Gan likun / The prosthetic control

The prosthetic control（MIT）

drivers/SPI.h@0:20e0c61e0684, 2022-06-23 (annotated)

Committer:
ganlikun
Date:
Thu Jun 23 05:23:34 2022 +0000
Revision:
0:20e0c61e0684
01

Who changed what in which revision?

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ganlikun 0:20e0c61e0684 1 /* mbed Microcontroller Library
ganlikun 0:20e0c61e0684 2 * Copyright (c) 2006-2015 ARM Limited
ganlikun 0:20e0c61e0684 3 *
ganlikun 0:20e0c61e0684 4 * Licensed under the Apache License, Version 2.0 (the "License");
ganlikun 0:20e0c61e0684 5 * you may not use this file except in compliance with the License.
ganlikun 0:20e0c61e0684 6 * You may obtain a copy of the License at
ganlikun 0:20e0c61e0684 7 *
ganlikun 0:20e0c61e0684 8 * http://www.apache.org/licenses/LICENSE-2.0
ganlikun 0:20e0c61e0684 9 *
ganlikun 0:20e0c61e0684 10 * Unless required by applicable law or agreed to in writing, software
ganlikun 0:20e0c61e0684 11 * distributed under the License is distributed on an "AS IS" BASIS,
ganlikun 0:20e0c61e0684 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
ganlikun 0:20e0c61e0684 13 * See the License for the specific language governing permissions and
ganlikun 0:20e0c61e0684 14 * limitations under the License.
ganlikun 0:20e0c61e0684 15 */
ganlikun 0:20e0c61e0684 16 #ifndef MBED_SPI_H
ganlikun 0:20e0c61e0684 17 #define MBED_SPI_H
ganlikun 0:20e0c61e0684 18
ganlikun 0:20e0c61e0684 19 #include "platform/platform.h"
ganlikun 0:20e0c61e0684 20
ganlikun 0:20e0c61e0684 21 #if defined (DEVICE_SPI) || defined(DOXYGEN_ONLY)
ganlikun 0:20e0c61e0684 22
ganlikun 0:20e0c61e0684 23 #include "platform/PlatformMutex.h"
ganlikun 0:20e0c61e0684 24 #include "hal/spi_api.h"
ganlikun 0:20e0c61e0684 25 #include "platform/SingletonPtr.h"
ganlikun 0:20e0c61e0684 26 #include "platform/NonCopyable.h"
ganlikun 0:20e0c61e0684 27
ganlikun 0:20e0c61e0684 28 #if DEVICE_SPI_ASYNCH
ganlikun 0:20e0c61e0684 29 #include "platform/CThunk.h"
ganlikun 0:20e0c61e0684 30 #include "hal/dma_api.h"
ganlikun 0:20e0c61e0684 31 #include "platform/CircularBuffer.h"
ganlikun 0:20e0c61e0684 32 #include "platform/FunctionPointer.h"
ganlikun 0:20e0c61e0684 33 #include "platform/Transaction.h"
ganlikun 0:20e0c61e0684 34 #endif
ganlikun 0:20e0c61e0684 35
ganlikun 0:20e0c61e0684 36 namespace mbed {
ganlikun 0:20e0c61e0684 37 /** \addtogroup drivers */
ganlikun 0:20e0c61e0684 38
ganlikun 0:20e0c61e0684 39 /** A SPI Master, used for communicating with SPI slave devices
ganlikun 0:20e0c61e0684 40 *
ganlikun 0:20e0c61e0684 41 * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz
ganlikun 0:20e0c61e0684 42 *
ganlikun 0:20e0c61e0684 43 * Most SPI devices will also require Chip Select and Reset signals. These
ganlikun 0:20e0c61e0684 44 * can be controlled using DigitalOut pins
