366 lines
13 KiB
C
366 lines
13 KiB
C
#include <stdio.h>
|
|
#include <string.h>
|
|
|
|
#include "stm32f4xx_hal.h"
|
|
|
|
#include "nlr.h"
|
|
#include "misc.h"
|
|
#include "mpconfig.h"
|
|
#include "qstr.h"
|
|
#include "obj.h"
|
|
#include "runtime.h"
|
|
#include "pin.h"
|
|
#include "genhdr/pins.h"
|
|
#include "spi.h"
|
|
|
|
SPI_HandleTypeDef SPIHandle1 = {.Instance = NULL};
|
|
SPI_HandleTypeDef SPIHandle2 = {.Instance = NULL};
|
|
#if MICROPY_HW_ENABLE_SPI3
|
|
SPI_HandleTypeDef SPIHandle3 = {.Instance = NULL};
|
|
#endif
|
|
|
|
void spi_init0(void) {
|
|
// reset the SPI handles
|
|
memset(&SPIHandle1, 0, sizeof(SPI_HandleTypeDef));
|
|
SPIHandle1.Instance = SPI1;
|
|
memset(&SPIHandle2, 0, sizeof(SPI_HandleTypeDef));
|
|
SPIHandle2.Instance = SPI2;
|
|
#if MICROPY_HW_ENABLE_SPI3
|
|
memset(&SPIHandle3, 0, sizeof(SPI_HandleTypeDef));
|
|
SPIHandle3.Instance = SPI3;
|
|
#endif
|
|
}
|
|
|
|
// TODO allow to take a list of pins to use
|
|
void spi_init(SPI_HandleTypeDef *spi) {
|
|
// init the GPIO lines
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
|
|
GPIO_InitStructure.Speed = GPIO_SPEED_FAST;
|
|
GPIO_InitStructure.Pull = GPIO_PULLUP; // ST examples use PULLUP
|
|
|
|
const pin_obj_t *pins[4];
|
|
if (spi->Instance == SPI1) {
|
|
// X-skin: X5=PA4=SPI1_NSS, X6=PA5=SPI1_SCK, X7=PA6=SPI1_MISO, X8=PA7=SPI1_MOSI
|
|
pins[0] = &pin_A4;
|
|
pins[1] = &pin_A5;
|
|
pins[2] = &pin_A6;
|
|
pins[3] = &pin_A7;
|
|
GPIO_InitStructure.Alternate = GPIO_AF5_SPI1;
|
|
} else if (spi->Instance == SPI2) {
|
|
// Y-skin: Y5=PB12=SPI2_NSS, Y6=PB13=SPI2_SCK, Y7=PB14=SPI2_MISO, Y8=PB15=SPI2_MOSI
|
|
pins[0] = &pin_B12;
|
|
pins[1] = &pin_B13;
|
|
pins[2] = &pin_B14;
|
|
pins[3] = &pin_B15;
|
|
GPIO_InitStructure.Alternate = GPIO_AF5_SPI2;
|
|
#if MICROPY_HW_ENABLE_SPI3
|
|
} else if (spi->Instance == SPI3) {
|
|
pins[0] = &pin_A4;
|
|
pins[1] = &pin_B3;
|
|
pins[2] = &pin_B4;
|
|
pins[3] = &pin_B5;
|
|
GPIO_InitStructure.Alternate = GPIO_AF6_SPI3;
|
|
#endif
|
|
} else {
|
|
// SPI does not exist for this board
|
|
printf("HardwareError: invalid SPI\n");
|
|
return;
|
|
}
|
|
|
|
for (uint i = 0; i < 4; i++) {
|
|
GPIO_InitStructure.Pin = pins[i]->pin_mask;
|
|
HAL_GPIO_Init(pins[i]->gpio, &GPIO_InitStructure);
|
|
}
|
|
|
|
// enable the SPI clock
|
|
if (spi->Instance == SPI1) {
|
|
__SPI1_CLK_ENABLE();
|
|
} else if (spi->Instance == SPI2) {
|
|
__SPI2_CLK_ENABLE();
|
|
#if MICROPY_HW_ENABLE_SPI3
|
|
} else {
|
|
__SPI3_CLK_ENABLE();
|
|
#endif
|
|
}
|
|
|
|
// init the I2C device
|
|
if (HAL_SPI_Init(spi) != HAL_OK) {
|
|
// init error
|
|
// TODO should raise an exception, but this function is not necessarily going to be
|
|
// called via Python, so may not be properly wrapped in an NLR handler
|
|
printf("HardwareError: HAL_SPI_Init failed\n");
|
|
return;
|
|
}
|
|
}
|
|
|
|
void spi_deinit(SPI_HandleTypeDef *spi) {
|
|
HAL_SPI_DeInit(spi);
|
|
if (spi->Instance == SPI1) {
|
|
__SPI1_CLK_DISABLE();
|
|
} else if (spi->Instance == SPI2) {
|
|
__SPI2_CLK_DISABLE();
|
|
#if MICROPY_HW_ENABLE_SPI3
|
|
} else {
|
|
__SPI3_CLK_DISABLE();
|
|
#endif
|
|
}
|
|
}
|
|
|
|
/******************************************************************************/
|
|
/* Micro Python bindings */
|
|
|
|
#define PYB_SPI_NUM (2)
|
|
|
|
typedef struct _pyb_spi_obj_t {
|
|
mp_obj_base_t base;
|
|
SPI_HandleTypeDef *spi;
|
|
} pyb_spi_obj_t;
|
|
|
|
