Opencv 3.1 project on GR-PEACH board
Fork of gr-peach-opencv-project by
drivers/SPI.h@170:54ff26da7eb6, 2017-07-04 (annotated)
- Committer:
- thedo
- Date:
- Tue Jul 04 06:23:13 2017 +0000
- Revision:
- 170:54ff26da7eb6
- Parent:
- 167:1657b442184c
project opencv 3.1 on GR PEACH board, no use SD card.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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thedo | 167:1657b442184c | 1 | /* mbed Microcontroller Library |
thedo | 167:1657b442184c | 2 | * Copyright (c) 2006-2015 ARM Limited |
thedo | 167:1657b442184c | 3 | * |
thedo | 167:1657b442184c | 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
thedo | 167:1657b442184c | 5 | * you may not use this file except in compliance with the License. |
thedo | 167:1657b442184c | 6 | * You may obtain a copy of the License at |
thedo | 167:1657b442184c | 7 | * |
thedo | 167:1657b442184c | 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
thedo | 167:1657b442184c | 9 | * |
thedo | 167:1657b442184c | 10 | * Unless required by applicable law or agreed to in writing, software |
thedo | 167:1657b442184c | 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
thedo | 167:1657b442184c | 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
thedo | 167:1657b442184c | 13 | * See the License for the specific language governing permissions and |
thedo | 167:1657b442184c | 14 | * limitations under the License. |
thedo | 167:1657b442184c | 15 | */ |
thedo | 167:1657b442184c | 16 | #ifndef MBED_SPI_H |
thedo | 167:1657b442184c | 17 | #define MBED_SPI_H |
thedo | 167:1657b442184c | 18 | |
thedo | 167:1657b442184c | 19 | #include "platform/platform.h" |
thedo | 167:1657b442184c | 20 | |
thedo | 167:1657b442184c | 21 | #if defined (DEVICE_SPI) || defined(DOXYGEN_ONLY) |
thedo | 167:1657b442184c | 22 | |
thedo | 167:1657b442184c | 23 | #include "platform/PlatformMutex.h" |
thedo | 167:1657b442184c | 24 | #include "hal/spi_api.h" |
thedo | 167:1657b442184c | 25 | #include "platform/SingletonPtr.h" |
thedo | 167:1657b442184c | 26 | |
thedo | 167:1657b442184c | 27 | #if DEVICE_SPI_ASYNCH |
thedo | 167:1657b442184c | 28 | #include "platform/CThunk.h" |
thedo | 167:1657b442184c | 29 | #include "hal/dma_api.h" |
thedo | 167:1657b442184c | 30 | #include "platform/CircularBuffer.h" |
thedo | 167:1657b442184c | 31 | #include "platform/FunctionPointer.h" |
thedo | 167:1657b442184c | 32 | #include "platform/Transaction.h" |
thedo | 167:1657b442184c | 33 | #endif |
thedo | 167:1657b442184c | 34 | |
thedo | 167:1657b442184c | 35 | namespace mbed { |
thedo | 167:1657b442184c | 36 | /** \addtogroup drivers */ |
thedo | 167:1657b442184c | 37 | |
thedo | 167:1657b442184c | 38 | /** A SPI Master, used for communicating with SPI slave devices |
thedo | 167:1657b442184c | 39 | * |
thedo | 167:1657b442184c | 40 | * The default format is set to 8-bits, mode 0, and a clock frequency of 1MHz |
thedo | 167:1657b442184c | 41 | * |
thedo | 167:1657b442184c | 42 | * Most SPI devices will also require Chip Select and Reset signals. These |
thedo | 167:1657b442184c | 43 | * can be controlled using DigitalOut pins |
thedo | 167:1657b442184c | 44 | * |
thedo | 167:1657b442184c | 45 | * @note Synchronization level: Thread safe |
thedo | 167:1657b442184c | 46 | * |
thedo | 167:1657b442184c | 47 | * Example: |
thedo | 167:1657b442184c | 48 | * @code |
thedo | 167:1657b442184c | 49 | * // Send a byte to a SPI slave, and record the response |
thedo | 167:1657b442184c | 50 | * |
thedo | 167:1657b442184c | 51 | * #include "mbed.h" |
