559 lines
18 KiB
C
559 lines
18 KiB
C
/*
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* This file is part of the MicroPython project, http://micropython.org/
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*
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* The MIT License (MIT)
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*
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* Copyright (c) 2020-2021 Damien P. George
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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* THE SOFTWARE.
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*/
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#include "py/runtime.h"
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#include "py/gc.h"
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#include "py/mphal.h"
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#include "py/mperrno.h"
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#include "shared/runtime/mpirq.h"
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#include "extmod/modmachine.h"
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#include "hardware/spi.h"
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#include "hardware/dma.h"
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#define DEFAULT_SPI_BAUDRATE (1000000)
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#define DEFAULT_SPI_POLARITY (0)
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#define DEFAULT_SPI_PHASE (0)
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#define DEFAULT_SPI_BITS (8)
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#define DEFAULT_SPI_FIRSTBIT (SPI_MSB_FIRST)
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#ifdef MICROPY_HW_SPI_NO_DEFAULT_PINS
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// With no default SPI, need to require the pin args.
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#define MICROPY_HW_SPI0_SCK (0)
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#define MICROPY_HW_SPI0_MOSI (0)
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#define MICROPY_HW_SPI0_MISO (0)
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#define MICROPY_HW_SPI1_SCK (0)
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#define MICROPY_HW_SPI1_MOSI (0)
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#define MICROPY_HW_SPI1_MISO (0)
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#define MICROPY_SPI_PINS_ARG_OPTS MP_ARG_REQUIRED
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#else
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// Most boards do not require pin args.
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#define MICROPY_SPI_PINS_ARG_OPTS 0
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#ifndef MICROPY_HW_SPI0_SCK
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#if PICO_DEFAULT_SPI == 0
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#define MICROPY_HW_SPI0_SCK (PICO_DEFAULT_SPI_SCK_PIN)
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#define MICROPY_HW_SPI0_MOSI (PICO_DEFAULT_SPI_TX_PIN)
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#define MICROPY_HW_SPI0_MISO (PICO_DEFAULT_SPI_RX_PIN)
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#else
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#define MICROPY_HW_SPI0_SCK (6)
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#define MICROPY_HW_SPI0_MOSI (7)
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#define MICROPY_HW_SPI0_MISO (4)
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#endif
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#endif
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#ifndef MICROPY_HW_SPI1_SCK
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#if PICO_DEFAULT_SPI == 1
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#define MICROPY_HW_SPI1_SCK (PICO_DEFAULT_SPI_SCK_PIN)
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#define MICROPY_HW_SPI1_MOSI (PICO_DEFAULT_SPI_TX_PIN)
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#define MICROPY_HW_SPI1_MISO (PICO_DEFAULT_SPI_RX_PIN)
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#else
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#define MICROPY_HW_SPI1_SCK (10)
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#define MICROPY_HW_SPI1_MOSI (11)
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#define MICROPY_HW_SPI1_MISO (8)
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#endif
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#endif
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#endif
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// SPI0 can be GP{0..7,16..23}, SPI1 can be GP{8..15,24..29}.
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#define IS_VALID_PERIPH(spi, pin) ((((pin) & 8) >> 3) == (spi))
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// GP{2,6,10,14,...}
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#define IS_VALID_SCK(spi, pin) (((pin) & 3) == 2 && IS_VALID_PERIPH(spi, pin))
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// GP{3,7,11,15,...}
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#define IS_VALID_MOSI(spi, pin) (((pin) & 3) == 3 && IS_VALID_PERIPH(spi, pin))
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// GP{0,4,8,10,...}
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#define IS_VALID_MISO(spi, pin) (((pin) & 3) == 0 && IS_VALID_PERIPH(spi, pin))
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typedef struct _machine_spi_obj_t
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{
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mp_obj_base_t base;
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spi_inst_t *const spi_inst;
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uint8_t spi_id;
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uint8_t polarity;
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uint8_t phase;
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uint8_t bits;
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uint8_t firstbit;
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uint8_t sck;
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uint8_t mosi;
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uint8_t miso;
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uint32_t baudrate;
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int chan_tx;
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int chan_rx;
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// 这里只为屏幕设置了tx中断，用来控制cs引脚和lv.disp_flush_ready()
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mp_irq_obj_t *tx_isr_obj;
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} machine_spi_obj_t;
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static machine_spi_obj_t machine_spi_obj[] = {
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{
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{&machine_spi_type},
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spi0,
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0,
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DEFAULT_SPI_POLARITY,
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DEFAULT_SPI_PHASE,
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DEFAULT_SPI_BITS,
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DEFAULT_SPI_FIRSTBIT,
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MICROPY_HW_SPI0_SCK,
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MICROPY_HW_SPI0_MOSI,
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MICROPY_HW_SPI0_MISO,
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0,
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// DMA channels, -1 means not claimed
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-1,
