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SPIv2 + DMA.

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This commit is contained in:
Bob McWhirter 2021-07-21 10:42:22 -04:00
parent 1a03f00b56
commit 0d2051243e
6 changed files with 344 additions and 17 deletions
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4
embassy-stm32/src/dma/bdma.rs
View File

@ -89,7 +89,11 @@ pub(crate) unsafe fn do_transfer(
ch.cr().write(|w| {
w.set_psize(vals::Size::BITS8);
w.set_msize(vals::Size::BITS8);
if incr_mem {
w.set_minc(vals::Inc::ENABLED);
} else {
w.set_minc(vals::Inc::DISABLED);
}
w.set_dir(dir);
w.set_teie(true);
w.set_tcie(true);

4
embassy-stm32/src/spi/mod.rs
View File

@ -1,8 +1,8 @@
#![macro_use]
#[cfg_attr(spi_v1, path = "v1.rs")]
//#[cfg_attr(spi_v1, path = "v1.rs")]
#[cfg_attr(spi_v2, path = "v2.rs")]
#[cfg_attr(spi_v3, path = "v3.rs")]
//#[cfg_attr(spi_v3, path = "v3.rs")]
mod _version;
use crate::{dma, peripherals, rcc::RccPeripheral};
pub use _version::*;

217
embassy-stm32/src/spi/v2.rs
View File

@ -1,16 +1,23 @@
#![macro_use]
use crate::dma::NoDma;
use crate::gpio::{AnyPin, Pin};
use crate::pac::gpio::vals::{Afr, Moder};
use crate::pac::gpio::Gpio;
use crate::pac::spi;
use crate::spi::{ByteOrder, Config, Error, Instance, MisoPin, MosiPin, SckPin, WordSize};
use crate::spi::{
ByteOrder, Config, Error, Instance, MisoPin, MosiPin, RxDmaChannel, SckPin, TxDmaChannel,
WordSize,
};
use crate::time::Hertz;
use core::future::Future;
use core::marker::PhantomData;
use core::ptr;
use embassy::util::Unborrow;
use embassy_extras::unborrow;
use embassy_traits::spi as traits;
pub use embedded_hal::spi::{Mode, Phase, Polarity, MODE_0, MODE_1, MODE_2, MODE_3};
use futures::future::join3;
impl WordSize {
fn ds(&self) -> spi::vals::Ds {
@ -28,26 +35,30 @@ impl WordSize {
}
}
pub struct Spi<'d, T: Instance> {
pub struct Spi<'d, T: Instance, Tx, Rx> {
sck: AnyPin,
mosi: AnyPin,
miso: AnyPin,
txdma: Tx,
rxdma: Rx,
phantom: PhantomData<&'d mut T>,
}
impl<'d, T: Instance> Spi<'d, T> {
impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
pub fn new<F>(
_peri: impl Unborrow<Target = T> + 'd,
sck: impl Unborrow<Target = impl SckPin<T>>,
mosi: impl Unborrow<Target = impl MosiPin<T>>,
miso: impl Unborrow<Target = impl MisoPin<T>>,
txdma: impl Unborrow<Target = Tx>,
rxdma: impl Unborrow<Target = Rx>,
freq: F,
config: Config,
) -> Self
where
F: Into<Hertz>,
{
unborrow!(sck, mosi, miso);
unborrow!(sck, mosi, miso, txdma, rxdma);
unsafe {
Self::configure_pin(sck.block(), sck.pin() as _, sck.af_num());
@ -98,6 +109,8 @@ impl<'d, T: Instance> Spi<'d, T> {
sck,
mosi,
miso,
txdma,
rxdma,
phantom: PhantomData,
}
}
@ -140,9 +153,156 @@ impl<'d, T: Instance> Spi<'d, T> {
});
}
}
#[allow(unused)]
async fn write_dma_u8(&mut self, write: &[u8]) -> Result<(), Error>
where
Tx: TxDmaChannel<T>,
{
unsafe {
T::regs().cr1().modify(|w| {
w.set_spe(false);
});
T::regs().cr2().modify(|reg| {
reg.set_rxdmaen(true);
});
}
Self::set_word_size(WordSize::EightBit);
let request = self.txdma.request();
let dst = T::regs().dr().ptr() as *mut u8;
let f = self.txdma.write(request, write, dst);
unsafe {
T::regs().cr2().modify(|reg| {
reg.set_txdmaen(true);
});
T::regs().cr1().modify(|w| {
w.set_spe(true);
});
}
f.await;
Ok(())
}
#[allow(unused)]
async fn read_dma_u8(&mut self, read: &mut [u8]) -> Result<(), Error>
where
Tx: TxDmaChannel<T>,
Rx: RxDmaChannel<T>,
{
unsafe {
T::regs().cr1().modify(|w| {
w.set_spe(false);
});
T::regs().cr2().modify(|reg| {
reg.set_rxdmaen(true);
});
}
Self::set_word_size(WordSize::EightBit);
let clock_byte_count = read.len();
let rx_request = self.rxdma.request();
let rx_src = T::regs().dr().ptr() as *mut u8;
let rx_f = self.rxdma.read(rx_request, rx_src, read);
let tx_request = self.txdma.request();
let tx_dst = T::regs().dr().ptr() as *mut u8;
let clock_byte = 0x00;
let tx_f = self
.txdma
.write_x(tx_request, &clock_byte, clock_byte_count, tx_dst);
unsafe {
T::regs().cr2().modify(|reg| {
reg.set_txdmaen(true);
});
T::regs().cr1().modify(|w| {
w.set_spe(true);
});
}
join3(tx_f, rx_f, Self::wait_for_idle()).await;