STATIC const pyb_spi_obj_t pyb_spi_obj[PYB_SPI_NUM] = {{{&pyb_spi_type}, &SPIHandle1}, {{&pyb_spi_type}, &SPIHandle2}};
|
|
|
|
STATIC void pyb_spi_print(void (*print)(void *env, const char *fmt, ...), void *env, mp_obj_t self_in, mp_print_kind_t kind) {
|
|
pyb_spi_obj_t *self = self_in;
|
|
|
|
uint spi_num;
|
|
if (self->spi->Instance == SPI1) { spi_num = 1; }
|
|
else if (self->spi->Instance == SPI2) { spi_num = 2; }
|
|
else { spi_num = 3; }
|
|
|
|
if (self->spi->State == HAL_SPI_STATE_RESET) {
|
|
print(env, "SPI(%u)", spi_num);
|
|
} else {
|
|
if (self->spi->Init.Mode == SPI_MODE_MASTER) {
|
|
// compute baudrate
|
|
uint spi_clock;
|
|
if (self->spi->Instance == SPI1) {
|
|
// SPI1 is on APB2
|
|
spi_clock = HAL_RCC_GetPCLK2Freq();
|
|
} else {
|
|
// SPI2 and SPI3 are on APB1
|
|
spi_clock = HAL_RCC_GetPCLK1Freq();
|
|
}
|
|
uint baudrate = spi_clock >> ((self->spi->Init.BaudRatePrescaler >> 3) + 1);
|
|
print(env, "SPI(%u, SPI.MASTER, clock=%u, baudrate=%u)", spi_num, spi_clock, baudrate);
|
|
} else {
|
|
print(env, "SPI(%u, SPI.SLAVE)", spi_num);
|
|
}
|
|
}
|
|
}
|
|
|
|
STATIC const mp_arg_parse_t pyb_spi_init_accepted_args[] = {
|
|
{ MP_QSTR_mode, MP_ARG_PARSE_REQUIRED | MP_ARG_PARSE_INT, {.u_int = 0} },
|
|
{ MP_QSTR_baudrate, MP_ARG_PARSE_INT, {.u_int = 328125} },
|
|
{ MP_QSTR_clkpol, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_POLARITY_LOW} },
|
|
{ MP_QSTR_clkphase, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_PHASE_1EDGE} },
|
|
{ MP_QSTR_dir, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_DIRECTION_2LINES} },
|
|
{ MP_QSTR_size, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = 8} },
|
|
{ MP_QSTR_nss, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_NSS_SOFT} },
|
|
{ MP_QSTR_firstbit, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_INT, {.u_int = SPI_FIRSTBIT_MSB} },
|
|
{ MP_QSTR_ti, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_BOOL, {.u_bool = false} },
|
|
{ MP_QSTR_crcpoly, MP_ARG_PARSE_KW_ONLY | MP_ARG_PARSE_OBJ, {.u_obj = mp_const_none} },
|
|
};
|
|
#define PYB_SPI_INIT_NUM_ARGS (sizeof(pyb_spi_init_accepted_args) / sizeof(pyb_spi_init_accepted_args[0]))
|
|
|
|
STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
|
|
// parse keyword args
|
|
mp_arg_parse_val_t vals[PYB_SPI_INIT_NUM_ARGS];
|
|
mp_arg_parse_all(n_args, args, kw_args, PYB_SPI_INIT_NUM_ARGS, pyb_spi_init_accepted_args, vals);
|
|
|
|
// set the SPI configuration values
|
|
SPI_InitTypeDef *init = &self->spi->Init;
|
|
init->Mode = vals[0].u_int;
|
|
|
|
// compute the baudrate prescaler from the requested baudrate
|
|
// select a prescaler that yields at most the requested baudrate
|
|
uint spi_clock;
|
|
if (self->spi->Instance == SPI1) {
|
|
// SPI1 is on APB2
|
|
spi_clock = HAL_RCC_GetPCLK2Freq();
|
|
} else {
|
|
// SPI2 and SPI3 are on APB1
|
|
spi_clock = HAL_RCC_GetPCLK1Freq();
|
|
}
|
|
uint br_prescale = spi_clock / vals[1].u_int;
|
|
if (br_prescale <= 2) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; }
|
|
else if (br_prescale <= 4) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; }
|
|
else if (br_prescale <= 8) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; }
|
|
else if (br_prescale <= 16) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; }
|
|
else if (br_prescale <= 32) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32; }
|
|
else if (br_prescale <= 64) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_64; }
