path: root/bsps/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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/* this software without specific prior written permission.                     */
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/* ---------------------------------------------------------------------------- */

#include <bsp/atsam-clock-config.h>
#include <bsp/atsam-spi.h>
#include <bsp/iocopy.h>

#include <rtems/thread.h>

#include <dev/spi/spi.h>

#include <string.h>

#define MAX_SPI_FREQUENCY 50000000

typedef struct {
  volatile LinkedListDescriporView0 tx_desc;
  volatile LinkedListDescriporView0 rx_desc[3];
  uint8_t rx_bounce_head_buf[CPU_CACHE_LINE_BYTES];
  uint8_t rx_bounce_tail_buf[CPU_CACHE_LINE_BYTES];
} atsam_spi_dma;

typedef struct {
  spi_bus base;
  rtems_binary_semaphore sem;
  const spi_ioc_transfer *msg_current;
  uint32_t msg_todo;
  int error;
  Spi *spi_regs;
  uint32_t dma_tx_channel;
  uint32_t dma_rx_channel;
  atsam_spi_dma *dma;
  size_t rx_bounce_head_len;
  size_t rx_bounce_tail_len;
  int transfer_in_progress;
  bool chip_select_decode;
  uint8_t spi_id;
  uint32_t peripheral_clk_per_us;
  uint32_t spi_mr;
  uint32_t spi_csr[4];
} atsam_spi_bus;

static void atsam_spi_wakeup_task(atsam_spi_bus *bus)
{
  rtems_binary_semaphore_post(&bus->sem);
}

static uint8_t atsam_calculate_dlybcs(const atsam_spi_bus *bus)
{
  uint32_t dlybcs = bus->base.delay_usecs * bus->peripheral_clk_per_us;

  if (dlybcs > 0xff) {
    dlybcs = 0xff;
  }

  return dlybcs;
}

static uint32_t atsam_calculate_scbr(uint32_t speed_hz)
{
  uint32_t scbr;

  scbr = BOARD_MCK / speed_hz;
  if (scbr > 0x0FF) {
    /* Best estimation we can offer with the hardware. */
    scbr = 0x0FF;
  }
  if (scbr == 0) {
    /* SCBR = 0 isn't allowed. */
    scbr = 1;
  }

  return scbr;
}

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)
{
  uint32_t scbr;
  uint32_t csr = 0;
  uint32_t mr;
  uint32_t cs = bus->base.cs;

  scbr = atsam_calculate_scbr(bus->base.speed_hz);

  mr = bus->spi_mr;

  if (bus->chip_select_decode) {
    mr |= SPI_MR_PCS(bus->base.cs);
    mr |= SPI_MR_PCSDEC;
    cs /= 4;
  } else {
    mr |= SPI_PCS(bus->base.cs);
  }

  bus->spi_regs->SPI_MR = mr;

  csr = bus->spi_csr[cs]
    | SPI_CSR_SCBR(scbr)
    | SPI_CSR_BITS(bus->base.bits_per_word - 8);

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

  SPI_ConfigureNPCS(bus->spi_regs, cs, csr);
}

static void atsam_reset_spi(atsam_spi_bus *bus)
{
  bus->spi_regs->SPI_CR = SPI_CR_SPIDIS;
  bus->spi_regs->SPI_CR = SPI_CR_SWRST;
  bus->spi_regs->SPI_CR = SPI_CR_SWRST;
  bus->spi_regs->SPI_CR = SPI_CR_SPIEN;
}

static void atsam_spi_copy_rx_bounce_bufs(
  const atsam_spi_bus *bus,
  const spi_ioc_transfer *msg
)
{
  if (bus->rx_bounce_head_len > 0) {
    atsam_copy_from_io(
      msg->rx_buf,
      bus->dma->rx_bounce_head_buf,
      bus->rx_bounce_head_len
    );
  }

  if (bus->rx_bounce_tail_len > 0) {
    atsam_copy_from_io(
      msg->rx_buf + msg->len - bus->rx_bounce_tail_len,
      bus->dma->rx_bounce_tail_buf,
      bus->rx_bounce_tail_len
    );
  }
}

static void atsam_spi_setup_rx_dma_desc(
  atsam_spi_bus *bus,
  atsam_spi_dma *dma,
  const uint8_t *buf,
  size_t n
)
{
  volatile LinkedListDescriporView0 *desc;
  uintptr_t m;
  uintptr_t b;
  uintptr_t a;
  uintptr_t ae;
  uintptr_t e;

  desc = &dma->rx_desc[0];
  m = CPU_CACHE_LINE_BYTES - 1;
  b = (uintptr_t) buf;
  e = b + n;
  a = (b + m) & ~m;
  ae = e & ~m;

  if (n <= m) {
    bus->rx_bounce_head_len = n;
    bus->rx_bounce_tail_len = 0;

    desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
    desc[0].mbr_ubc = n;
  } else {
    bus->rx_bounce_head_len = a - b;
    bus->rx_bounce_tail_len = e & m;

