAL::OwnPtr<AP_HAL::QSPIDevice> get_device(const char *name) override; |
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private: |
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static QSPIDesc device_table[]; |
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QSPIBus *buses; |
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}; |
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} |
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#endif // #if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
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