unsafe {
T::regs().cr2().modify(|reg| {
reg.set_txdmaen(false);
reg.set_rxdmaen(false);
});
T::regs().cr1().modify(|w| {
w.set_spe(false);
});
}
Ok(())
}
#[allow(unused)]
async fn read_write_dma_u8(&mut self, read: &mut [u8], write: &[u8]) -> Result<(), Error>
where
Tx: TxDmaChannel<T>,
Rx: RxDmaChannel<T>,
{
unsafe {
T::regs().cr1().modify(|w| {
w.set_spe(false);
});
T::regs().cr2().modify(|reg| {
reg.set_rxdmaen(true);
});
}
Self::set_word_size(WordSize::EightBit);
let rx_request = self.rxdma.request();
let rx_src = T::regs().dr().ptr() as *mut u8;
let rx_f = self.rxdma.read(rx_request, rx_src, read);
let tx_request = self.txdma.request();
let tx_dst = T::regs().dr().ptr() as *mut u8;
let tx_f = self.txdma.write(tx_request, write, tx_dst);
unsafe {
T::regs().cr2().modify(|reg| {
reg.set_txdmaen(true);
});
T::regs().cr1().modify(|w| {
w.set_spe(true);
});
}
join3(tx_f, rx_f, Self::wait_for_idle()).await;
unsafe {
T::regs().cr2().modify(|reg| {
reg.set_txdmaen(false);
reg.set_rxdmaen(false);
});
T::regs().cr1().modify(|w| {
w.set_spe(false);
});
}
Ok(())
}
async fn wait_for_idle() {
unsafe {
while T::regs().sr().read().ftlvl() > 0 {
// spin
}
while T::regs().sr().read().frlvl() > 0 {
// spin
}
while T::regs().sr().read().bsy() {
// spin
}
}
}
}
impl<'d, T: Instance> Drop for Spi<'d, T> {
impl<'d, T: Instance, Tx, Rx> Drop for Spi<'d, T, Tx, Rx> {
fn drop(&mut self) {
unsafe {
Self::unconfigure_pin(self.sck.block(), self.sck.pin() as _);
@ -200,7 +360,7 @@ fn read_word<W: Word>(regs: &'static crate::pac::spi::Spi) -> Result<W, Error> {
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u8> for Spi<'d, T> {
impl<'d, T: Instance, Rx> embedded_hal::blocking::spi::Write<u8> for Spi<'d, T, NoDma, Rx> {
type Error = Error;
fn write(&mut self, words: &[u8]) -> Result<(), Self::Error> {
@ -216,7 +376,7 @@ impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u8> for Spi<'d, T> {
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u8> for Spi<'d, T> {
impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u8> for Spi<'d, T, NoDma, NoDma> {
type Error = Error;
fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
@ -232,7 +392,7 @@ impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u8> for Spi<'d, T> {
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u16> for Spi<'d, T> {
impl<'d, T: Instance, Rx> embedded_hal::blocking::spi::Write<u16> for Spi<'d, T, NoDma, Rx> {
type Error = Error;
fn write(&mut self, words: &[u16]) -> Result<(), Self::Error> {
@ -248,7 +408,7 @@ impl<'d, T: Instance> embedded_hal::blocking::spi::Write<u16> for Spi<'d, T> {
}
}
impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u16> for Spi<'d, T> {
impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u16> for Spi<'d, T, NoDma, NoDma> {
type Error = Error;
fn transfer<'w>(&mut self, words: &'w mut [u16]) -> Result<&'w [u16], Self::Error> {
@ -263,3 +423,42 @@ impl<'d, T: Instance> embedded_hal::blocking::spi::Transfer<u16> for Spi<'d, T>
Ok(words)
}
}
impl<'d, T: Instance, Tx, Rx> traits::Spi<u8> for Spi<'d, T, Tx, Rx> {
type Error = super::Error;
}
impl<'d, T: Instance, Tx: TxDmaChannel<T>, Rx> traits::Write<u8> for Spi<'d, T, Tx, Rx> {
#[rustfmt::skip]
type WriteFuture<'a> where Self: 'a = impl Future<Output = Result<(), Self::Error>> + 'a;
fn write<'a>(&'a mut self, data: &'a [u8]) -> Self::WriteFuture<'a> {
self.write_dma_u8(data)
}
}
impl<'d, T: Instance, Tx: TxDmaChannel<T>, Rx: RxDmaChannel<T>> traits::Read<u8>
for Spi<'d, T, Tx, Rx>
{
#[rustfmt::skip]
type ReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), Self::Error>> + 'a;
fn read<'a>(&'a mut self, data: &'a mut [u8]) -> Self::ReadFuture<'a> {
self.read_dma_u8(data)
}
}
impl<'d, T: Instance, Tx: TxDmaChannel<T>, Rx: RxDmaChannel<T>> traits::FullDuplex<u8>
for Spi<'d, T, Tx, Rx>
{
#[rustfmt::skip]
type WriteReadFuture<'a> where Self: 'a = impl Future<Output = Result<(), Self::Error>> + 'a;
fn read_write<'a>(
&'a mut self,
read: &'a mut [u8],
write: &'a [u8],
) -> Self::WriteReadFuture<'a> {
self.read_write_dma_u8(read, write)
}
}

