path: root/c/src/lib/libbsp/arm/atsam/spi/atsam_spi_bus.c

/* ---------------------------------------------------------------------------- */
/*                  Atmel Microcontroller Software Support                      */
/*                       SAM Software Package License                           */
/* ---------------------------------------------------------------------------- */
/* Copyright (c) 2015, Atmel Corporation                                        */
/* Copyright (c) 2016, embedded brains GmbH                                     */
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#include <bsp/atsam-clock-config.h>
#include <bsp/atsam-spi.h>
#include <bsp/iocopy.h>

#include <dev/spi/spi.h>

#include <string.h>

#define MAX_SPI_FREQUENCY 50000000

#define DMA_NR_DESC_PER_DIR 3
#define DMA_DESC_ALLIGNMENT 4

#define DMA_BUF_RX 0
#define DMA_BUF_TX 1
#define DMA_BUF_DIRS 2

struct atsam_spi_xdma_buf {
  LinkedListDescriporView0 desc[DMA_NR_DESC_PER_DIR];
  uint8_t leadbuf[CPU_CACHE_LINE_BYTES];
  uint8_t trailbuf[CPU_CACHE_LINE_BYTES];
};

typedef struct {
  spi_bus base;
  bool msg_cs_change;
  const spi_ioc_transfer *msg_current;
  const spi_ioc_transfer *msg_next;
  uint32_t msg_todo;
  int msg_error;
  rtems_id msg_task;
  Spid spi;
  uint32_t dma_tx_channel;
  uint32_t dma_rx_channel;
  struct atsam_spi_xdma_buf *dma_bufs;
  size_t leadbuf_rx_buffered_len;
  size_t trailbuf_rx_buffered_len;
  int transfer_in_progress;
  bool chip_select_active;
  bool chip_select_decode;
} atsam_spi_bus;

static void atsam_spi_wakeup_task(atsam_spi_bus *bus)
{
  rtems_status_code sc;

  sc = rtems_event_transient_send(bus->msg_task);
  assert(sc == RTEMS_SUCCESSFUL);
}

static uint8_t atsam_calculate_dlybcs(uint16_t delay_in_us)
{
  return (
    (BOARD_MCK / delay_in_us) < 0xFF) ?
    (BOARD_MCK / delay_in_us) : 0xFF;
}

static void atsam_set_phase_and_polarity(uint32_t mode, uint32_t *csr)
{
  uint32_t mode_mask = mode & SPI_MODE_3;

  switch(mode_mask) {
    case SPI_MODE_0:
      *csr |= SPI_CSR_NCPHA;
      break;
    case SPI_MODE_1:
      break;
    case SPI_MODE_2:
      *csr |= SPI_CSR_NCPHA;
      *csr |= SPI_CSR_CPOL;
      break;
    case SPI_MODE_3:
      *csr |= SPI_CSR_CPOL;
      break;
  }
  *csr |= SPI_CSR_CSAAT;
}

static void atsam_configure_spi(atsam_spi_bus *bus)
{
  uint8_t delay_cs;
  uint32_t csr = 0;
  uint32_t mode = 0;
  uint32_t cs = bus->base.cs;

  delay_cs = atsam_calculate_dlybcs(bus->base.delay_usecs);

  mode |= SPI_MR_DLYBCS(delay_cs);
  mode |= SPI_MR_MSTR;
  mode |= SPI_MR_MODFDIS;
  if (bus->chip_select_decode) {
    mode |= SPI_MR_PCS(bus->base.cs);
    mode |= SPI_MR_PCSDEC;
    cs /= 4;
  } else {
    mode |= SPI_PCS(bus->base.cs);
  }

  SPID_Configure(
    &bus->spi,
    bus->spi.pSpiHw,
    bus->spi.spiId,
    mode,
    &XDMAD_Instance
  );

  csr =
    SPI_DLYBCT(1000, BOARD_MCK) |
    SPI_DLYBS(1000, BOARD_MCK) |
    SPI_SCBR(bus->base.speed_hz, BOARD_MCK) |
    SPI_CSR_BITS(bus->base.bits_per_word - 8);

  atsam_set_phase_and_polarity(bus->base.mode, &csr);