|
|
else if (br_prescale <= 128) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; }
|
|
else { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; }
|
|
|
|
init->CLKPolarity = vals[2].u_int;
|
|
init->CLKPhase = vals[3].u_int;
|
|
init->Direction = vals[4].u_int;
|
|
init->DataSize = (vals[5].u_int == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT;
|
|
init->NSS = vals[6].u_int;
|
|
init->FirstBit = vals[7].u_int;
|
|
init->TIMode = vals[8].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED;
|
|
if (vals[9].u_obj == mp_const_none) {
|
|
init->CRCCalculation = SPI_CRCCALCULATION_DISABLED;
|
|
init->CRCPolynomial = 0;
|
|
} else {
|
|
init->CRCCalculation = SPI_CRCCALCULATION_ENABLED;
|
|
init->CRCPolynomial = mp_obj_get_int(vals[9].u_obj);
|
|
}
|
|
|
|
// init the SPI bus
|
|
spi_init(self->spi);
|
|
|
|
return mp_const_none;
|
|
}
|
|
|
|
STATIC mp_obj_t pyb_spi_make_new(mp_obj_t type_in, uint n_args, uint n_kw, const mp_obj_t *args) {
|
|
// check arguments
|
|
mp_arg_check_num(n_args, n_kw, 1, MP_OBJ_FUN_ARGS_MAX, true);
|
|
|
|
// get SPI number
|
|
machine_int_t spi_id = mp_obj_get_int(args[0]) - 1;
|
|
|
|
// check SPI number
|
|
if (!(0 <= spi_id && spi_id < PYB_SPI_NUM)) {
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_ValueError, "SPI bus %d does not exist", spi_id + 1));
|
|
}
|
|
|
|
// get SPI object
|
|
const pyb_spi_obj_t *spi_obj = &pyb_spi_obj[spi_id];
|
|
|
|
if (n_args > 1 || n_kw > 0) {
|
|
// start the peripheral
|
|
mp_map_t kw_args;
|
|
mp_map_init_fixed_table(&kw_args, n_kw, args + n_args);
|
|
pyb_spi_init_helper(spi_obj, n_args - 1, args + 1, &kw_args);
|
|
}
|
|
|
|
return (mp_obj_t)spi_obj;
|
|
}
|
|
|
|
STATIC mp_obj_t pyb_spi_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args) {
|
|
return pyb_spi_init_helper(args[0], n_args - 1, args + 1, kw_args);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_init_obj, 1, pyb_spi_init);
|
|
|
|
STATIC mp_obj_t pyb_spi_deinit(mp_obj_t self_in) {
|
|
pyb_spi_obj_t *self = self_in;
|
|
spi_deinit(self->spi);
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_spi_deinit_obj, pyb_spi_deinit);
|
|
|
|
STATIC mp_obj_t pyb_spi_send(mp_obj_t self_in, mp_obj_t data_in) {
|
|
// TODO assumes transmission size is 8-bits wide
|
|
// TODO accept timeout as keyword argument
|
|
|
|
pyb_spi_obj_t *self = self_in;
|
|
|
|
uint8_t data[1];
|
|
mp_buffer_info_t bufinfo;
|
|
if (MP_OBJ_IS_INT(data_in)) {
|
|
data[0] = mp_obj_get_int(data_in);
|
|
bufinfo.buf = data;
|
|
bufinfo.len = 1;
|
|
bufinfo.typecode = 'B';
|
|
} else {
|
|
mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
|
|
}
|
|
|
|
HAL_StatusTypeDef status = HAL_SPI_Transmit(self->spi, bufinfo.buf, bufinfo.len, 1000);
|
|
|
|
if (status != HAL_OK) {
|
|
// TODO really need a HardwareError object, or something
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_Transmit failed with code %d", status));
|
|
}
|
|
|
|
return mp_const_none;
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_send_obj, pyb_spi_send);
|
|
|
|
STATIC mp_obj_t pyb_spi_recv(mp_obj_t self_in, mp_obj_t n_in) {
|
|
// TODO assumes transmission size is 8-bits wide
|
|
// TODO accept timeout as keyword argument
|
|
|
|
pyb_spi_obj_t *self = self_in;
|
|
machine_uint_t n = mp_obj_get_int(n_in);
|
|
|
|
byte *data;
|
|
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, n, &data);
|
|