ganlikun 0:20e0c61e0684 45 *
ganlikun 0:20e0c61e0684 46 * @note Synchronization level: Thread safe
ganlikun 0:20e0c61e0684 47 *
ganlikun 0:20e0c61e0684 48 * Example:
ganlikun 0:20e0c61e0684 49 * @code
ganlikun 0:20e0c61e0684 50 * // Send a byte to a SPI slave, and record the response
ganlikun 0:20e0c61e0684 51 *
ganlikun 0:20e0c61e0684 52 * #include "mbed.h"
ganlikun 0:20e0c61e0684 53 *
ganlikun 0:20e0c61e0684 54 * // hardware ssel (where applicable)
ganlikun 0:20e0c61e0684 55 * //SPI device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
ganlikun 0:20e0c61e0684 56 *
ganlikun 0:20e0c61e0684 57 * // software ssel
ganlikun 0:20e0c61e0684 58 * SPI device(p5, p6, p7); // mosi, miso, sclk
ganlikun 0:20e0c61e0684 59 * DigitalOut cs(p8); // ssel
ganlikun 0:20e0c61e0684 60 *
ganlikun 0:20e0c61e0684 61 * int main() {
ganlikun 0:20e0c61e0684 62 * // hardware ssel (where applicable)
ganlikun 0:20e0c61e0684 63 * //int response = device.write(0xFF);
ganlikun 0:20e0c61e0684 64 *
ganlikun 0:20e0c61e0684 65 * device.lock();
ganlikun 0:20e0c61e0684 66 * // software ssel
ganlikun 0:20e0c61e0684 67 * cs = 0;
ganlikun 0:20e0c61e0684 68 * int response = device.write(0xFF);
ganlikun 0:20e0c61e0684 69 * cs = 1;
ganlikun 0:20e0c61e0684 70 * device.unlock();
ganlikun 0:20e0c61e0684 71 *
ganlikun 0:20e0c61e0684 72 * }
ganlikun 0:20e0c61e0684 73 * @endcode
ganlikun 0:20e0c61e0684 74 * @ingroup drivers
ganlikun 0:20e0c61e0684 75 */
ganlikun 0:20e0c61e0684 76 class SPI : private NonCopyable<SPI> {
ganlikun 0:20e0c61e0684 77
ganlikun 0:20e0c61e0684 78 public:
ganlikun 0:20e0c61e0684 79
ganlikun 0:20e0c61e0684 80 /** Create a SPI master connected to the specified pins
ganlikun 0:20e0c61e0684 81 *
ganlikun 0:20e0c61e0684 82 * mosi or miso can be specfied as NC if not used
ganlikun 0:20e0c61e0684 83 *
ganlikun 0:20e0c61e0684 84 * @param mosi SPI Master Out, Slave In pin
ganlikun 0:20e0c61e0684 85 * @param miso SPI Master In, Slave Out pin
ganlikun 0:20e0c61e0684 86 * @param sclk SPI Clock pin
ganlikun 0:20e0c61e0684 87 * @param ssel SPI chip select pin
ganlikun 0:20e0c61e0684 88 */
ganlikun 0:20e0c61e0684 89 SPI(PinName mosi, PinName miso, PinName sclk, PinName ssel=NC);
ganlikun 0:20e0c61e0684 90
ganlikun 0:20e0c61e0684 91 /** Configure the data transmission format
ganlikun 0:20e0c61e0684 92 *
ganlikun 0:20e0c61e0684 93 * @param bits Number of bits per SPI frame (4 - 16)
ganlikun 0:20e0c61e0684 94 * @param mode Clock polarity and phase mode (0 - 3)
ganlikun 0:20e0c61e0684 95 *
ganlikun 0:20e0c61e0684 96 * @code
ganlikun 0:20e0c61e0684 97 * mode | POL PHA
ganlikun 0:20e0c61e0684 98 * -----+--------
ganlikun 0:20e0c61e0684 99 * 0 | 0 0
ganlikun 0:20e0c61e0684 100 * 1 | 0 1
ganlikun 0:20e0c61e0684 101 * 2 | 1 0
