WIP: SPI bus driver #128
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,307 @@ | ||
| /** | ||
| * @file spi_ll.c | ||
| * @brief SPI hardware implementation for STM32H563xx | ||
| * | ||
| * This module handles initialization and operation of the SPI peripheral of | ||
| * the STM32H5 microcontroller. It configures the hardware and dispatches SPI | ||
| * interrupts to the hardware-independent SPI implementation. | ||
| * | ||
| * Implementation Details: | ||
| * - Supports single SPI instance (SPI1) | ||
| * - Configured for 8-bit data size | ||
| * - DMA-based transmission and reception | ||
| * | ||
| * @author Tejas Garg | ||
| * @date 2024-10-09 | ||
| */ | ||
|
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| #include "stm32h5xx_hal.h" | ||
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| #include "util/error.h" | ||
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| #include "spi_ll.h" | ||
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| enum { SPI_IRQ_PRIO = 4 }; // NVIC priority for SPI interrupts | ||
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| /* SPI instance structure */ | ||
| typedef struct { | ||
| SPI_HandleTypeDef *hspi; | ||
| bool initialized; | ||
| bool tx_in_progress; | ||
| bool rx_in_progress; | ||
| void (*tx_complete_callback)(void); | ||
| void (*rx_complete_callback)(void); | ||
| } SPIInstance; | ||
|
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| /* HAL SPI handle */ | ||
| static SPI_HandleTypeDef g_hspi1 = { nullptr }; | ||
| static SPI_HandleTypeDef g_hspi2 = { nullptr }; | ||
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| /* DMA handles */ | ||
| static DMA_HandleTypeDef g_hdma_spi1_tx = { nullptr }; | ||
| static DMA_HandleTypeDef g_hdma_spi1_rx = { nullptr }; | ||
| static DMA_HandleTypeDef g_hdma_spi2_tx = { nullptr }; | ||
| static DMA_HandleTypeDef g_hdma_spi2_rx = { nullptr }; | ||
|
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| /* SPI instance configuration */ | ||
| static SPIInstance g_spi_instances[2] = { | ||
| [SPI_BUS_0] = { | ||
| .hspi = &g_hspi1, | ||
| }, | ||
| [SPI_BUS_1] = { | ||
| .hspi = &g_hspi2, | ||
| }, | ||
| }; | ||
|
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| void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) | ||
| { | ||
| GPIO_InitTypeDef gpio_init = { 0 }; | ||
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| if (hspi->Instance == SPI1) { | ||
| /* SPI1 clock enable */ | ||
| __HAL_RCC_SPI1_CLK_ENABLE(); | ||
|
There was a problem hiding this comment. SPI has no clock source. It must be enabled in system_clock_config in platform.c. E.g. --- a/src/platform/h563xx/platform.c
+++ b/src/platform/h563xx/platform.c
@@ -137,8 +137,9 @@ static void system_clock_config(void)
/* Configure peripheral clocks - Set ADC clock source to PLL2R (75 MHz) */
RCC_PeriphCLKInitTypeDef periph_clk_init = { 0 };
- periph_clk_init.PeriphClockSelection = RCC_PERIPHCLK_ADCDAC;
+ periph_clk_init.PeriphClockSelection = RCC_PERIPHCLK_ADCDAC | RCC_PERIPHCLK_SPI1;
periph_clk_init.AdcDacClockSelection = RCC_ADCDACCLKSOURCE_PLL2R;
+ periph_clk_init.Spi1ClockSelection = RCC_SPI1CLKSOURCE_PLL2P;
// Configure PLL2 structure to match our desired configuration
// This is required because HAL_RCCEx_PeriphCLKConfig calls
@@ -147,15 +148,17 @@ static void system_clock_config(void)
periph_clk_init.PLL2.PLL2M = 2; // 8 MHz / 2 = 4 MHz
// NOLINTNEXTLINE: readability-magic-numbers