thedo | 167:1657b442184c | 52 | * |
thedo | 167:1657b442184c | 53 | * // hardware ssel (where applicable) |
thedo | 167:1657b442184c | 54 | * //SPI device(p5, p6, p7, p8); // mosi, miso, sclk, ssel |
thedo | 167:1657b442184c | 55 | * |
thedo | 167:1657b442184c | 56 | * // software ssel |
thedo | 167:1657b442184c | 57 | * SPI device(p5, p6, p7); // mosi, miso, sclk |
thedo | 167:1657b442184c | 58 | * DigitalOut cs(p8); // ssel |
thedo | 167:1657b442184c | 59 | * |
thedo | 167:1657b442184c | 60 | * int main() { |
thedo | 167:1657b442184c | 61 | * // hardware ssel (where applicable) |
thedo | 167:1657b442184c | 62 | * //int response = device.write(0xFF); |
thedo | 167:1657b442184c | 63 | * |
thedo | 167:1657b442184c | 64 | * device.lock(); |
thedo | 167:1657b442184c | 65 | * // software ssel |
thedo | 167:1657b442184c | 66 | * cs = 0; |
thedo | 167:1657b442184c | 67 | * int response = device.write(0xFF); |
thedo | 167:1657b442184c | 68 | * cs = 1; |
thedo | 167:1657b442184c | 69 | * device.unlock(); |
thedo | 167:1657b442184c | 70 | * |
thedo | 167:1657b442184c | 71 | * } |
thedo | 167:1657b442184c | 72 | * @endcode |
thedo | 167:1657b442184c | 73 | * @ingroup drivers |
thedo | 167:1657b442184c | 74 | */ |
thedo | 167:1657b442184c | 75 | class SPI { |
thedo | 167:1657b442184c | 76 | |
thedo | 167:1657b442184c | 77 | public: |
thedo | 167:1657b442184c | 78 | |
thedo | 167:1657b442184c | 79 | /** Create a SPI master connected to the specified pins |
thedo | 167:1657b442184c | 80 | * |
thedo | 167:1657b442184c | 81 | * mosi or miso can be specfied as NC if not used |
thedo | 167:1657b442184c | 82 | * |
thedo | 167:1657b442184c | 83 | * @param mosi SPI Master Out, Slave In pin |
thedo | 167:1657b442184c | 84 | * @param miso SPI Master In, Slave Out pin |
thedo | 167:1657b442184c | 85 | * @param sclk SPI Clock pin |
thedo | 167:1657b442184c | 86 | * @param ssel SPI chip select pin |
thedo | 167:1657b442184c | 87 | */ |
thedo | 167:1657b442184c | 88 | SPI(PinName mosi, PinName miso, PinName sclk, PinName ssel=NC); |
thedo | 167:1657b442184c | 89 | |
thedo | 167:1657b442184c | 90 | /** Configure the data transmission format |
thedo | 167:1657b442184c | 91 | * |
thedo | 167:1657b442184c | 92 | * @param bits Number of bits per SPI frame (4 - 16) |
thedo | 167:1657b442184c | 93 | * @param mode Clock polarity and phase mode (0 - 3) |
thedo | 167:1657b442184c | 94 | * |
thedo | 167:1657b442184c | 95 | * @code |
thedo | 167:1657b442184c | 96 | * mode | POL PHA |
thedo | 167:1657b442184c | 97 | * -----+-------- |
thedo | 167:1657b442184c | 98 | * 0 | 0 0 |
thedo | 167:1657b442184c | 99 | * 1 | 0 1 |
thedo | 167:1657b442184c | 100 | * 2 | 1 0 |
thedo | 167:1657b442184c | 101 | * 3 | 1 1 |
thedo | 167:1657b442184c | 102 | * @endcode |
thedo | 167:1657b442184c | 103 | */ |
thedo | 167:1657b442184c | 104 | void format(int bits, int mode = 0); |
thedo | 167:1657b442184c | 105 | |
thedo | 167:1657b442184c | 106 | /** Set the spi bus clock frequency |
thedo | 167:1657b442184c | 107 | * |
thedo | 167:1657b442184c | 108 | * @param hz SCLK frequency in hz (default = 1MHz) |
thedo | 167:1657b442184c | 109 | */ |
thedo | 167:1657b442184c | 110 | void frequency(int hz = 1000000); |
thedo | 167:1657b442184c | 111 | |
thedo | 167:1657b442184c | 112 | /** Write to the SPI Slave and return the response |
thedo | 167:1657b442184c | 113 | * |
thedo | 167:1657b442184c | 114 | * @param value Data to be sent to the SPI slave |
thedo | 167:1657b442184c | 115 | * |