ganlikun 0:20e0c61e0684 102 * 3 | 1 1
ganlikun 0:20e0c61e0684 103 * @endcode
ganlikun 0:20e0c61e0684 104 */
ganlikun 0:20e0c61e0684 105 void format(int bits, int mode = 0);
ganlikun 0:20e0c61e0684 106
ganlikun 0:20e0c61e0684 107 /** Set the spi bus clock frequency
ganlikun 0:20e0c61e0684 108 *
ganlikun 0:20e0c61e0684 109 * @param hz SCLK frequency in hz (default = 1MHz)
ganlikun 0:20e0c61e0684 110 */
ganlikun 0:20e0c61e0684 111 void frequency(int hz = 1000000);
ganlikun 0:20e0c61e0684 112
ganlikun 0:20e0c61e0684 113 /** Write to the SPI Slave and return the response
ganlikun 0:20e0c61e0684 114 *
ganlikun 0:20e0c61e0684 115 * @param value Data to be sent to the SPI slave
ganlikun 0:20e0c61e0684 116 *
ganlikun 0:20e0c61e0684 117 * @returns
ganlikun 0:20e0c61e0684 118 * Response from the SPI slave
ganlikun 0:20e0c61e0684 119 */
ganlikun 0:20e0c61e0684 120 virtual int write(int value);
ganlikun 0:20e0c61e0684 121
ganlikun 0:20e0c61e0684 122 /** Write to the SPI Slave and obtain the response
ganlikun 0:20e0c61e0684 123 *
ganlikun 0:20e0c61e0684 124 * The total number of bytes sent and recieved will be the maximum of
ganlikun 0:20e0c61e0684 125 * tx_length and rx_length. The bytes written will be padded with the
ganlikun 0:20e0c61e0684 126 * value 0xff.
ganlikun 0:20e0c61e0684 127 *
ganlikun 0:20e0c61e0684 128 * @param tx_buffer Pointer to the byte-array of data to write to the device
ganlikun 0:20e0c61e0684 129 * @param tx_length Number of bytes to write, may be zero
ganlikun 0:20e0c61e0684 130 * @param rx_buffer Pointer to the byte-array of data to read from the device
ganlikun 0:20e0c61e0684 131 * @param rx_length Number of bytes to read, may be zero
ganlikun 0:20e0c61e0684 132 * @returns
ganlikun 0:20e0c61e0684 133 * The number of bytes written and read from the device. This is
ganlikun 0:20e0c61e0684 134 * maximum of tx_length and rx_length.
ganlikun 0:20e0c61e0684 135 */
ganlikun 0:20e0c61e0684 136 virtual int write(const char *tx_buffer, int tx_length, char *rx_buffer, int rx_length);
ganlikun 0:20e0c61e0684 137
ganlikun 0:20e0c61e0684 138 /** Acquire exclusive access to this SPI bus
ganlikun 0:20e0c61e0684 139 */
ganlikun 0:20e0c61e0684 140 virtual void lock(void);
ganlikun 0:20e0c61e0684 141
ganlikun 0:20e0c61e0684 142 /** Release exclusive access to this SPI bus
ganlikun 0:20e0c61e0684 143 */
ganlikun 0:20e0c61e0684 144 virtual void unlock(void);
ganlikun 0:20e0c61e0684 145
ganlikun 0:20e0c61e0684 146 /** Set default write data
ganlikun 0:20e0c61e0684 147 * SPI requires the master to send some data during a read operation.
ganlikun 0:20e0c61e0684 148 * Different devices may require different default byte values.
ganlikun 0:20e0c61e0684 149 * For example: A SD Card requires default bytes to be 0xFF.