periph_clk_init.PLL2.PLL2N = 75; // 4 MHz * 75 = 300 MHz VCO
- periph_clk_init.PLL2.PLL2P = 2; // 300 MHz / 2 = 150 MHz
+ periph_clk_init.PLL2.PLL2P = 3; // 300 MHz / 3 = 100 MHz (for SPI1)
periph_clk_init.PLL2.PLL2Q = 2; // 300 MHz / 2 = 150 MHz
periph_clk_init.PLL2.PLL2R = 4; // 300 MHz / 4 = 75 MHz (for ADC)
periph_clk_init.PLL2.PLL2RGE = RCC_PLL2_VCIRANGE_1; // 2-4 MHz input range
periph_clk_init.PLL2.PLL2VCOSEL =
RCC_PLL2_VCORANGE_MEDIUM; // 150-420 MHz VCO
periph_clk_init.PLL2.PLL2FRACN = 0;
+ // Enable PLL2 clock outputs
periph_clk_init.PLL2.PLL2ClockOut =
- RCC_PLL2_DIVR; // Enable PLL2R output for ADC
+ RCC_PLL2_DIVR | // Enable PLL2R output for ADC
+ RCC_PLL2_DIVP; // Enable PLL2P output for SPI1
if (HAL_RCCEx_PeriphCLKConfig(&periph_clk_init) != HAL_OK) {
/* ADC clock configuration failed */ |
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| __HAL_RCC_GPIOA_CLK_ENABLE(); | ||
| __HAL_RCC_GPDMA1_CLK_ENABLE(); | ||
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| /* SPI1 GPIO Configuration: PA5=SCK, PA6=MISO, PA7=MOSI */ | ||
| gpio_init.Pin = GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7; | ||
| gpio_init.Mode = GPIO_MODE_AF_PP; | ||
| gpio_init.Pull = GPIO_NOPULL; | ||
| gpio_init.Speed = GPIO_SPEED_FREQ_HIGH; | ||
| gpio_init.Alternate = GPIO_AF5_SPI1; | ||
| HAL_GPIO_Init(GPIOA, &gpio_init); | ||
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| /* Configure DMA for TX */ | ||
| g_hdma_spi1_tx.Instance = GPDMA1_Channel6; | ||
|
There was a problem hiding this comment. GPDMA1 channels 6 and 7 are used by ADC. 2,3,4,5 are free. There was a problem hiding this comment. Scratch that, they're all in use by UART. Skip DMA for now, we may need to use DMA2 for this. |
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| g_hdma_spi1_tx.Init.Request = GPDMA1_REQUEST_SPI1_TX; | ||
| g_hdma_spi1_tx.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST; | ||
| g_hdma_spi1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; | ||
| g_hdma_spi1_tx.Init.SrcInc = DMA_SINC_INCREMENTED; | ||
| g_hdma_spi1_tx.Init.DestInc = DMA_DINC_FIXED; | ||
| g_hdma_spi1_tx.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE; | ||
| g_hdma_spi1_tx.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE; | ||
| g_hdma_spi1_tx.Init.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT; | ||
| g_hdma_spi1_tx.Init.SrcBurstLength = 1; | ||
| g_hdma_spi1_tx.Init.DestBurstLength = 1; | ||
| g_hdma_spi1_tx.Init.TransferAllocatedPort = | ||
| (DMA_SRC_ALLOCATED_PORT0 | DMA_DEST_ALLOCATED_PORT0); | ||
| g_hdma_spi1_tx.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER; | ||
| g_hdma_spi1_tx.Init.Mode = DMA_NORMAL; | ||
| HAL_DMA_Init(&g_hdma_spi1_tx); | ||
| __HAL_LINKDMA(hspi, hdmatx, g_hdma_spi1_tx); | ||
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| /* Configure DMA for RX */ | ||
| g_hdma_spi1_rx.Instance = GPDMA1_Channel7; | ||
| g_hdma_spi1_rx.Init.Request = GPDMA1_REQUEST_SPI1_RX; | ||
| g_hdma_spi1_rx.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST; | ||
| g_hdma_spi1_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; | ||
| g_hdma_spi1_rx.Init.SrcInc = DMA_SINC_FIXED; | ||
| g_hdma_spi1_rx.Init.DestInc = DMA_DINC_INCREMENTED; | ||
| g_hdma_spi1_rx.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE; | ||
| g_hdma_spi1_rx.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE; | ||
| g_hdma_spi1_rx.Init.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT; | ||