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-1,
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NULL
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},
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{
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{&machine_spi_type},
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spi1,
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1,
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DEFAULT_SPI_POLARITY,
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DEFAULT_SPI_PHASE,
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DEFAULT_SPI_BITS,
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DEFAULT_SPI_FIRSTBIT,
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MICROPY_HW_SPI1_SCK,
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MICROPY_HW_SPI1_MOSI,
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MICROPY_HW_SPI1_MISO,
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0,
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// DMA channels, -1 means not claimed
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-1,
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-1,
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NULL
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},
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};
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static void machine_spi_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
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{
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machine_spi_obj_t *self = MP_OBJ_TO_PTR(self_in);
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mp_printf(print, "SPI(%u, baudrate=%u, polarity=%u, phase=%u, bits=%u, sck=%u, mosi=%u, miso=%u)",
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self->spi_id, self->baudrate, self->polarity, self->phase, self->bits,
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self->sck, self->mosi, self->miso);
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}
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mp_obj_t machine_spi_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args)
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{
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enum
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{
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ARG_id,
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ARG_baudrate,
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ARG_polarity,
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ARG_phase,
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ARG_bits,
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ARG_firstbit,
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ARG_sck,
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ARG_mosi,
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ARG_miso
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};
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static const mp_arg_t allowed_args[] = {
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{MP_QSTR_id, MP_ARG_REQUIRED | MP_ARG_OBJ},
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{MP_QSTR_baudrate, MP_ARG_INT, {.u_int = DEFAULT_SPI_BAUDRATE}},
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{MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = DEFAULT_SPI_POLARITY}},
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{MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = DEFAULT_SPI_PHASE}},
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{MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = DEFAULT_SPI_BITS}},
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{MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = DEFAULT_SPI_FIRSTBIT}},
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{MP_QSTR_sck, MICROPY_SPI_PINS_ARG_OPTS | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
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{MP_QSTR_mosi, MICROPY_SPI_PINS_ARG_OPTS | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
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{MP_QSTR_miso, MICROPY_SPI_PINS_ARG_OPTS | MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_rom_obj = MP_ROM_NONE}},
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};
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// Parse the arguments.
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// Get the SPI bus id.
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int spi_id = mp_obj_get_int(args[ARG_id].u_obj);
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if (spi_id < 0 || spi_id >= MP_ARRAY_SIZE(machine_spi_obj))
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{
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mp_raise_msg_varg(&mp_type_ValueError, MP_ERROR_TEXT("SPI(%d) doesn't exist"), spi_id);
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}
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// Get static peripheral object.
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machine_spi_obj_t *self = (machine_spi_obj_t *)&machine_spi_obj[spi_id];
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// Set SCK/MOSI/MISO pins if configured.
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if (args[ARG_sck].u_obj != mp_const_none)
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{
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int sck = mp_hal_get_pin_obj(args[ARG_sck].u_obj);
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if (!IS_VALID_SCK(self->spi_id, sck))
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{
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mp_raise_ValueError(MP_ERROR_TEXT("bad SCK pin"));
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}
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self->sck = sck;
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}
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if (args[ARG_mosi].u_obj != mp_const_none)
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{
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int mosi = mp_hal_get_pin_obj(args[ARG_mosi].u_obj);
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if (!IS_VALID_MOSI(self->spi_id, mosi))
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{
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mp_raise_ValueError(MP_ERROR_TEXT("bad MOSI pin"));
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}
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self->mosi = mosi;
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if (self->chan_tx < 0)
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self->chan_tx = dma_claim_unused_channel(true);
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}
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if (args[ARG_miso].u_obj != mp_const_none)
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{
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int miso = mp_hal_get_pin_obj(args[ARG_miso].u_obj);
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if (!IS_VALID_MISO(self->spi_id, miso))
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{
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mp_raise_ValueError(MP_ERROR_TEXT("bad MISO pin"));
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}
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self->miso = miso;
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if (self->chan_rx < 0)
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self->chan_rx = dma_claim_unused_channel(true);
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}
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// Initialise the SPI peripheral if any arguments given, or it was not initialised previously.