thedo | 167:1657b442184c | 116 | * @returns |
thedo | 167:1657b442184c | 117 | * Response from the SPI slave |
thedo | 167:1657b442184c | 118 | */ |
thedo | 167:1657b442184c | 119 | virtual int write(int value); |
thedo | 167:1657b442184c | 120 | |
thedo | 167:1657b442184c | 121 | /** Write to the SPI Slave and obtain the response |
thedo | 167:1657b442184c | 122 | * |
thedo | 167:1657b442184c | 123 | * The total number of bytes sent and recieved will be the maximum of |
thedo | 167:1657b442184c | 124 | * tx_length and rx_length. The bytes written will be padded with the |
thedo | 167:1657b442184c | 125 | * value 0xff. |
thedo | 167:1657b442184c | 126 | * |
thedo | 167:1657b442184c | 127 | * @param tx_buffer Pointer to the byte-array of data to write to the device |
thedo | 167:1657b442184c | 128 | * @param tx_length Number of bytes to write, may be zero |
thedo | 167:1657b442184c | 129 | * @param rx_buffer Pointer to the byte-array of data to read from the device |
thedo | 167:1657b442184c | 130 | * @param rx_length Number of bytes to read, may be zero |
thedo | 167:1657b442184c | 131 | * @returns |
thedo | 167:1657b442184c | 132 | * The number of bytes written and read from the device. This is |
thedo | 167:1657b442184c | 133 | * maximum of tx_length and rx_length. |
thedo | 167:1657b442184c | 134 | */ |
thedo | 167:1657b442184c | 135 | virtual int write(const char *tx_buffer, int tx_length, char *rx_buffer, int rx_length); |
thedo | 167:1657b442184c | 136 | |
thedo | 167:1657b442184c | 137 | /** Acquire exclusive access to this SPI bus |
thedo | 167:1657b442184c | 138 | */ |
thedo | 167:1657b442184c | 139 | virtual void lock(void); |
thedo | 167:1657b442184c | 140 | |
thedo | 167:1657b442184c | 141 | /** Release exclusive access to this SPI bus |
thedo | 167:1657b442184c | 142 | */ |
thedo | 167:1657b442184c | 143 | virtual void unlock(void); |
thedo | 167:1657b442184c | 144 | |
thedo | 167:1657b442184c | 145 | #if DEVICE_SPI_ASYNCH |
thedo | 167:1657b442184c | 146 | |
thedo | 167:1657b442184c | 147 | /** Start non-blocking SPI transfer using 8bit buffers. |
thedo | 167:1657b442184c | 148 | * |
thedo | 167:1657b442184c | 149 | * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed, |
thedo | 167:1657b442184c | 150 | * the default SPI value is sent |
thedo | 167:1657b442184c | 151 | * @param tx_length The length of TX buffer in bytes |
thedo | 167:1657b442184c | 152 | * @param rx_buffer The RX buffer which is used for received data. If NULL is passed, |
thedo | 167:1657b442184c | 153 | * received data are ignored |
thedo | 167:1657b442184c | 154 | * @param rx_length The length of RX buffer in bytes |
thedo | 167:1657b442184c | 155 | * @param callback The event callback function |
thedo | 167:1657b442184c | 156 | * @param event The logical OR of events to modify. Look at spi hal header file for SPI events. |
thedo | 167:1657b442184c | 157 | * @return Zero if the transfer has started, or -1 if SPI peripheral is busy |
thedo | 167:1657b442184c | 158 | */ |
thedo | 167:1657b442184c | 159 | template<typename Type> |
thedo | 167:1657b442184c | 160 | 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) { |
thedo | 167:1657b442184c | 161 | if (spi_active(&_spi)) { |
thedo | 167:1657b442184c | 162 | return queue_transfer(tx_buffer, tx_length, rx_buffer, rx_length, sizeof(Type)*8, callback, event); |
thedo | 167:1657b442184c | 163 | } |
thedo | 167:1657b442184c | 164 | start_transfer(tx_buffer, tx_length, rx_buffer, rx_length, sizeof(Type)*8, callback, event); |
