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zephyr/drivers/spi/spi_rpi_pico_pio.c

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/*
* Copyright (c) 2023 Stephen Boylan <stephen.boylan@beechwoods.com>
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT raspberrypi_pico_spi_pio
#define LOG_LEVEL CONFIG_SPI_LOG_LEVEL
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(spi_pico_pio);
#include <zephyr/sys/util.h>
#include <zephyr/sys/sys_io.h>
#include <zephyr/drivers/clock_control.h>
#include <zephyr/drivers/spi.h>
#include <zephyr/drivers/pinctrl.h>
#include "spi_context.h"
#include <zephyr/drivers/misc/pio_rpi_pico/pio_rpi_pico.h>
#include <hardware/pio.h>
#include "hardware/clocks.h"
#define SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED DT_ANY_INST_HAS_PROP_STATUS_OKAY(sio_gpios)
#define PIO_CYCLES (4)
#define PIO_FIFO_DEPTH (4)
struct spi_pico_pio_config {
const struct device *piodev;
const struct pinctrl_dev_config *pin_cfg;
struct gpio_dt_spec clk_gpio;
struct gpio_dt_spec mosi_gpio;
struct gpio_dt_spec miso_gpio;
struct gpio_dt_spec sio_gpio;
const struct device *clk_dev;
clock_control_subsys_t clk_id;
};
struct spi_pico_pio_data {
struct spi_context spi_ctx;
uint32_t tx_count;
uint32_t rx_count;
PIO pio;
size_t pio_sm;
uint32_t pio_tx_offset;
uint32_t pio_rx_offset;
uint32_t pio_rx_wrap_target;
uint32_t pio_rx_wrap;
uint32_t tx_period_ticks;
uint32_t bits;
uint32_t dfs;
};
/* ------------ */
/* spi_mode_0_0 */
/* ------------ */
#define SPI_MODE_0_0_WRAP_TARGET 0
#define SPI_MODE_0_0_WRAP 1
#define SPI_MODE_0_0_CYCLES 4
RPI_PICO_PIO_DEFINE_PROGRAM(spi_mode_0_0, SPI_MODE_0_0_WRAP_TARGET, SPI_MODE_0_0_WRAP,
/* .wrap_target */
0x6101, /* 0: out pins, 1 side 0 [1] */
0x5101, /* 1: in pins, 1 side 1 [1] */
/* .wrap */
);
/* ------------ */
/* spi_mode_1_1 */
/* ------------ */
#define SPI_MODE_1_1_WRAP_TARGET 0
#define SPI_MODE_1_1_WRAP 2
#define SPI_MODE_1_1_CYCLES 4
RPI_PICO_PIO_DEFINE_PROGRAM(spi_mode_1_1, SPI_MODE_1_1_WRAP_TARGET, SPI_MODE_1_1_WRAP,
/* .wrap_target */
0x7021, /* 0: out x, 1 side 1 */
0xa101, /* 1: mov pins, x side 0 [1] */
0x5001, /* 2: in pins, 1 side 1 */
/* .wrap */
);
#if SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED
/* ------------------- */
/* spi_sio_mode_0_0_tx */
/* ------------------- */
#define SPI_SIO_MODE_0_0_TX_WRAP_TARGET 0
#define SPI_SIO_MODE_0_0_TX_WRAP 2
#define SPI_SIO_MODE_0_0_TX_CYCLES 2
RPI_PICO_PIO_DEFINE_PROGRAM(spi_sio_mode_0_0_tx, SPI_SIO_MODE_0_0_TX_WRAP_TARGET,
SPI_SIO_MODE_0_0_TX_WRAP,
/* .wrap_target */
0x80a0, /* 0: pull block side 0 */
0x6001, /* 1: out pins, 1 side 0 */
0x10e1, /* 2: jmp !osre, 1 side 1 */
/* .wrap */
);
/* ------------------------- */
/* spi_sio_mode_0_0_8_bit_rx */
/* ------------------------- */
#define SPI_SIO_MODE_0_0_8_BIT_RX_WRAP_TARGET 0
#define SPI_SIO_MODE_0_0_8_BIT_RX_WRAP 6
#define SPI_SIO_MODE_0_0_8_BIT_RX_CYCLES 2
RPI_PICO_PIO_DEFINE_PROGRAM(spi_sio_mode_0_0_8_bit_rx, SPI_SIO_MODE_0_0_8_BIT_RX_WRAP_TARGET,
SPI_SIO_MODE_0_0_8_BIT_RX_WRAP,
/* .wrap_target */
0x80a0, /* 0: pull block side 0 */
0x6020, /* 1: out x, 32 side 0 */
0xe047, /* 2: set y, 7 side 0 */
0x5001, /* 3: in pins, 1 side 1 */
0x0083, /* 4: jmp y--, 3 side 0 */
0x8020, /* 5: push block side 0 */
0x0042, /* 6: jmp x--, 2 side 0 */
/* .wrap */
);
/* -------------------------- */
/* spi_sio_mode_0_0_16_bit_rx */
/* -------------------------- */
#define SPI_SIO_MODE_0_0_16_BIT_RX_WRAP_TARGET 0
#define SPI_SIO_MODE_0_0_16_BIT_RX_WRAP 6
#define SPI_SIO_MODE_0_0_16_BIT_RX_CYCLES 2