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if (n_args > 1 || n_kw > 0 || self->baudrate == 0)
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{
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self->baudrate = args[ARG_baudrate].u_int;
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self->polarity = args[ARG_polarity].u_int;
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self->phase = args[ARG_phase].u_int;
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self->bits = args[ARG_bits].u_int;
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self->firstbit = args[ARG_firstbit].u_int;
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if (self->firstbit == SPI_LSB_FIRST)
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{
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mp_raise_NotImplementedError(MP_ERROR_TEXT("LSB"));
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}
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spi_init(self->spi_inst, self->baudrate);
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self->baudrate = spi_set_baudrate(self->spi_inst, self->baudrate);
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spi_set_format(self->spi_inst, self->bits, self->polarity, self->phase, self->firstbit);
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gpio_set_function(self->sck, GPIO_FUNC_SPI);
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gpio_set_function(self->miso, GPIO_FUNC_SPI);
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gpio_set_function(self->mosi, GPIO_FUNC_SPI);
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}
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return MP_OBJ_FROM_PTR(self);
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}
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static void machine_spi_init(mp_obj_base_t *self_in, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args)
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{
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enum
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{
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ARG_baudrate,
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ARG_polarity,
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ARG_phase,
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ARG_bits,
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ARG_firstbit
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};
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static const mp_arg_t allowed_args[] = {
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{MP_QSTR_baudrate, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
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{MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
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{MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
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{MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
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{MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = -1}},
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};
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// Parse the arguments.
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machine_spi_obj_t *self = (machine_spi_obj_t *)self_in;
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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// Reconfigure the baudrate if requested.
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if (args[ARG_baudrate].u_int != -1)
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{
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self->baudrate = spi_set_baudrate(self->spi_inst, args[ARG_baudrate].u_int);
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}
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// Reconfigure the format if requested.
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bool set_format = false;
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if (args[ARG_polarity].u_int != -1)
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{
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self->polarity = args[ARG_polarity].u_int;
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set_format = true;
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}
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if (args[ARG_phase].u_int != -1)
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{
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self->phase = args[ARG_phase].u_int;
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set_format = true;
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}
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if (args[ARG_bits].u_int != -1)
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{
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self->bits = args[ARG_bits].u_int;
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set_format = true;
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}
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if (args[ARG_firstbit].u_int != -1)
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{
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self->firstbit = args[ARG_firstbit].u_int;
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if (self->firstbit == SPI_LSB_FIRST)
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{
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mp_raise_NotImplementedError(MP_ERROR_TEXT("LSB"));
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}
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}
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if (self->miso > 0 && self->chan_rx < 0)
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{
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self->chan_rx = dma_claim_unused_channel(true);
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}
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if (self->mosi > 0 && self->chan_tx < 0)
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{
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self->chan_tx = dma_claim_unused_channel(true);