| g_hdma_spi1_rx.Init.SrcBurstLength = 1; | ||
| g_hdma_spi1_rx.Init.DestBurstLength = 1; | ||
| g_hdma_spi1_rx.Init.TransferAllocatedPort = | ||
| (DMA_SRC_ALLOCATED_PORT0 | DMA_DEST_ALLOCATED_PORT0); | ||
| g_hdma_spi1_rx.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER; | ||
| g_hdma_spi1_rx.Init.Mode = DMA_NORMAL; | ||
| HAL_DMA_Init(&g_hdma_spi1_rx); | ||
| __HAL_LINKDMA(hspi, hdmarx, g_hdma_spi1_rx); | ||
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| /* SPI1 interrupt init */ | ||
| HAL_NVIC_SetPriority(SPI1_IRQn, SPI_IRQ_PRIO, 1); | ||
|
There was a problem hiding this comment. Get it working without interrupts first. |
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| HAL_NVIC_EnableIRQ(SPI1_IRQn); | ||
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| /* DMA interrupt init */ | ||
| HAL_NVIC_SetPriority(GPDMA1_Channel6_IRQn, SPI_IRQ_PRIO, 1); | ||
| HAL_NVIC_EnableIRQ(GPDMA1_Channel6_IRQn); | ||
| HAL_NVIC_SetPriority(GPDMA1_Channel7_IRQn, SPI_IRQ_PRIO, 1); | ||
| HAL_NVIC_EnableIRQ(GPDMA1_Channel7_IRQn); | ||
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| } else if (hspi->Instance == SPI2) { | ||
| /* SPI2 GPIO Configuration: PB13=SCK, PB14=MISO, PB15=MOSI */ | ||
| gpio_init.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15; | ||
| gpio_init.Mode = GPIO_MODE_AF_PP; | ||
| gpio_init.Pull = GPIO_NOPULL; | ||
| gpio_init.Speed = GPIO_SPEED_FREQ_HIGH; | ||
| gpio_init.Alternate = GPIO_AF5_SPI2; | ||
| HAL_GPIO_Init(GPIOB, &gpio_init); | ||
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| /* Configure DMA for TX */ | ||
| g_hdma_spi2_tx.Instance = GPDMA1_Channel6; | ||
| g_hdma_spi2_tx.Init.Request = GPDMA1_REQUEST_SPI2_TX; | ||
| g_hdma_spi2_tx.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST; | ||
| g_hdma_spi2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH; | ||
| g_hdma_spi2_tx.Init.SrcInc = DMA_SINC_INCREMENTED; | ||
| g_hdma_spi2_tx.Init.DestInc = DMA_DINC_FIXED; | ||
| g_hdma_spi2_tx.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE; | ||
| g_hdma_spi2_tx.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE; | ||
| g_hdma_spi2_tx.Init.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT; | ||
| g_hdma_spi2_tx.Init.SrcBurstLength = 1; | ||
| g_hdma_spi2_tx.Init.DestBurstLength = 1; | ||
| g_hdma_spi2_tx.Init.TransferAllocatedPort = | ||
| (DMA_SRC_ALLOCATED_PORT0 | DMA_DEST_ALLOCATED_PORT0); | ||
| g_hdma_spi2_tx.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER; | ||
| g_hdma_spi2_tx.Init.Mode = DMA_NORMAL; | ||
| HAL_DMA_Init(&g_hdma_spi2_tx); | ||
| __HAL_LINKDMA(hspi, hdmatx, g_hdma_spi2_tx); | ||
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| /* Configure DMA for RX */ | ||
| g_hdma_spi2_rx.Instance = GPDMA1_Channel7; | ||
| g_hdma_spi2_rx.Init.Request = GPDMA1_REQUEST_SPI2_RX; | ||
| g_hdma_spi2_rx.Init.BlkHWRequest = DMA_BREQ_SINGLE_BURST; | ||
| g_hdma_spi2_rx.Init.Direction = DMA_PERIPH_TO_MEMORY; | ||
| g_hdma_spi2_rx.Init.SrcInc = DMA_SINC_FIXED; | ||
| g_hdma_spi2_rx.Init.DestInc = DMA_DINC_INCREMENTED; | ||
| g_hdma_spi2_rx.Init.SrcDataWidth = DMA_SRC_DATAWIDTH_BYTE; | ||
| g_hdma_spi2_rx.Init.DestDataWidth = DMA_DEST_DATAWIDTH_BYTE; | ||
| g_hdma_spi2_rx.Init.Priority = DMA_LOW_PRIORITY_LOW_WEIGHT; | ||
| g_hdma_spi2_rx.Init.SrcBurstLength = 1; | ||
| g_hdma_spi2_rx.Init.DestBurstLength = 1; | ||
| g_hdma_spi2_rx.Init.TransferAllocatedPort = | ||
| (DMA_SRC_ALLOCATED_PORT0 | DMA_DEST_ALLOCATED_PORT0); | ||