ganlikun 0:20e0c61e0684 150 *
ganlikun 0:20e0c61e0684 151 * @param data Default character to be transmitted while read operation
ganlikun 0:20e0c61e0684 152 */
ganlikun 0:20e0c61e0684 153 void set_default_write_value(char data);
ganlikun 0:20e0c61e0684 154
ganlikun 0:20e0c61e0684 155 #if DEVICE_SPI_ASYNCH
ganlikun 0:20e0c61e0684 156
ganlikun 0:20e0c61e0684 157 /** Start non-blocking SPI transfer using 8bit buffers.
ganlikun 0:20e0c61e0684 158 *
ganlikun 0:20e0c61e0684 159 * This function locks the deep sleep until any event has occured
ganlikun 0:20e0c61e0684 160 *
ganlikun 0:20e0c61e0684 161 * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed,
ganlikun 0:20e0c61e0684 162 * the default SPI value is sent
ganlikun 0:20e0c61e0684 163 * @param tx_length The length of TX buffer in bytes
ganlikun 0:20e0c61e0684 164 * @param rx_buffer The RX buffer which is used for received data. If NULL is passed,
ganlikun 0:20e0c61e0684 165 * received data are ignored
ganlikun 0:20e0c61e0684 166 * @param rx_length The length of RX buffer in bytes
ganlikun 0:20e0c61e0684 167 * @param callback The event callback function
ganlikun 0:20e0c61e0684 168 * @param event The logical OR of events to modify. Look at spi hal header file for SPI events.
ganlikun 0:20e0c61e0684 169 * @return Zero if the transfer has started, or -1 if SPI peripheral is busy
ganlikun 0:20e0c61e0684 170 */
ganlikun 0:20e0c61e0684 171 template<typename Type>
ganlikun 0:20e0c61e0684 172 int transfer(const Type *tx_buffer, int tx_length, Type *rx_buffer, int rx_length, const event_callback_t& callback, int event = SPI_EVENT_COMPLETE) {
ganlikun 0:20e0c61e0684 173 if (spi_active(&_spi)) {
ganlikun 0:20e0c61e0684 174 return queue_transfer(tx_buffer, tx_length, rx_buffer, rx_length, sizeof(Type)*8, callback, event);
ganlikun 0:20e0c61e0684 175 }
ganlikun 0:20e0c61e0684 176 start_transfer(tx_buffer, tx_length, rx_buffer, rx_length, sizeof(Type)*8, callback, event);
ganlikun 0:20e0c61e0684 177 return 0;
ganlikun 0:20e0c61e0684 178 }
ganlikun 0:20e0c61e0684 179
ganlikun 0:20e0c61e0684 180 /** Abort the on-going SPI transfer, and continue with transfer's in the queue if any.
ganlikun 0:20e0c61e0684 181 */
ganlikun 0:20e0c61e0684 182 void abort_transfer();
ganlikun 0:20e0c61e0684 183
ganlikun 0:20e0c61e0684 184 /** Clear the transaction buffer
ganlikun 0:20e0c61e0684 185 */
ganlikun 0:20e0c61e0684 186 void clear_transfer_buffer();
ganlikun 0:20e0c61e0684 187
ganlikun 0:20e0c61e0684 188 /** Clear the transaction buffer and abort on-going transfer.