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}
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if (set_format)
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{
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spi_set_format(self->spi_inst, self->bits, self->polarity, self->phase, self->firstbit);
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}
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}
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static void machine_spi0_tx_irq_handler(void)
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{
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// currently only used for spi0
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// mp_printf(&mp_plat_print, "program running isr spi0 tx irq %d\n", __LINE__);
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machine_spi_obj_t *self = &machine_spi_obj[0];
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spi_hw_t *spi_hw = spi_get_hw(self->spi_inst);
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// clear the interrupt flag
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spi_hw->imsc &= ~(1 << 3);
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// 检查是否是发送FIFO中断（已屏蔽的中断）
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// if (spi_hw->mis & (1 << 3)) { // TXMIS=1
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// 确认发送真正完成：发送FIFO为空且SPI不忙
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// mp_raise_msg_varg(&mp_type_AssertionError, MP_ERROR_TEXT("IRQ triggered"));
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if ((spi_hw->sr & (1 << 0)) && !(spi_hw->sr & (1 << 4)) && dma_channel_is_busy(self->chan_tx) == false) {
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if (self->tx_isr_obj != NULL && self->tx_isr_obj->handler != mp_const_none)
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{
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// mp_printf(&mp_plat_print, "program running isr spi0 tx irq %d\n", __LINE__);
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if(self->tx_isr_obj->ishard){
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// mp_sched_lock();
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// gc_lock();
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mp_call_function_1(self->tx_isr_obj->handler, self->tx_isr_obj->parent);
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// gc_unlock();
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// mp_sched_unlock();
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} else {
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mp_irq_handler(self->tx_isr_obj);
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}
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}
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}
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// }
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}
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static void machine_spi1_tx_irq_handler(void)
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{
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// currently not used
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machine_spi_obj_t *self = &machine_spi_obj[1];
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spi_hw_t *spi_hw = spi_get_hw(self->spi_inst);
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// clear the interrupt flag
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spi_hw->imsc &= ~(1 << 3);
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if (spi_hw->mis & (1 << 3)) { // TXMIS=1
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// 确认发送真正完成：发送FIFO为空且SPI不忙
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if ((spi_hw->sr & (1 << 0)) && !(spi_hw->sr & (1 << 4))) {
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if (self->tx_isr_obj != NULL && self->tx_isr_obj->handler != mp_const_none)
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{
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mp_irq_handler(self->tx_isr_obj);
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}
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}
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}
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}
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static void machine_spi_set_tx_isr(mp_obj_base_t *self_in, size_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args)
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{
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machine_spi_obj_t *self = (machine_spi_obj_t *)self_in;
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if (self->tx_isr_obj == NULL) {
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self->tx_isr_obj = m_new_obj(mp_irq_obj_t);
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// MP_STATE_PORT(rp2_uart_irq_obj)[self->uart_id] = self->mp_irq_obj;
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}
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enum
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{
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ARG_tx_isr,
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ARG_hard
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};
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static const mp_arg_t allowed_args[] = {
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{MP_QSTR_tx_isr, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = mp_const_none}},
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{ MP_QSTR_hard, MP_ARG_BOOL, {.u_bool = false} },
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};
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mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
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mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
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if (n_args < 1) {
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mp_raise_ValueError(MP_ERROR_TEXT("missing tx_isr"));
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}
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mp_obj_t handler = args[ARG_tx_isr].u_obj;