| g_hdma_spi2_rx.Init.TransferEventMode = DMA_TCEM_BLOCK_TRANSFER; | ||
| g_hdma_spi2_rx.Init.Mode = DMA_NORMAL; | ||
| HAL_DMA_Init(&g_hdma_spi2_rx); | ||
| __HAL_LINKDMA(hspi, hdmarx, g_hdma_spi2_rx); | ||
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| /* SPI2 interrupt init */ | ||
| HAL_NVIC_SetPriority(SPI2_IRQn, SPI_IRQ_PRIO, 1); | ||
| HAL_NVIC_EnableIRQ(SPI2_IRQn); | ||
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| /* DMA interrupt init */ | ||
| HAL_NVIC_SetPriority(GPDMA1_Channel6_IRQn, SPI_IRQ_PRIO, 1); | ||
| HAL_NVIC_EnableIRQ(GPDMA1_Channel6_IRQn); | ||
| HAL_NVIC_SetPriority(GPDMA1_Channel7_IRQn, SPI_IRQ_PRIO, 1); | ||
| HAL_NVIC_EnableIRQ(GPDMA1_Channel7_IRQn); | ||
| } | ||
| } | ||
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| /** | ||
| * @brief Initialize the SPI peripheral. | ||
| * | ||
| * @param bus SPI bus instance to initialize | ||
| */ | ||
| void SPI_LL_init(SPI_Bus bus) | ||
| { | ||
| if (bus >= SPI_BUS_COUNT) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
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| SPIInstance *instance = &g_spi_instances[bus]; | ||
| if (instance->initialized) { | ||
| return; | ||
| } | ||
| SPI_TypeDef *spi_instance[SPI_BUS_COUNT] = { | ||
| [SPI_BUS_0] = SPI1, | ||
| [SPI_BUS_1] = SPI2, | ||
| }; | ||
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| /* Initialize SPI1 */ | ||
| instance->hspi->Instance = spi_instance[bus]; | ||
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| instance->hspi->Init.Mode = SPI_MODE_MASTER; | ||
| instance->hspi->Init.Direction = SPI_DIRECTION_2LINES; | ||
| instance->hspi->Init.DataSize = SPI_DATASIZE_8BIT; | ||
| instance->hspi->Init.CLKPolarity = SPI_POLARITY_LOW; | ||
| instance->hspi->Init.CLKPhase = SPI_PHASE_1EDGE; | ||
| instance->hspi->Init.NSS = SPI_NSS_SOFT; | ||
| instance->hspi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16; | ||
| instance->hspi->Init.FirstBit = SPI_FIRSTBIT_MSB; | ||
| instance->hspi->Init.TIMode = SPI_TIMODE_DISABLE; | ||
| instance->hspi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; | ||
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| if (HAL_SPI_Init(instance->hspi) != HAL_OK) { | ||
| THROW(ERROR_HARDWARE_FAULT); | ||
| } | ||
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| /* Configure NVIC for SPI interrupts */ | ||
| HAL_NVIC_SetPriority(SPI1_IRQn, SPI_IRQ_PRIO, 0); | ||
| HAL_NVIC_EnableIRQ(SPI1_IRQn); | ||
|
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| instance->tx_in_progress = false; | ||
| instance->rx_in_progress = false; | ||
| instance->tx_complete_callback = nullptr; | ||
| instance->rx_complete_callback = nullptr; | ||
| instance->initialized = true; | ||
| } | ||
|
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| /** | ||
| * @brief Deinitialize the SPI peripheral. | ||
| * | ||
| * @param bus SPI bus instance to deinitialize | ||
| */ | ||
| void SPI_LL_deinit(SPI_Bus bus) | ||
| { | ||
| if (bus >= SPI_BUS_COUNT) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
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| SPIInstance *instance = &g_spi_instances[bus]; | ||
| if (!instance->initialized) { | ||
| return; | ||
| } | ||
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| /* Disable interrupts */ | ||
| if (bus == SPI_BUS_0) { | ||
| HAL_NVIC_DisableIRQ(SPI1_IRQn); | ||
| } else if (bus == SPI_BUS_1) { | ||
| HAL_NVIC_DisableIRQ(SPI2_IRQn); | ||
| } | ||
|
