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mayhem-firmware/firmware/chibios/os/hal/src/spi.c

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/*
ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,
2011,2012,2013 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
---
A special exception to the GPL can be applied should you wish to distribute
a combined work that includes ChibiOS/RT, without being obliged to provide
the source code for any proprietary components. See the file exception.txt
for full details of how and when the exception can be applied.
*/
/**
* @file spi.c
* @brief SPI Driver code.
*
* @addtogroup SPI
* @{
*/
#include "ch.h"
#include "hal.h"
#if HAL_USE_SPI || defined(__DOXYGEN__)
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local functions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief SPI Driver initialization.
* @note This function is implicitly invoked by @p halInit(), there is
* no need to explicitly initialize the driver.
*
* @init
*/
void spiInit(void) {
spi_lld_init();
}
/**
* @brief Initializes the standard part of a @p SPIDriver structure.
*
* @param[out] spip pointer to the @p SPIDriver object
*
* @init
*/
void spiObjectInit(SPIDriver *spip) {
spip->state = SPI_STOP;
spip->config = NULL;
#if SPI_USE_WAIT
spip->thread = NULL;
#endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION
#if CH_USE_MUTEXES
chMtxInit(&spip->mutex);
#else
chSemInit(&spip->semaphore, 1);
#endif
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#if defined(SPI_DRIVER_EXT_INIT_HOOK)
SPI_DRIVER_EXT_INIT_HOOK(spip);
#endif
}
/**
* @brief Configures and activates the SPI peripheral.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] config pointer to the @p SPIConfig object
*
* @api
*/
void spiStart(SPIDriver *spip, const SPIConfig *config) {
chDbgCheck((spip != NULL) && (config != NULL), "spiStart");
chSysLock();
chDbgAssert((spip->state == SPI_STOP) || (spip->state == SPI_READY),
"spiStart(), #1", "invalid state");
spip->config = config;
spi_lld_start(spip);
spip->state = SPI_READY;
chSysUnlock();
}
/**
* @brief Deactivates the SPI peripheral.
* @note Deactivating the peripheral also enforces a release of the slave
* select line.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiStop(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiStop");
chSysLock();
chDbgAssert((spip->state == SPI_STOP) || (spip->state == SPI_READY),
"spiStop(), #1", "invalid state");
spi_lld_unselect(spip);
spi_lld_stop(spip);
spip->state = SPI_STOP;
chSysUnlock();
}
/**
* @brief Asserts the slave select signal and prepares for transfers.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiSelect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiSelect");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiSelect(), #1", "not ready");
spiSelectI(spip);
chSysUnlock();
}
/**
* @brief Deasserts the slave select signal.
* @details The previously selected peripheral is unselected.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiUnselect(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiUnselect");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiUnselect(), #1", "not ready");
spiUnselectI(spip);
chSysUnlock();
}
/**
* @brief Ignores data on the SPI bus.
* @details This asynchronous function starts the transmission of a series of
* idle words on the SPI bus and ignores the received data.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be ignored
*
* @api
*/
void spiStartIgnore(SPIDriver *spip, size_t n) {
chDbgCheck((spip != NULL) && (n > 0), "spiStartIgnore");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiStartIgnore(), #1", "not ready");
spiStartIgnoreI(spip, n);
chSysUnlock();
}
/**
* @brief Exchanges data on the SPI bus.
* @details This asynchronous function starts a simultaneous transmit/receive
* operation.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be exchanged
* @param[in] txbuf the pointer to the transmit buffer
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiStartExchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL) && (txbuf != NULL),
"spiStartExchange");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiStartExchange(), #1", "not ready");
spiStartExchangeI(spip, n, txbuf, rxbuf);
chSysUnlock();
}
/**
* @brief Sends data over the SPI bus.