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if (handler == mp_const_none || !mp_obj_is_callable(handler)) {
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mp_raise_ValueError(MP_ERROR_TEXT("handler must be callable"));
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}
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if (self->tx_isr_obj == NULL) {
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// disable previous irq
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}
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irq_set_enabled(self->spi_id == 0 ? SPI0_IRQ : SPI1_IRQ, false);
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self->tx_isr_obj->handler = handler;
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// self->tx_isr_obj->base.type = &mp_type_irq;
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// self->tx_isr_obj->methods = &mp_irq_methods;
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self->tx_isr_obj->ishard = args[ARG_hard].u_bool;
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self->tx_isr_obj->parent = MP_OBJ_FROM_PTR(self);
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irq_set_exclusive_handler(self->spi_id == 0 ? SPI0_IRQ : SPI1_IRQ, self->spi_id == 0 ? machine_spi0_tx_irq_handler : machine_spi1_tx_irq_handler);
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spi_hw_t *spi_hw = spi_get_hw(self->spi_inst);
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spi_hw->imsc |= (1 << 3);
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irq_set_enabled(self->spi_id == 0 ? SPI0_IRQ : SPI1_IRQ, true);
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}
|
||
|
||
static void machine_spi_wait_done(mp_obj_base_t *self_in)
|
||
{
|
||
machine_spi_obj_t *self = (machine_spi_obj_t *)self_in;
|
||
int chan_tx = self->chan_tx;
|
||
int chan_rx = self->chan_rx;
|
||
if (chan_rx >= 0)
|
||
dma_channel_wait_for_finish_blocking(chan_rx);
|
||
if (chan_tx >= 0)
|
||
dma_channel_wait_for_finish_blocking(chan_tx);
|
||
spi_hw_t *spi_hw = spi_get_hw(self->spi_inst);
|
||
while (!((spi_hw->sr & (1 << 0)) && !(spi_hw->sr & (1 << 4)))) {
|
||
// wait for TX FIFO to be empty and SPI not busy
|
||
}
|
||
}
|
||
|
||
static void machine_spi_transfer(mp_obj_base_t *self_in, size_t len, const uint8_t *src, uint8_t *dest)
|
||
{
|
||
machine_spi_obj_t *self = (machine_spi_obj_t *)self_in;
|
||
bool write_only = dest == NULL;
|
||
const size_t dma_min_size_threshold = 8;
|
||
if (len <= dma_min_size_threshold){
|
||
// Use software for small transfers
|
||
if (write_only) {
|
||
spi_write_blocking(self->spi_inst, src, len);
|
||
} else {
|
||
spi_write_read_blocking(self->spi_inst, src, dest, len);
|
||
}
|
||
return;
|
||
}
|
||
// Use DMA for large transfers if channels are available
|
||
int chan_tx = self->chan_tx;
|
||
int chan_rx = self->chan_rx;
|
||
if (chan_rx < 0 && chan_tx < 0)
|
||
{
|
||
mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("Error when using DMA, chan rx: %d, chan tx: %d"), chan_rx, chan_tx);
|
||
return;
|
||
}
|
||
// if (chan_rx >= 0)
|
||
// dma_channel_wait_for_finish_blocking(chan_rx);
|
||
// if (chan_tx >= 0)
|
||
// dma_channel_wait_for_finish_blocking(chan_tx);
|
||
machine_spi_wait_done(self_in);
|
||
// bool use_dma = chan_rx >= 0 && chan_tx >= 0;
|
||
// note src is guaranteed to be non-NULL
|
||
|
||
uint8_t dev_null;
|
||
dma_channel_config c;
|
||
if (chan_tx >= 0)
|
||
{
|
||
c = dma_channel_get_default_config(chan_tx);
|
||
channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
|
||
channel_config_set_dreq(&c, spi_get_index(self->spi_inst) ? DREQ_SPI1_TX : DREQ_SPI0_TX);
|
||
dma_channel_configure(chan_tx, &c,
|
||
&spi_get_hw(self->spi_inst)->dr,
|
||
src,
|
||
len,
|
||
true);
|
||
}
|
||
if (chan_rx >= 0)
|
||
{
|
||
c = dma_channel_get_default_config(chan_rx);
|
||
channel_config_set_transfer_data_size(&c, DMA_SIZE_8);
|
||
channel_config_set_dreq(&c, spi_get_index(self->spi_inst) ? DREQ_SPI1_RX : DREQ_SPI0_RX);
|
||
channel_config_set_read_increment(&c, false);
|
||
channel_config_set_write_increment(&c, !write_only);
|
||
dma_channel_configure(chan_rx, &c,
|
||
write_only ? &dev_null : dest,
|
||
&spi_get_hw(self->spi_inst)->dr,
|
||
len,
|
||
true);
|
||
}
|
||
|
||
// dma_channel_wait_for_finish_blocking(chan_rx);
|
||
// dma_channel_wait_for_finish_blocking(chan_tx);
|
||
|
||
// If we have claimed only one channel successfully, we should release immediately
|
||
// if (chan_rx >= 0) {
|
||
// dma_channel_unclaim(chan_rx);
|
||
// }
|
||
// if (chan_tx >= 0) {
|
||
// dma_channel_unclaim(chan_tx);
|
||
// }
|
||
|
||
// if (!use_dma) {
|
||
// // Use software for small transfers, or if couldn't claim two DMA channels
|
||
// if (write_only) {
|
||
// spi_write_blocking(self->spi_inst, src, len);
|
||
// } else {
|
||
// spi_write_read_blocking(self->spi_inst, src, dest, len);
|
||
// }
|
||
// }
|
||
}
|
||
|
||
// Buffer protocol implementation for SPI.
|
||
// The buffer represents the SPI data FIFO.
|
||
static mp_int_t machine_spi_get_buffer(mp_obj_t o_in, mp_buffer_info_t *bufinfo, mp_uint_t flags)
|
||
{
|
||
machine_spi_obj_t *self = MP_OBJ_TO_PTR(o_in);
|
||
|
||
bufinfo->len = 4;
|
||
bufinfo->typecode = 'I';
|
||
bufinfo->buf = (void *)&spi_get_hw(self->spi_inst)->dr;
|
||
|
||
return 0;
|
||
}
|
||
|
||
static const mp_machine_spi_p_t machine_spi_p = {
|
||
.init = machine_spi_init,
|
||
.transfer = machine_spi_transfer,
|
||
.wait_done = machine_spi_wait_done,
|
||
.set_tx_isr = machine_spi_set_tx_isr,
|
||
};
|
||
|
||
|
||
|
||
MP_DEFINE_CONST_OBJ_TYPE(
|
||
machine_spi_type,
|
||
MP_QSTR_SPI,
|
||
MP_TYPE_FLAG_NONE,
|
||
make_new, machine_spi_make_new,
|
||
print, machine_spi_print,
|
||
protocol, &machine_spi_p,
|
||
buffer, machine_spi_get_buffer,
|
||
locals_dict, &mp_machine_spi_locals_dict);
|
||
|
||
mp_obj_base_t *mp_hal_get_spi_obj(mp_obj_t o)
|
||
{
|
||
if (mp_obj_is_type(o, &machine_spi_type))
|
||
{
|
||
return MP_OBJ_TO_PTR(o);
|
||
}
|
||
#if MICROPY_PY_MACHINE_SOFTSPI
|
||
else if (mp_obj_is_type(o, &mp_machine_soft_spi_type))
|
||
{
|
||
return MP_OBJ_TO_PTR(o);
|
||
}
|
||
#endif
|
||
else
|
||
{
|
||
mp_raise_TypeError(MP_ERROR_TEXT("expecting an SPI object"));
|
||
}
|
||
}
|