thedo | 167:1657b442184c | 165 | return 0; |
thedo | 167:1657b442184c | 166 | } |
thedo | 167:1657b442184c | 167 | |
thedo | 167:1657b442184c | 168 | /** Abort the on-going SPI transfer, and continue with transfer's in the queue if any. |
thedo | 167:1657b442184c | 169 | */ |
thedo | 167:1657b442184c | 170 | void abort_transfer(); |
thedo | 167:1657b442184c | 171 | |
thedo | 167:1657b442184c | 172 | /** Clear the transaction buffer |
thedo | 167:1657b442184c | 173 | */ |
thedo | 167:1657b442184c | 174 | void clear_transfer_buffer(); |
thedo | 167:1657b442184c | 175 | |
thedo | 167:1657b442184c | 176 | /** Clear the transaction buffer and abort on-going transfer. |
thedo | 167:1657b442184c | 177 | */ |
thedo | 167:1657b442184c | 178 | void abort_all_transfers(); |
thedo | 167:1657b442184c | 179 | |
thedo | 167:1657b442184c | 180 | /** Configure DMA usage suggestion for non-blocking transfers |
thedo | 167:1657b442184c | 181 | * |
thedo | 167:1657b442184c | 182 | * @param usage The usage DMA hint for peripheral |
thedo | 167:1657b442184c | 183 | * @return Zero if the usage was set, -1 if a transaction is on-going |
thedo | 167:1657b442184c | 184 | */ |
thedo | 167:1657b442184c | 185 | int set_dma_usage(DMAUsage usage); |
thedo | 167:1657b442184c | 186 | |
thedo | 167:1657b442184c | 187 | protected: |
thedo | 167:1657b442184c | 188 | /** SPI IRQ handler |
thedo | 167:1657b442184c | 189 | * |
thedo | 167:1657b442184c | 190 | */ |
thedo | 167:1657b442184c | 191 | void irq_handler_asynch(void); |
thedo | 167:1657b442184c | 192 | |
thedo | 167:1657b442184c | 193 | /** Common transfer method |
thedo | 167:1657b442184c | 194 | * |
thedo | 167:1657b442184c | 195 | * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed, |
thedo | 167:1657b442184c | 196 | * the default SPI value is sent |
thedo | 167:1657b442184c | 197 | * @param tx_length The length of TX buffer in bytes |
thedo | 167:1657b442184c | 198 | * @param rx_buffer The RX buffer which is used for received data. If NULL is passed, |
thedo | 167:1657b442184c | 199 | * received data are ignored |
thedo | 167:1657b442184c | 200 | * @param rx_length The length of RX buffer in bytes |
thedo | 167:1657b442184c | 201 | * @param bit_width The buffers element width |
thedo | 167:1657b442184c | 202 | * @param callback The event callback function |
thedo | 167:1657b442184c | 203 | * @param event The logical OR of events to modify |
thedo | 167:1657b442184c | 204 | * @return Zero if the transfer has started or was added to the queue, or -1 if SPI peripheral is busy/buffer is full |
thedo | 167:1657b442184c | 205 | */ |
thedo | 167:1657b442184c | 206 | 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); |
thedo | 167:1657b442184c | 207 | |
thedo | 167:1657b442184c | 208 | /** |
thedo | 167:1657b442184c | 209 | * |
thedo | 167:1657b442184c | 210 | * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed, |
thedo | 167:1657b442184c | 211 | * the default SPI value is sent |
thedo | 167:1657b442184c | 212 | * @param tx_length The length of TX buffer in bytes |
thedo | 167:1657b442184c | 213 | * @param rx_buffer The RX buffer which is used for received data. If NULL is passed, |
thedo | 167:1657b442184c | 214 | * received data are ignored |
thedo | 167:1657b442184c | 215 | * @param rx_length The length of RX buffer in bytes |
thedo | 167:1657b442184c | 216 | * @param bit_width The buffers element width |
thedo | 167:1657b442184c | 217 | * @param callback The event callback function |
thedo | 167:1657b442184c | 218 | * @param event The logical OR of events to modify |