HAL_StatusTypeDef status = HAL_SPI_Receive(self->spi, data, n, 1000);
|
|
|
|
if (status != HAL_OK) {
|
|
// TODO really need a HardwareError object, or something
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_Receive failed with code %d", status));
|
|
}
|
|
|
|
return mp_obj_str_builder_end(o);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_recv_obj, pyb_spi_recv);
|
|
|
|
STATIC mp_obj_t pyb_spi_send_recv(mp_obj_t self_in, mp_obj_t data_in) {
|
|
// TODO assumes transmission size is 8-bits wide
|
|
// TODO accept timeout as keyword argument
|
|
|
|
pyb_spi_obj_t *self = self_in;
|
|
|
|
uint8_t data_send[1];
|
|
mp_buffer_info_t bufinfo;
|
|
if (MP_OBJ_IS_INT(data_in)) {
|
|
data_send[0] = mp_obj_get_int(data_in);
|
|
bufinfo.buf = data_send;
|
|
bufinfo.len = 1;
|
|
bufinfo.typecode = 'B';
|
|
} else {
|
|
mp_get_buffer_raise(data_in, &bufinfo, MP_BUFFER_READ);
|
|
}
|
|
|
|
byte *data_recv;
|
|
mp_obj_t o = mp_obj_str_builder_start(&mp_type_bytes, bufinfo.len, &data_recv);
|
|
HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(self->spi, bufinfo.buf, data_recv, bufinfo.len, 1000);
|
|
|
|
if (status != HAL_OK) {
|
|
// TODO really need a HardwareError object, or something
|
|
nlr_raise(mp_obj_new_exception_msg_varg(&mp_type_Exception, "HAL_SPI_TransmitReceive failed with code %d", status));
|
|
}
|
|
|
|
return mp_obj_str_builder_end(o);
|
|
}
|
|
STATIC MP_DEFINE_CONST_FUN_OBJ_2(pyb_spi_send_recv_obj, pyb_spi_send_recv);
|
|
|
|
STATIC const mp_map_elem_t pyb_spi_locals_dict_table[] = {
|
|
// instance methods
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&pyb_spi_init_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_deinit), (mp_obj_t)&pyb_spi_deinit_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_send), (mp_obj_t)&pyb_spi_send_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_recv), (mp_obj_t)&pyb_spi_recv_obj },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_send_recv), (mp_obj_t)&pyb_spi_send_recv_obj },
|
|
|
|
// class constants
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_MASTER), MP_OBJ_NEW_SMALL_INT(SPI_MODE_MASTER) },
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_SLAVE), MP_OBJ_NEW_SMALL_INT(SPI_MODE_SLAVE) },
|
|
/* TODO
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_2LINES ((uint32_t)0x00000000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_DIRECTION_1LINE SPI_CR1_BIDIMODE
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_POLARITY_LOW ((uint32_t)0x00000000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_POLARITY_HIGH SPI_CR1_CPOL
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_PHASE_1EDGE ((uint32_t)0x00000000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_PHASE_2EDGE SPI_CR1_CPHA
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_SOFT SPI_CR1_SSM
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_HARD_INPUT ((uint32_t)0x00000000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_NSS_HARD_OUTPUT ((uint32_t)0x00040000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_FIRSTBIT_MSB ((uint32_t)0x00000000)
|
|
{ MP_OBJ_NEW_QSTR(MP_QSTR_FIRSTBIT_LSB SPI_CR1_LSBFIRST
|
|
*/
|
|
};
|
|
|
|
STATIC MP_DEFINE_CONST_DICT(pyb_spi_locals_dict, pyb_spi_locals_dict_table);
|
|
|
|
const mp_obj_type_t pyb_spi_type = {
|
|
{ &mp_type_type },
|
|
.name = MP_QSTR_SPI,
|
|
.print = pyb_spi_print,
|
|
.make_new = pyb_spi_make_new,
|
|
.locals_dict = (mp_obj_t)&pyb_spi_locals_dict,
|
|
};
|