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| /* Deinitialize SPI */ | ||
| if (HAL_SPI_DeInit(instance->hspi) != HAL_OK) { | ||
| THROW(ERROR_HARDWARE_FAULT); | ||
| } | ||
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| instance->tx_in_progress = false; | ||
| instance->rx_in_progress = false; | ||
| instance->tx_complete_callback = nullptr; | ||
| instance->rx_complete_callback = nullptr; | ||
| instance->initialized = false; | ||
| } | ||
|
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| /** | ||
| * @brief Transmit data over SPI. | ||
| * | ||
| * @param bus SPI bus instance to use | ||
| * @param data Pointer to the data buffer to transmit | ||
| * @param size Size of the data buffer | ||
| */ | ||
| void SPI_LL_transmit(SPI_Bus bus, uint8_t const *data, size_t size) | ||
| { | ||
| if (bus >= SPI_BUS_COUNT) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
|
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| SPIInstance *instance = &g_spi_instances[bus]; | ||
| if (!instance->initialized) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
|
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| // Start the transmission | ||
| HAL_SPI_Transmit(instance->hspi, (uint8_t *)data, size, HAL_MAX_DELAY); | ||
| } | ||
| /** | ||
| * @brief Receive data over SPI. | ||
| * | ||
| * @param bus SPI bus instance to use | ||
| * @param data Pointer to the buffer to store received data | ||
| * @param size Size of the data buffer | ||
| */ | ||
|
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| void SPI_LL_receive(SPI_Bus bus, uint8_t *data, size_t size) | ||
| { | ||
| if (bus >= SPI_BUS_COUNT) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
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| SPIInstance *instance = &g_spi_instances[bus]; | ||
| if (!instance->initialized) { | ||
| THROW(ERROR_INVALID_ARGUMENT); | ||
| } | ||
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| // Start the reception | ||
| HAL_SPI_Receive(instance->hspi, data, size, HAL_MAX_DELAY); | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| /** | ||
| * @file spi_ll.h | ||
| * @brief SPI low-level hardware interface for STM32H563xx | ||
| */ | ||
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| #ifndef SPI_LL_H | ||
| #define SPI_LL_H | ||
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| #include "stm32h5xx_hal.h" | ||
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| /** | ||
| * @brief SPI bus instance enumeration | ||
| */ | ||
| typedef enum { SPI_BUS_0 = 0, SPI_BUS_1 = 1, SPI_BUS_COUNT = 2 } SPI_Bus; | ||
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| /** | ||
| * @brief Initialize the SPI peripheral. | ||
| */ | ||
| void spi_ll_init(void); | ||
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| /** | ||
| * @brief Transmit data over SPI. | ||
| * @param data Pointer to the data buffer to transmit. | ||
| * @param size Size of the data buffer. | ||
| */ | ||
| void spi_ll_transmit(uint8_t *data, uint16_t size); | ||
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| /** | ||
| * @brief Receive data over SPI. | ||
| * @param data Pointer to the buffer to store received data. | ||
| * @param size Size of the data buffer. | ||
| */ | ||
| void spi_ll_receive(uint8_t *data, uint16_t size); | ||
|
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| #endif /* SPI_LL_H */ |
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Get it working without DMA first.