    if ((b & m) == 0) {
      if ((n & m) == 0) {
        desc[0].mbr_ta = a;
        desc[0].mbr_ubc = n;
      } else {
        desc[0].mbr_ta = a;
        desc[0].mbr_ubc = (ae - a) | XDMA_UBC_NDEN_UPDATED
          | XDMA_UBC_NVIEW_NDV0
          | XDMA_UBC_NDE_FETCH_EN;
        desc[1].mbr_ta = (uint32_t) dma->rx_bounce_tail_buf;
        desc[1].mbr_ubc = n & m;
      }
    } else {
      if ((e & m) == 0) {
        desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
        desc[0].mbr_ubc = (a - b) | XDMA_UBC_NDEN_UPDATED
          | XDMA_UBC_NVIEW_NDV0
          | XDMA_UBC_NDE_FETCH_EN;
        desc[1].mbr_ta = a;
        desc[1].mbr_ubc = ae - a;
      } else if ((ae - a) == 0) {
        bus->rx_bounce_head_len = n;
        bus->rx_bounce_tail_len = 0;

        desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
        desc[0].mbr_ubc = n;
      } else {
        desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
        desc[0].mbr_ubc = (a - b) | XDMA_UBC_NDEN_UPDATED
          | XDMA_UBC_NVIEW_NDV0
          | XDMA_UBC_NDE_FETCH_EN;
        desc[1].mbr_ta = a;
        desc[1].mbr_ubc = (ae - a) | XDMA_UBC_NDEN_UPDATED
          | XDMA_UBC_NVIEW_NDV0
          | XDMA_UBC_NDE_FETCH_EN;
        desc[2].mbr_ta = (uint32_t) dma->rx_bounce_tail_buf;
        desc[2].mbr_ubc = e - ae;
      }
    }

    rtems_cache_invalidate_multiple_data_lines((void *) a, ae - a);
  }
}

static void atsam_spi_setup_tx_dma_desc(
  atsam_spi_dma *dma,
  const uint8_t *buf,
  size_t n
)
{
  volatile LinkedListDescriporView0 *desc;

  desc = &dma->tx_desc;
  desc->mbr_ta = (uint32_t) buf;
  desc->mbr_ubc = n;

  rtems_cache_flush_multiple_data_lines(buf, n);
}

static void atsam_spi_start_dma_transfer(
  atsam_spi_bus *bus,
  const spi_ioc_transfer *msg
)
{
  atsam_spi_dma *dma;
  Xdmac *pXdmac;

  dma = bus->dma;
  pXdmac = XDMAC;

  bus->transfer_in_progress = 2;

  atsam_spi_setup_rx_dma_desc(bus, dma, msg->rx_buf, msg->len);
  atsam_spi_setup_tx_dma_desc(dma, msg->tx_buf, msg->len);

  XDMAC_SetDescriptorAddr(
    pXdmac,
    bus->dma_rx_channel,
    (uint32_t) &dma->rx_desc[0],
    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) &dma->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 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
  ) {
    if (
      msg->bits_per_word != 8
        || 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;
    atsam_configure_spi(bus);
  }

  return 0;
}

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

  if (msg_todo > 0) {
    const spi_ioc_transfer *msg;
    int error;

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

static void atsam_spi_dma_callback(uint32_t ch, void *arg, uint32_t status)
{
  atsam_spi_bus *bus;
  uint32_t dma_errors;

  bus = arg;
  dma_errors = XDMAC_CIE_DIE | XDMAC_CIE_FIE | XDMAC_CIE_RBIE | XDMAC_CIE_WBIE
    | XDMAC_CIE_ROIE;

  if ((status & dma_errors) != 0) {
    bus->error = -EIO;
  }

  --bus->transfer_in_progress;

  if (bus->transfer_in_progress == 0) {
    const spi_ioc_transfer *msg = bus->msg_current;

    if (msg->delay_usecs != bus->base.delay_usecs) {
      uint32_t mr;
      uint32_t mr_dlybcs;

      bus->base.delay_usecs = msg->delay_usecs;
      mr_dlybcs = SPI_MR_DLYBCS(atsam_calculate_dlybcs(bus));
      bus->spi_mr = mr_dlybcs | SPI_MR_MSTR | SPI_MR_MODFDIS;

      mr = bus->spi_regs->SPI_MR;
      mr &= ~SPI_MR_DLYBCS_Msk;
      mr |= mr_dlybcs;
      bus->spi_regs->SPI_MR = mr;
    }

    if (msg->cs_change) {
      bus->spi_regs->SPI_CR = SPI_CR_LASTXFER;
    }

    atsam_spi_copy_rx_bounce_bufs(bus, msg);

    bus->msg_current = msg + 1;
    --bus->msg_todo;

    if (bus->error == 0) {
      atsam_spi_setup_transfer(bus);
    } else {
      atsam_spi_wakeup_task(bus);
    }
  }
}