  SPI_ConfigureNPCS(bus->spi.pSpiHw, cs, csr);
}

static void atsam_spi_check_alignment_and_set_up_dma_descriptors(
  atsam_spi_bus *bus,
  struct atsam_spi_xdma_buf *buf,
  const uint8_t *start,
  size_t len,
  bool tx
)
{
  LinkedListDescriporView0 *curdesc = buf->desc;
  size_t misaligned_begin;
  size_t misaligned_end;
  size_t len_main;
  const uint8_t *start_main;
  const uint8_t *start_trail;

  /* Check alignments. */
  if (len < CPU_CACHE_LINE_BYTES) {
    misaligned_begin = len;
    misaligned_end = 0;
    len_main = 0;
  } else {
    misaligned_begin = ((uint32_t) start) % CPU_CACHE_LINE_BYTES;
    misaligned_end = (((uint32_t) start) + len) % CPU_CACHE_LINE_BYTES;
    len_main = len - misaligned_begin - misaligned_end;
  }
  start_main = start + misaligned_begin;
  start_trail = start_main + len_main;

  /* Store length for copying data back. */
  if (!tx) {
    bus->leadbuf_rx_buffered_len = misaligned_begin;
    bus->trailbuf_rx_buffered_len = misaligned_end;
  }

  /* Handle misalignment on begin. */
  if (misaligned_begin != 0) {
    if (tx) {
      atsam_copy_to_io(buf->leadbuf, start, misaligned_begin);
    }
    curdesc->mbr_nda = (uint32_t) (&curdesc[1]);
    curdesc->mbr_ta = (uint32_t) buf->leadbuf;
    curdesc->mbr_ubc = misaligned_begin;
  }

  /* Main part */
  if (len_main > 0) {
    curdesc->mbr_ubc |= tx ? XDMA_UBC_NSEN_UPDATED : XDMA_UBC_NDEN_UPDATED;
    curdesc->mbr_ubc |= XDMA_UBC_NVIEW_NDV0;
    curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_EN;
    ++curdesc;

    curdesc->mbr_nda = (uint32_t) (&curdesc[1]);
    curdesc->mbr_ta = (uint32_t) start_main;
    curdesc->mbr_ubc = len_main;
    if (tx) {
      rtems_cache_flush_multiple_data_lines(start_main, len_main);
    } else {
      rtems_cache_invalidate_multiple_data_lines(start_main, len_main);
    }
  }

  /* Handle misalignment on end */
  if (misaligned_end != 0) {
    curdesc->mbr_ubc |= tx ? XDMA_UBC_NSEN_UPDATED : XDMA_UBC_NDEN_UPDATED;
    curdesc->mbr_ubc |= XDMA_UBC_NVIEW_NDV0;
    curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_EN;
    ++curdesc;

    if (tx) {
      atsam_copy_to_io(buf->trailbuf, start_trail, misaligned_end);
    }
    curdesc->mbr_nda = 0;
    curdesc->mbr_ta = (uint32_t) buf->trailbuf;
    curdesc->mbr_ubc = misaligned_end;
    curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_DIS;
  }
}

static void atsam_spi_copy_back_rx_after_dma_transfer(
  atsam_spi_bus *bus
)
{
  if (bus->leadbuf_rx_buffered_len != 0) {
    atsam_copy_from_io(
      bus->msg_current->rx_buf,
      bus->dma_bufs[DMA_BUF_RX].leadbuf,
      bus->leadbuf_rx_buffered_len
    );
  }
  if (bus->trailbuf_rx_buffered_len != 0) {
    atsam_copy_from_io(
      bus->msg_current->rx_buf + bus->msg_current->len -
        bus->trailbuf_rx_buffered_len,
      bus->dma_bufs[DMA_BUF_RX].trailbuf,
      bus->trailbuf_rx_buffered_len
    );
  }
}

static void atsam_spi_start_dma_transfer(
  atsam_spi_bus *bus,
  const spi_ioc_transfer *msg
)
{
  Xdmac *pXdmac = XDMAC;
  size_t i;

  atsam_spi_check_alignment_and_set_up_dma_descriptors(
    bus,
    &bus->dma_bufs[DMA_BUF_RX],
    msg->rx_buf,
    msg->len,
    false
  );
  atsam_spi_check_alignment_and_set_up_dma_descriptors(
    bus,
    &bus->dma_bufs[DMA_BUF_TX],
    msg->tx_buf,
    msg->len,
    true
  );