28
embassy-stm32/src/spi/v3.rs
View File

@ -201,7 +201,28 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
Tx: TxDmaChannel<T>,
Rx: RxDmaChannel<T>,
{
unimplemented!()
let clock_byte_count = read.len();
let rx_request = self.rxdma.request();
let rx_src = T::regs().rxdr().ptr() as *mut u8;
let rx_f = self.rxdma.read(rx_request, rx_src, read);
let tx_request = self.txdma.request();
let tx_dst = T::regs().txdr().ptr() as *mut u8;
let clock_byte = 0x00;
let tx_f = self
.txdma
.write_x(tx_request, &clock_byte, clock_byte_count, tx_dst);
unsafe {
T::regs().cfg1().modify(|reg| {
reg.set_txdmaen(true);
reg.set_rxdmaen(true);
});
}
let r = join(tx_f, rx_f).await;
Ok(())
}
#[allow(unused)]
@ -218,10 +239,7 @@ impl<'d, T: Instance, Tx, Rx> Spi<'d, T, Tx, Rx> {
let tx_request = self.txdma.request();
let tx_dst = T::regs().txdr().ptr() as *mut u8;
let clock_byte = 0x00;
let tx_f = self
.txdma
.write_x(tx_request, &clock_byte, clock_byte_count, tx_dst);
let tx_f = self.txdma.write(tx_request, write, tx_dst);
unsafe {
T::regs().cfg1().modify(|reg| {