RPI_PICO_PIO_DEFINE_PROGRAM(spi_sio_mode_0_0_16_bit_rx, SPI_SIO_MODE_0_0_16_BIT_RX_WRAP_TARGET,
SPI_SIO_MODE_0_0_16_BIT_RX_WRAP,
/* .wrap_target */
0x80a0, /* 0: pull block side 0 */
0x6020, /* 1: out x, 32 side 0 */
0xe04f, /* 2: set y, 15 side 0 */
0x5001, /* 3: in pins, 1 side 1 */
0x0083, /* 4: jmp y--, 3 side 0 */
0x8020, /* 5: push block side 0 */
0x0042, /* 6: jmp x--, 2 side 0 */
/* .wrap */
);
/* -------------------------- */
/* spi_sio_mode_0_0_32_bit_rx */
/* -------------------------- */
#define SPI_SIO_MODE_0_0_32_BIT_RX_WRAP_TARGET 0
#define SPI_SIO_MODE_0_0_32_BIT_RX_WRAP 6
#define SPI_SIO_MODE_0_0_32_BIT_RX_CYCLES 2
RPI_PICO_PIO_DEFINE_PROGRAM(spi_sio_mode_0_0_32_bit_rx, SPI_SIO_MODE_0_0_32_BIT_RX_WRAP_TARGET,
SPI_SIO_MODE_0_0_32_BIT_RX_WRAP,
/* .wrap_target */
0x80a0, /* 0: pull block side 0 */
0x6020, /* 1: out x, 32 side 0 */
0xe05f, /* 2: set y, 31 side 0 */
0x5001, /* 3: in pins, 1 side 1 */
0x0083, /* 4: jmp y--, 3 side 0 */
0x8020, /* 5: push block side 0 */
0x0042, /* 6: jmp x--, 2 side 0 */
/* .wrap */
);
#endif /* SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED */
static float spi_pico_pio_clock_divisor(const uint32_t clock_freq, int cycles,
uint32_t spi_frequency)
{
return (float)clock_freq / (float)(cycles * spi_frequency);
}
static uint32_t spi_pico_pio_maximum_clock_frequency(const uint32_t clock_freq, int cycles)
{
return clock_freq / cycles;
}
static uint32_t spi_pico_pio_minimum_clock_frequency(const uint32_t clock_freq, int cycles)
{
return clock_freq / (cycles * 65536);
}
static inline bool spi_pico_pio_transfer_ongoing(struct spi_pico_pio_data *data)
{
return spi_context_tx_on(&data->spi_ctx) || spi_context_rx_on(&data->spi_ctx);
}
static inline void spi_pico_pio_sm_put8(PIO pio, uint sm, uint8_t data)
{
/* Do 8 bit accesses on FIFO, so that write data is byte-replicated. This */
/* gets us the left-justification for free (for MSB-first shift-out) */
io_rw_8 *txfifo = (io_rw_8 *)&pio->txf[sm];
*txfifo = data;
}
static inline uint8_t spi_pico_pio_sm_get8(PIO pio, uint sm)
{
/* Do 8 bit accesses on FIFO, so that write data is byte-replicated. This */
/* gets us the left-justification for free (for MSB-first shift-out) */
io_rw_8 *rxfifo = (io_rw_8 *)&pio->rxf[sm];
return *rxfifo;
}
static inline void spi_pico_pio_sm_put16(PIO pio, uint sm, uint16_t data)
{
/* Do 16 bit accesses on FIFO, so that write data is halfword-replicated. This */
/* gets us the left-justification for free (for MSB-first shift-out) */
io_rw_16 *txfifo = (io_rw_16 *)&pio->txf[sm];
*txfifo = data;
}
static inline uint16_t spi_pico_pio_sm_get16(PIO pio, uint sm)
{
io_rw_16 *rxfifo = (io_rw_16 *)&pio->rxf[sm];
return *rxfifo;
}
static inline void spi_pico_pio_sm_put32(PIO pio, uint sm, uint32_t data)
{
io_rw_32 *txfifo = (io_rw_32 *)&pio->txf[sm];
*txfifo = data;
}
static inline uint32_t spi_pico_pio_sm_get32(PIO pio, uint sm)
{
io_rw_32 *rxfifo = (io_rw_32 *)&pio->rxf[sm];
return *rxfifo;
}
static inline int spi_pico_pio_sm_complete(struct spi_pico_pio_data *data)
{
return (data->pio->sm[data->pio_sm].addr == data->pio_tx_offset);
}
static int spi_pico_pio_configure(const struct spi_pico_pio_config *dev_cfg,
struct spi_pico_pio_data *data, const struct spi_config *spi_cfg)
{
const struct gpio_dt_spec *clk = NULL;
pio_sm_config sm_config;
bool lsb = false;
uint32_t cpol = 0;
uint32_t cpha = 0;
uint32_t rc = 0;
uint32_t clock_freq;
rc = clock_control_on(dev_cfg->clk_dev, dev_cfg->clk_id);
if (rc < 0) {