  XDMAC_SetDescriptorAddr(
    pXdmac,
    bus->dma_rx_channel,
    (uint32_t) bus->dma_bufs[DMA_BUF_RX].desc,
    0
  );
  XDMAC_SetDescriptorControl(
    pXdmac,
    bus->dma_rx_channel,
    XDMAC_CNDC_NDVIEW_NDV0 |
    XDMAC_CNDC_NDDUP_DST_PARAMS_UPDATED |
    XDMAC_CNDC_NDE_DSCR_FETCH_EN
  );
  XDMAC_SetDescriptorAddr(
    pXdmac,
    bus->dma_tx_channel,
    (uint32_t) bus->dma_bufs[DMA_BUF_TX].desc,
    0
  );
  XDMAC_SetDescriptorControl(
    pXdmac,
    bus->dma_tx_channel,
    XDMAC_CNDC_NDVIEW_NDV0 |
    XDMAC_CNDC_NDSUP_SRC_PARAMS_UPDATED |
    XDMAC_CNDC_NDE_DSCR_FETCH_EN
  );

  XDMAC_StartTransfer(pXdmac, bus->dma_rx_channel);
  XDMAC_StartTransfer(pXdmac, bus->dma_tx_channel);
}

static void atsam_spi_do_transfer(
  atsam_spi_bus *bus,
  const spi_ioc_transfer *msg
)
{
  if (!bus->chip_select_active){
    Spi *pSpiHw = bus->spi.pSpiHw;

    bus->chip_select_active = true;

    if (bus->chip_select_decode) {
      pSpiHw->SPI_MR = (pSpiHw->SPI_MR & ~SPI_MR_PCS_Msk) | SPI_MR_PCS(msg->cs);
    } else {
      SPI_ChipSelect(pSpiHw, 1 << msg->cs);
    }
    SPI_Enable(pSpiHw);
  }

  atsam_spi_start_dma_transfer(bus, msg);
}

static int atsam_check_configure_spi(atsam_spi_bus *bus, const spi_ioc_transfer *msg)
{
  if (
    msg->mode != bus->base.mode
      || msg->speed_hz != bus->base.speed_hz
      || msg->bits_per_word != bus->base.bits_per_word
      || msg->cs != bus->base.cs
      || msg->delay_usecs != bus->base.delay_usecs
  ) {
    if (
      msg->bits_per_word < 8
        || msg->bits_per_word > 16
        || msg->mode > 3
        || msg->speed_hz > bus->base.max_speed_hz
    ) {
      return -EINVAL;
    }

    bus->base.mode = msg->mode;
    bus->base.speed_hz = msg->speed_hz;
    bus->base.bits_per_word = msg->bits_per_word;
    bus->base.cs = msg->cs;
    bus->base.delay_usecs = msg->delay_usecs;
    atsam_configure_spi(bus);
  }

  return 0;
}

static void atsam_spi_setup_transfer(atsam_spi_bus *bus)
{
  uint32_t msg_todo = bus->msg_todo;

  bus->transfer_in_progress = 2;

  if (bus->msg_cs_change) {
    bus->chip_select_active = false;
    SPI_ReleaseCS(bus->spi.pSpiHw);
    SPI_Disable(bus->spi.pSpiHw);
  }

  if (msg_todo > 0) {
    const spi_ioc_transfer *msg = bus->msg_next;
    int error;

    bus->msg_cs_change = msg->cs_change;
    bus->msg_next = msg + 1;
    bus->msg_current = msg;
    bus->msg_todo = msg_todo - 1;

    error = atsam_check_configure_spi(bus, msg);
    if (error == 0) {
      atsam_spi_do_transfer(bus, msg);
    } else {
      bus->msg_error = error;
      atsam_spi_wakeup_task(bus);
    }
  } else {
    atsam_spi_wakeup_task(bus);
  }
}

static void atsam_spi_dma_callback(uint32_t channel, void *arg)
{
  atsam_spi_bus *bus = (atsam_spi_bus *)arg;