ganlikun 0:20e0c61e0684 189 */
ganlikun 0:20e0c61e0684 190 void abort_all_transfers();
ganlikun 0:20e0c61e0684 191
ganlikun 0:20e0c61e0684 192 /** Configure DMA usage suggestion for non-blocking transfers
ganlikun 0:20e0c61e0684 193 *
ganlikun 0:20e0c61e0684 194 * @param usage The usage DMA hint for peripheral
ganlikun 0:20e0c61e0684 195 * @return Zero if the usage was set, -1 if a transaction is on-going
ganlikun 0:20e0c61e0684 196 */
ganlikun 0:20e0c61e0684 197 int set_dma_usage(DMAUsage usage);
ganlikun 0:20e0c61e0684 198
ganlikun 0:20e0c61e0684 199 protected:
ganlikun 0:20e0c61e0684 200 /** SPI IRQ handler
ganlikun 0:20e0c61e0684 201 *
ganlikun 0:20e0c61e0684 202 */
ganlikun 0:20e0c61e0684 203 void irq_handler_asynch(void);
ganlikun 0:20e0c61e0684 204
ganlikun 0:20e0c61e0684 205 /** Common transfer method
ganlikun 0:20e0c61e0684 206 *
ganlikun 0:20e0c61e0684 207 * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed,
ganlikun 0:20e0c61e0684 208 * the default SPI value is sent
ganlikun 0:20e0c61e0684 209 * @param tx_length The length of TX buffer in bytes
ganlikun 0:20e0c61e0684 210 * @param rx_buffer The RX buffer which is used for received data. If NULL is passed,
ganlikun 0:20e0c61e0684 211 * received data are ignored
ganlikun 0:20e0c61e0684 212 * @param rx_length The length of RX buffer in bytes
ganlikun 0:20e0c61e0684 213 * @param bit_width The buffers element width
ganlikun 0:20e0c61e0684 214 * @param callback The event callback function
ganlikun 0:20e0c61e0684 215 * @param event The logical OR of events to modify
ganlikun 0:20e0c61e0684 216 * @return Zero if the transfer has started or was added to the queue, or -1 if SPI peripheral is busy/buffer is full
ganlikun 0:20e0c61e0684 217 */
ganlikun 0:20e0c61e0684 218 int transfer(const void *tx_buffer, int tx_length, void *rx_buffer, int rx_length, unsigned char bit_width, const event_callback_t& callback, int event);
ganlikun 0:20e0c61e0684 219
ganlikun 0:20e0c61e0684 220 /**
ganlikun 0:20e0c61e0684 221 *
ganlikun 0:20e0c61e0684 222 * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed,
ganlikun 0:20e0c61e0684 223 * the default SPI value is sent
ganlikun 0:20e0c61e0684 224 * @param tx_length The length of TX buffer in bytes
ganlikun 0:20e0c61e0684 225 * @param rx_buffer The RX buffer which is used for received data. If NULL is passed,
ganlikun 0:20e0c61e0684 226 * received data are ignored
ganlikun 0:20e0c61e0684 227 * @param rx_length The length of RX buffer in bytes
ganlikun 0:20e0c61e0684 228 * @param bit_width The buffers element width
ganlikun 0:20e0c61e0684 229 * @param callback The event callback function
ganlikun 0:20e0c61e0684 230 * @param event The logical OR of events to modify
ganlikun 0:20e0c61e0684 231 * @return Zero if a transfer was added to the queue, or -1 if the queue is full
ganlikun 0:20e0c61e0684 232 */
ganlikun 0:20e0c61e0684 233 int queue_transfer(const void *tx_buffer, int tx_length, void *rx_buffer, int rx_length, unsigned char bit_width, const event_callback_t& callback, int event);
ganlikun 0:20e0c61e0684 234
ganlikun 0:20e0c61e0684 235 /** Configures a callback, spi peripheral and initiate a new transfer
ganlikun 0:20e0c61e0684 236 *