thedo | 167:1657b442184c | 219 | * @return Zero if a transfer was added to the queue, or -1 if the queue is full |
thedo | 167:1657b442184c | 220 | */ |
thedo | 167:1657b442184c | 221 | 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); |
thedo | 167:1657b442184c | 222 | |
thedo | 167:1657b442184c | 223 | /** Configures a callback, spi peripheral and initiate a new transfer |
thedo | 167:1657b442184c | 224 | * |
thedo | 167:1657b442184c | 225 | * @param tx_buffer The TX buffer with data to be transfered. If NULL is passed, |
thedo | 167:1657b442184c | 226 | * the default SPI value is sent |
thedo | 167:1657b442184c | 227 | * @param tx_length The length of TX buffer in bytes |
thedo | 167:1657b442184c | 228 | * @param rx_buffer The RX buffer which is used for received data. If NULL is passed, |
thedo | 167:1657b442184c | 229 | * received data are ignored |
thedo | 167:1657b442184c | 230 | * @param rx_length The length of RX buffer in bytes |
thedo | 167:1657b442184c | 231 | * @param bit_width The buffers element width |
thedo | 167:1657b442184c | 232 | * @param callback The event callback function |
thedo | 167:1657b442184c | 233 | * @param event The logical OR of events to modify |
thedo | 167:1657b442184c | 234 | */ |
thedo | 167:1657b442184c | 235 | 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); |
thedo | 167:1657b442184c | 236 | |
thedo | 167:1657b442184c | 237 | #if TRANSACTION_QUEUE_SIZE_SPI |
thedo | 167:1657b442184c | 238 | |
thedo | 167:1657b442184c | 239 | /** Start a new transaction |
thedo | 167:1657b442184c | 240 | * |
thedo | 167:1657b442184c | 241 | * @param data Transaction data |
thedo | 167:1657b442184c | 242 | */ |
thedo | 167:1657b442184c | 243 | void start_transaction(transaction_t *data); |
thedo | 167:1657b442184c | 244 | |
thedo | 167:1657b442184c | 245 | /** Dequeue a transaction |
thedo | 167:1657b442184c | 246 | * |
thedo | 167:1657b442184c | 247 | */ |
thedo | 167:1657b442184c | 248 | void dequeue_transaction(); |
thedo | 167:1657b442184c | 249 | static CircularBuffer<Transaction<SPI>, TRANSACTION_QUEUE_SIZE_SPI> _transaction_buffer; |
thedo | 167:1657b442184c | 250 | #endif |
thedo | 167:1657b442184c | 251 | |
thedo | 167:1657b442184c | 252 | #endif |
thedo | 167:1657b442184c | 253 | |
thedo | 167:1657b442184c | 254 | public: |
thedo | 167:1657b442184c | 255 | virtual ~SPI() { |
thedo | 167:1657b442184c | 256 | } |
thedo | 167:1657b442184c | 257 | |
thedo | 167:1657b442184c | 258 | protected: |
thedo | 167:1657b442184c | 259 | spi_t _spi; |
thedo | 167:1657b442184c | 260 | |
thedo | 167:1657b442184c | 261 | #if DEVICE_SPI_ASYNCH |
thedo | 167:1657b442184c | 262 | CThunk<SPI> _irq; |
thedo | 167:1657b442184c | 263 | event_callback_t _callback; |
thedo | 167:1657b442184c | 264 | DMAUsage _usage; |
thedo | 167:1657b442184c | 265 | #endif |
thedo | 167:1657b442184c | 266 | |
thedo | 167:1657b442184c | 267 | void aquire(void); |
thedo | 167:1657b442184c | 268 | static SPI *_owner; |
thedo | 167:1657b442184c | 269 | static SingletonPtr<PlatformMutex> _mutex; |
thedo | 167:1657b442184c | 270 | int _bits; |
thedo | 167:1657b442184c | 271 | int _mode; |
thedo | 167:1657b442184c | 272 | int _hz; |
thedo | 167:1657b442184c | 273 | }; |
thedo | 167:1657b442184c | 274 | |
thedo | 167:1657b442184c | 275 | } // namespace mbed |
thedo | 167:1657b442184c | 276 | |
thedo | 167:1657b442184c | 277 | #endif |
thedo | 167:1657b442184c | 278 | |
thedo | 167:1657b442184c | 279 | #endif |
thedo | 167:1657b442184c | 280 |