  --bus->transfer_in_progress;

  if (bus->transfer_in_progress == 0) {
    atsam_spi_copy_back_rx_after_dma_transfer(bus);
    atsam_spi_setup_transfer(bus);
  }
}

static int atsam_spi_transfer(
  spi_bus *base,
  const spi_ioc_transfer *msgs,
  uint32_t msg_count
)
{
  rtems_status_code sc;
  atsam_spi_bus *bus = (atsam_spi_bus *)base;

  bus->msg_cs_change = false;
  bus->msg_next = &msgs[0];
  bus->msg_current = NULL;
  bus->msg_todo = msg_count;
  bus->msg_error = 0;
  bus->msg_task = rtems_task_self();
  atsam_spi_setup_transfer(bus);
  sc = rtems_event_transient_receive(RTEMS_WAIT, RTEMS_NO_TIMEOUT);
  assert(sc == RTEMS_SUCCESSFUL);
  return bus->msg_error;
}


static void atsam_spi_destroy(spi_bus *base)
{
  atsam_spi_bus *bus = (atsam_spi_bus *)base;
  eXdmadRC rc;

  rc = XDMAD_SetCallback(
    bus->spi.pXdmad,
    bus->dma_rx_channel,
    XDMAD_DoNothingCallback,
    NULL
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_SetCallback(
    bus->spi.pXdmad,
    bus->dma_tx_channel,
    XDMAD_DoNothingCallback,
    NULL
  );
  assert(rc == XDMAD_OK);

  XDMAD_FreeChannel(bus->spi.pXdmad, bus->dma_rx_channel);
  XDMAD_FreeChannel(bus->spi.pXdmad, bus->dma_tx_channel);

  SPI_Disable(bus->spi.pSpiHw);
  PMC_DisablePeripheral(bus->spi.spiId);

  rtems_cache_coherent_free(bus->dma_bufs);

  spi_bus_destroy_and_free(&bus->base);
}

static int atsam_spi_setup(spi_bus *base)
{
  atsam_spi_bus *bus = (atsam_spi_bus *)base;

  if (
    bus->base.speed_hz > MAX_SPI_FREQUENCY ||
    bus->base.bits_per_word < 8 ||
    bus->base.bits_per_word > 16
  ) {
      return -EINVAL;
  }
  atsam_configure_spi(bus);
  return 0;
}

static void atsam_spi_init_xdma(atsam_spi_bus *bus)
{
  sXdmadCfg cfg;
  uint32_t xdmaInt;
  uint8_t channel;
  eXdmadRC rc;
  uint32_t xdma_cndc;

  bus->dma_bufs = rtems_cache_coherent_allocate(
    DMA_BUF_DIRS * sizeof(*(bus->dma_bufs)),
    DMA_DESC_ALLIGNMENT,
    0
  );
  assert(bus->dma_bufs != NULL);

  bus->dma_tx_channel = XDMAD_AllocateChannel(
    bus->spi.pXdmad,
    XDMAD_TRANSFER_MEMORY,
    bus->spi.spiId
  );
  assert(bus->dma_tx_channel != XDMAD_ALLOC_FAILED);

  bus->dma_rx_channel = XDMAD_AllocateChannel(
    bus->spi.pXdmad,
    bus->spi.spiId,
    XDMAD_TRANSFER_MEMORY
  );
  assert(bus->dma_rx_channel != XDMAD_ALLOC_FAILED);

  rc = XDMAD_SetCallback(
    bus->spi.pXdmad,
    bus->dma_rx_channel,
    atsam_spi_dma_callback,
    bus
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_SetCallback(
    bus->spi.pXdmad,
    bus->dma_tx_channel,
    atsam_spi_dma_callback,
    bus
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_PrepareChannel(bus->spi.pXdmad, bus->dma_rx_channel);
  assert(rc == XDMAD_OK);

  rc = XDMAD_PrepareChannel(bus->spi.pXdmad, bus->dma_tx_channel);
  assert(rc == XDMAD_OK);

  /* Put all relevant interrupts on */
  xdmaInt =  (
    XDMAC_CIE_BIE |
    XDMAC_CIE_DIE |
    XDMAC_CIE_FIE |
    XDMAC_CIE_RBIE |
    XDMAC_CIE_WBIE |
    XDMAC_CIE_ROIE);