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

  bus->msg_current = msgs;
  bus->msg_todo = msg_count;
  bus->error = 0;
  atsam_spi_setup_transfer(bus);
  rtems_binary_semaphore_wait(&bus->sem);
  return bus->error;
}


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

  rc = XDMAD_SetCallback(
    &XDMAD_Instance,
    bus->dma_rx_channel,
    XDMAD_DoNothingCallback,
    NULL
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_SetCallback(
    &XDMAD_Instance,
    bus->dma_tx_channel,
    XDMAD_DoNothingCallback,
    NULL
  );
  assert(rc == XDMAD_OK);

  XDMAD_FreeChannel(&XDMAD_Instance, bus->dma_rx_channel);
  XDMAD_FreeChannel(&XDMAD_Instance, bus->dma_tx_channel);

  SPI_Disable(bus->spi_regs);
  PMC_DisablePeripheral(bus->spi_id);

  rtems_cache_coherent_free(bus->dma);
  rtems_binary_semaphore_destroy(&bus->sem);
  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
  ) {
      return -EINVAL;
  }
  atsam_configure_spi(bus);
  return 0;
}

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

  dma = rtems_cache_coherent_allocate(sizeof(*dma), 0, 0);
  assert(dma != NULL);
  bus->dma = dma;

  dma->tx_desc.mbr_nda = 0;
  dma->rx_desc[0].mbr_nda = (uint32_t) &dma->rx_desc[1];
  dma->rx_desc[1].mbr_nda = (uint32_t) &dma->rx_desc[2];
  dma->rx_desc[2].mbr_nda = 0;

  bus->dma_tx_channel = XDMAD_AllocateChannel(
    &XDMAD_Instance,
    XDMAD_TRANSFER_MEMORY,
    bus->spi_id
  );
  assert(bus->dma_tx_channel != XDMAD_ALLOC_FAILED);

  bus->dma_rx_channel = XDMAD_AllocateChannel(
    &XDMAD_Instance,
    bus->spi_id,
    XDMAD_TRANSFER_MEMORY
  );
  assert(bus->dma_rx_channel != XDMAD_ALLOC_FAILED);

  rc = XDMAD_SetCallback(
    &XDMAD_Instance,
    bus->dma_rx_channel,
    atsam_spi_dma_callback,
    bus
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_SetCallback(
    &XDMAD_Instance,
    bus->dma_tx_channel,
    atsam_spi_dma_callback,
    bus
  );
  assert(rc == XDMAD_OK);

  rc = XDMAD_PrepareChannel(&XDMAD_Instance, bus->dma_rx_channel);
  assert(rc == XDMAD_OK);

  rc = XDMAD_PrepareChannel(&XDMAD_Instance, bus->dma_tx_channel);
  assert(rc == XDMAD_OK);

  /* Put all relevant interrupts on */
  xdmaInt = XDMAC_CIE_LIE | 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_id, XDMAD_TRANSFER_RX);
  cfg.mbr_sa = (uint32_t)&bus->spi_regs->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(
    &XDMAD_Instance,
    bus->dma_rx_channel,
    &cfg,
    xdma_cndc,
    (uint32_t) &bus->dma->rx_desc[0],
    xdmaInt
  );
  assert(rc == XDMAD_OK);

  /* Setup TX  */
  memset(&cfg, 0, sizeof(cfg));
  channel = XDMAIF_Get_ChannelNumber(bus->spi_id, XDMAD_TRANSFER_TX);
  cfg.mbr_da = (uint32_t)&bus->spi_regs->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(
    &XDMAD_Instance,
    bus->dma_tx_channel,
    &cfg,
    xdma_cndc,
    (uint32_t) &bus->dma->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;
  size_t i;

  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.cs = 1;
  bus->spi_id = config->spi_peripheral_id;
  bus->spi_regs = config->spi_regs;
  bus->chip_select_decode = config->chip_select_decode;
  bus->peripheral_clk_per_us = BOARD_MCK / 1000000;
  bus->spi_mr = SPI_MR_MSTR | SPI_MR_MODFDIS;

  for (i = 0; i < RTEMS_ARRAY_SIZE(bus->spi_csr); ++i) {
    if (config->dlybs_in_ns[i] != 0) {
      bus->spi_csr[i] |= SPI_DLYBS(config->dlybs_in_ns[i], BOARD_MCK);
    }

    if (config->dlybct_in_ns[i] != 0) {
      bus->spi_csr[i] |= SPI_DLYBCT(config->dlybct_in_ns[i], BOARD_MCK);
    }
  }

  rtems_binary_semaphore_init(&bus->sem, "ATSAM SPI");
  PIO_Configure(config->pins, config->pin_count);
  PMC_EnablePeripheral(config->spi_peripheral_id);
  atsam_reset_spi(bus);
  atsam_configure_spi(bus);
  atsam_spi_init_xdma(bus);

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