ganlikun 0:20e0c61e0684 237 * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed,
ganlikun 0:20e0c61e0684 238 * the default SPI value is sent
ganlikun 0:20e0c61e0684 239 * @param tx_length The length of TX buffer in bytes
ganlikun 0:20e0c61e0684 240 * @param rx_buffer The RX buffer which is used for received data. If NULL is passed,
ganlikun 0:20e0c61e0684 241 * received data are ignored
ganlikun 0:20e0c61e0684 242 * @param rx_length The length of RX buffer in bytes
ganlikun 0:20e0c61e0684 243 * @param bit_width The buffers element width
ganlikun 0:20e0c61e0684 244 * @param callback The event callback function
ganlikun 0:20e0c61e0684 245 * @param event The logical OR of events to modify
ganlikun 0:20e0c61e0684 246 */
ganlikun 0:20e0c61e0684 247 void start_transfer(const void *tx_buffer, int tx_length, void *rx_buffer, int rx_length, unsigned char bit_width, const event_callback_t& callback, int event);
ganlikun 0:20e0c61e0684 248
ganlikun 0:20e0c61e0684 249 #if TRANSACTION_QUEUE_SIZE_SPI
ganlikun 0:20e0c61e0684 250
ganlikun 0:20e0c61e0684 251 /** Start a new transaction
ganlikun 0:20e0c61e0684 252 *
ganlikun 0:20e0c61e0684 253 * @param data Transaction data
ganlikun 0:20e0c61e0684 254 */
ganlikun 0:20e0c61e0684 255 void start_transaction(transaction_t *data);
ganlikun 0:20e0c61e0684 256
ganlikun 0:20e0c61e0684 257 /** Dequeue a transaction
ganlikun 0:20e0c61e0684 258 *
ganlikun 0:20e0c61e0684 259 */
ganlikun 0:20e0c61e0684 260 void dequeue_transaction();
ganlikun 0:20e0c61e0684 261 static CircularBuffer<Transaction<SPI>, TRANSACTION_QUEUE_SIZE_SPI> _transaction_buffer;
ganlikun 0:20e0c61e0684 262 #endif
ganlikun 0:20e0c61e0684 263
ganlikun 0:20e0c61e0684 264 #endif
ganlikun 0:20e0c61e0684 265
ganlikun 0:20e0c61e0684 266 public:
ganlikun 0:20e0c61e0684 267 virtual ~SPI() {
ganlikun 0:20e0c61e0684 268 }
ganlikun 0:20e0c61e0684 269
ganlikun 0:20e0c61e0684 270 protected:
ganlikun 0:20e0c61e0684 271 spi_t _spi;
ganlikun 0:20e0c61e0684 272
ganlikun 0:20e0c61e0684 273 #if DEVICE_SPI_ASYNCH
ganlikun 0:20e0c61e0684 274 CThunk<SPI> _irq;
ganlikun 0:20e0c61e0684 275 event_callback_t _callback;
ganlikun 0:20e0c61e0684 276 DMAUsage _usage;
ganlikun 0:20e0c61e0684 277 #endif
ganlikun 0:20e0c61e0684 278
ganlikun 0:20e0c61e0684 279 void aquire(void);
ganlikun 0:20e0c61e0684 280 static SPI *_owner;
ganlikun 0:20e0c61e0684 281 static SingletonPtr<PlatformMutex> _mutex;
ganlikun 0:20e0c61e0684 282 int _bits;
ganlikun 0:20e0c61e0684 283 int _mode;
ganlikun 0:20e0c61e0684 284 int _hz;
ganlikun 0:20e0c61e0684 285 char _write_fill;
ganlikun 0:20e0c61e0684 286
ganlikun 0:20e0c61e0684 287 private:
ganlikun 0:20e0c61e0684 288 /* Private acquire function without locking/unlocking
ganlikun 0:20e0c61e0684 289 * Implemented in order to avoid duplicate locking and boost performance
ganlikun 0:20e0c61e0684 290 */
ganlikun 0:20e0c61e0684 291 void _acquire(void);
ganlikun 0:20e0c61e0684 292 };
ganlikun 0:20e0c61e0684 293
ganlikun 0:20e0c61e0684 294 } // namespace mbed
ganlikun 0:20e0c61e0684 295
ganlikun 0:20e0c61e0684 296 #endif
ganlikun 0:20e0c61e0684 297
ganlikun 0:20e0c61e0684 298 #endif
ganlikun 0:20e0c61e0684 299
ganlikun 0:20e0c61e0684 300