3
examples/stm32l4/src/bin/spi.rs
View File

@ -17,6 +17,7 @@ use embassy_stm32::time::Hertz;
use embedded_hal::blocking::spi::Transfer;
use embedded_hal::digital::v2::OutputPin;
use example_common::*;
use embassy_stm32::dma::NoDma;
#[entry]
fn main() -> ! {
@ -41,6 +42,8 @@ fn main() -> ! {
p.PC10,
p.PC12,
p.PC11,
NoDma,
NoDma,
Hertz(1_000_000),
Config::default(),
);

103
examples/stm32l4/src/bin/spi_dma.rs Normal file
View File

@ -0,0 +1,103 @@
#![no_std]
#![no_main]
#![feature(trait_alias)]
#![feature(min_type_alias_impl_trait)]
#![feature(impl_trait_in_bindings)]
#![feature(type_alias_impl_trait)]
#![allow(incomplete_features)]
#[path = "../example_common.rs"]
mod example_common;
use cortex_m_rt::entry;
use embassy::executor::Executor;
use embassy::time::Clock;
use embassy::util::Forever;
use embassy_stm32::pac;
use example_common::*;
use embassy_stm32::spi::{Spi, Config};
use embassy_traits::spi::FullDuplex;
use embassy_stm32::time::Hertz;
use embassy_stm32::gpio::{Output, Level, Speed};
use embedded_hal::digital::v2::OutputPin;
#[embassy::task]
async fn main_task() {
let p = embassy_stm32::init(Default::default());
let mut spi = Spi::new(
p.SPI3,
p.PC10,
p.PC12,
p.PC11,
p.DMA1_CH0,
p.DMA1_CH1,
Hertz(1_000_000),
Config::default(),
);
let mut cs = Output::new(p.PE0, Level::High, Speed::VeryHigh);
loop {
let write = [0x0A; 10];
let mut read = [0; 10];
unwrap!(cs.set_low());
spi.read_write(&mut read, &write).await.ok();
unwrap!(cs.set_high());
info!("xfer {=[u8]:x}", read);
}
}
struct ZeroClock;
impl Clock for ZeroClock {
fn now(&self) -> u64 {
0
}
}
static EXECUTOR: Forever<Executor> = Forever::new();
#[entry]
fn main() -> ! {
info!("Hello World!");
unsafe {
pac::DBGMCU.cr().modify(|w| {
w.set_dbg_sleep(true);
w.set_dbg_standby(true);
w.set_dbg_stop(true);
});
//pac::RCC.apbenr().modify(|w| {
//w.set_spi3en(true);
// });
pac::RCC.apb2enr().modify(|w| {
w.set_syscfgen(true);
});
pac::RCC.ahb1enr().modify(|w| {
w.set_dmamux1en(true);
w.set_dma1en(true);
w.set_dma2en(true);
});
pac::RCC.ahb2enr().modify(|w| {
w.set_gpioaen(true);
w.set_gpioben(true);
w.set_gpiocen(true);
w.set_gpioden(true);
w.set_gpioeen(true);
w.set_gpiofen(true);
});
}
unsafe { embassy::time::set_clock(&ZeroClock) };
let executor = EXECUTOR.put(Executor::new());
executor.run(|spawner| {
unwrap!(spawner.spawn(main_task()));
})
}