  /* Setup RX */
  memset(&cfg, 0, sizeof(cfg));
  channel = XDMAIF_Get_ChannelNumber(bus->spi.spiId, XDMAD_TRANSFER_RX);
  cfg.mbr_sa = (uint32_t)&bus->spi.pSpiHw->SPI_RDR;
  cfg.mbr_cfg =
    XDMAC_CC_TYPE_PER_TRAN |
    XDMAC_CC_MBSIZE_SINGLE |
    XDMAC_CC_DSYNC_PER2MEM |
    XDMAC_CC_CSIZE_CHK_1 |
    XDMAC_CC_DWIDTH_BYTE |
    XDMAC_CC_SIF_AHB_IF1 |
    XDMAC_CC_DIF_AHB_IF1 |
    XDMAC_CC_SAM_FIXED_AM |
    XDMAC_CC_DAM_INCREMENTED_AM |
    XDMAC_CC_PERID(channel);
  xdma_cndc = XDMAC_CNDC_NDVIEW_NDV0 |
    XDMAC_CNDC_NDE_DSCR_FETCH_EN |
    XDMAC_CNDC_NDDUP_DST_PARAMS_UPDATED |
    XDMAC_CNDC_NDSUP_SRC_PARAMS_UNCHANGED;
  rc = XDMAD_ConfigureTransfer(
    bus->spi.pXdmad,
    bus->dma_rx_channel,
    &cfg,
    xdma_cndc,
    (uint32_t) bus->dma_bufs[DMA_BUF_RX].desc,
    xdmaInt
  );
  assert(rc == XDMAD_OK);

  /* Setup TX  */
  memset(&cfg, 0, sizeof(cfg));
  channel = XDMAIF_Get_ChannelNumber(bus->spi.spiId, XDMAD_TRANSFER_TX);
  cfg.mbr_da = (uint32_t)&bus->spi.pSpiHw->SPI_TDR;
  cfg.mbr_cfg =
    XDMAC_CC_TYPE_PER_TRAN |
    XDMAC_CC_MBSIZE_SINGLE |
    XDMAC_CC_DSYNC_MEM2PER |
    XDMAC_CC_CSIZE_CHK_1 |
    XDMAC_CC_DWIDTH_BYTE |
    XDMAC_CC_SIF_AHB_IF1 |
    XDMAC_CC_DIF_AHB_IF1 |
    XDMAC_CC_SAM_INCREMENTED_AM |
    XDMAC_CC_DAM_FIXED_AM |
    XDMAC_CC_PERID(channel);
  xdma_cndc = XDMAC_CNDC_NDVIEW_NDV0 |
    XDMAC_CNDC_NDE_DSCR_FETCH_EN |
    XDMAC_CNDC_NDDUP_DST_PARAMS_UNCHANGED |
    XDMAC_CNDC_NDSUP_SRC_PARAMS_UPDATED;
  rc = XDMAD_ConfigureTransfer(
    bus->spi.pXdmad,
    bus->dma_tx_channel,
    &cfg,
    xdma_cndc,
    (uint32_t) bus->dma_bufs[DMA_BUF_TX].desc,
    xdmaInt
  );
  assert(rc == XDMAD_OK);
}

int spi_bus_register_atsam(
  const char *bus_path,
  const atsam_spi_config *config
)
{
  atsam_spi_bus *bus;

  bus = (atsam_spi_bus *) spi_bus_alloc_and_init(sizeof(*bus));
  if (bus == NULL) {
    return -1;
  }

  bus->base.transfer = atsam_spi_transfer;
  bus->base.destroy = atsam_spi_destroy;
  bus->base.setup = atsam_spi_setup;
  bus->base.max_speed_hz = MAX_SPI_FREQUENCY;
  bus->base.bits_per_word = 8;
  bus->base.speed_hz = bus->base.max_speed_hz;
  bus->base.delay_usecs = 1;
  bus->base.cs = 1;
  bus->spi.spiId = config->spi_peripheral_id;
  bus->spi.pSpiHw = config->spi_regs;
  bus->chip_select_decode = config->chip_select_decode;

  PIO_Configure(config->pins, config->pin_count);
  PMC_EnablePeripheral(config->spi_peripheral_id);
  atsam_configure_spi(bus);
  atsam_spi_init_xdma(bus);

  return spi_bus_register(&bus->base, bus_path);
}