* @details This asynchronous function starts a transmit operation.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to send
* @param[in] txbuf the pointer to the transmit buffer
*
* @api
*/
void spiStartSend(SPIDriver *spip, size_t n, const void *txbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL),
"spiStartSend");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiStartSend(), #1", "not ready");
spiStartSendI(spip, n, txbuf);
chSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This asynchronous function starts a receive operation.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiStartReceive(SPIDriver *spip, size_t n, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
"spiStartReceive");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiStartReceive(), #1", "not ready");
spiStartReceiveI(spip, n, rxbuf);
chSysUnlock();
}
#if SPI_USE_WAIT || defined(__DOXYGEN__)
/**
* @brief Ignores data on the SPI bus.
* @details This synchronous function performs the transmission of a series of
* idle words on the SPI bus and ignores the received data.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be ignored
*
* @api
*/
void spiIgnore(SPIDriver *spip, size_t n) {
chDbgCheck((spip != NULL) && (n > 0), "spiIgnoreWait");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiIgnore(), #1", "not ready");
chDbgAssert(spip->config->end_cb == NULL, "spiIgnore(), #2", "has callback");
spiStartIgnoreI(spip, n);
_spi_wait_s(spip);
chSysUnlock();
}
/**
* @brief Exchanges data on the SPI bus.
* @details This synchronous function performs a simultaneous transmit/receive
* operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to be exchanged
* @param[in] txbuf the pointer to the transmit buffer
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiExchange(SPIDriver *spip, size_t n,
const void *txbuf, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL) && (txbuf != NULL),
"spiExchange");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiExchange(), #1", "not ready");
chDbgAssert(spip->config->end_cb == NULL,
"spiExchange(), #2", "has callback");
spiStartExchangeI(spip, n, txbuf, rxbuf);
_spi_wait_s(spip);
chSysUnlock();
}
/**
* @brief Sends data over the SPI bus.
* @details This synchronous function performs a transmit operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to send
* @param[in] txbuf the pointer to the transmit buffer
*
* @api
*/
void spiSend(SPIDriver *spip, size_t n, const void *txbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (txbuf != NULL), "spiSend");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiSend(), #1", "not ready");
chDbgAssert(spip->config->end_cb == NULL, "spiSend(), #2", "has callback");
spiStartSendI(spip, n, txbuf);
_spi_wait_s(spip);
chSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This synchronous function performs a receive operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
"spiReceive");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiReceive(), #1", "not ready");
chDbgAssert(spip->config->end_cb == NULL,
"spiReceive(), #2", "has callback");
spiStartReceiveI(spip, n, rxbuf);
_spi_wait_s(spip);
chSysUnlock();
}
#endif /* SPI_USE_WAIT */
#if SPI_USE_MUTUAL_EXCLUSION || defined(__DOXYGEN__)
/**
* @brief Gains exclusive access to the SPI bus.
* @details This function tries to gain ownership to the SPI bus, if the bus
* is already being used then the invoking thread is queued.
* @pre In order to use this function the option @p SPI_USE_MUTUAL_EXCLUSION
* must be enabled.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiAcquireBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiAcquireBus");
#if CH_USE_MUTEXES
chMtxLock(&spip->mutex);
#elif CH_USE_SEMAPHORES
chSemWait(&spip->semaphore);
#endif
}
/**
* @brief Releases exclusive access to the SPI bus.
* @pre In order to use this function the option @p SPI_USE_MUTUAL_EXCLUSION
* must be enabled.
*
* @param[in] spip pointer to the @p SPIDriver object
*
* @api
*/
void spiReleaseBus(SPIDriver *spip) {
chDbgCheck(spip != NULL, "spiReleaseBus");
#if CH_USE_MUTEXES
(void)spip;
chMtxUnlock();
#elif CH_USE_SEMAPHORES
chSemSignal(&spip->semaphore);
#endif
}
#endif /* SPI_USE_MUTUAL_EXCLUSION */
#endif /* HAL_USE_SPI */
/** @} */
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