LOG_ERR("Failed to enable the clock");
return rc;
}
rc = clock_control_get_rate(dev_cfg->clk_dev, dev_cfg->clk_id, &clock_freq);
if (rc < 0) {
LOG_ERR("Failed to get clock frequency");
return rc;
}
if (spi_context_configured(&data->spi_ctx, spi_cfg)) {
return 0;
}
if (spi_cfg->operation & SPI_OP_MODE_SLAVE) {
LOG_ERR("Slave mode not supported");
return -ENOTSUP;
}
/* Note that SPI_TRANSFER_LSB controls the direction of shift, not the */
/* "endianness" of the data. In MSB mode, the high-order bit of the */
/* most significant byte is sent first; in LSB mode, the low-order */
/* bit of the least-significant byte is sent first. */
if (spi_cfg->operation & SPI_TRANSFER_LSB) {
lsb = true;
}
#if defined(CONFIG_SPI_EXTENDED_MODES)
if (spi_cfg->operation & (SPI_LINES_DUAL | SPI_LINES_QUAD | SPI_LINES_OCTAL)) {
LOG_ERR("Unsupported configuration");
return -ENOTSUP;
}
#endif /* CONFIG_SPI_EXTENDED_MODES */
data->bits = SPI_WORD_SIZE_GET(spi_cfg->operation);
if ((data->bits != 8) && (data->bits != 16) && (data->bits != 32)) {
LOG_ERR("Only 8, 16, and 32 bit word sizes are supported");
return -ENOTSUP;
}
data->dfs = ((data->bits - 1) / 8) + 1;
if (spi_cfg->operation & SPI_CS_ACTIVE_HIGH) {
gpio_set_outover(data->spi_ctx.config->cs.gpio.pin, GPIO_OVERRIDE_INVERT);
}
if (SPI_MODE_GET(spi_cfg->operation) & SPI_MODE_CPOL) {
cpol = 1;
}
if (SPI_MODE_GET(spi_cfg->operation) & SPI_MODE_CPHA) {
cpha = 1;
}
if (SPI_MODE_GET(spi_cfg->operation) & SPI_MODE_LOOP) {
LOG_ERR("Loopback not supported");
return -ENOTSUP;
}
#if SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED
if (spi_cfg->operation & SPI_HALF_DUPLEX) {
if ((cpol != 0) || (cpha != 0)) {
LOG_ERR("Only mode (0, 0) supported in 3-wire SIO");
return -ENOTSUP;
}
if ((spi_cfg->frequency > spi_pico_pio_maximum_clock_frequency(
clock_freq, SPI_SIO_MODE_0_0_TX_CYCLES)) ||
(spi_cfg->frequency < spi_pico_pio_minimum_clock_frequency(
clock_freq, SPI_SIO_MODE_0_0_TX_CYCLES))) {
LOG_ERR("clock-frequency out of range");
return -EINVAL;
}
} else if (dev_cfg->sio_gpio.port) {
LOG_ERR("SPI_HALF_DUPLEX operation needed for sio-gpios");
return -EINVAL;
}
#else
if (spi_cfg->operation & SPI_HALF_DUPLEX) {
LOG_ERR("No sio-gpios defined, half-duplex not enabled");
return -EINVAL;
}
#endif /* SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED */
clk = &dev_cfg->clk_gpio;
data->pio = pio_rpi_pico_get_pio(dev_cfg->piodev);
rc = pio_rpi_pico_allocate_sm(dev_cfg->piodev, &data->pio_sm);
if (rc < 0) {
return rc;
}
if (dev_cfg->sio_gpio.port) {
#if SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED
const struct gpio_dt_spec *sio = &dev_cfg->sio_gpio;
float clock_div = spi_pico_pio_clock_divisor(clock_freq, SPI_SIO_MODE_0_0_TX_CYCLES,
spi_cfg->frequency);
data->tx_period_ticks = DIV_ROUND_UP((data->bits * CONFIG_SYS_CLOCK_TICKS_PER_SEC),
spi_cfg->frequency);
data->pio_tx_offset =
pio_add_program(data->pio, RPI_PICO_PIO_GET_PROGRAM(spi_sio_mode_0_0_tx));
switch (data->dfs) {
case 4:
data->pio_rx_offset = pio_add_program(
data->pio, RPI_PICO_PIO_GET_PROGRAM(spi_sio_mode_0_0_32_bit_rx));
data->pio_rx_wrap_target =
data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP_TARGET(spi_sio_mode_0_0_32_bit_rx);
data->pio_rx_wrap = data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP(spi_sio_mode_0_0_32_bit_rx);
break;
case 2:
data->pio_rx_offset = pio_add_program(
data->pio, RPI_PICO_PIO_GET_PROGRAM(spi_sio_mode_0_0_16_bit_rx));
data->pio_rx_wrap_target =
data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP_TARGET(spi_sio_mode_0_0_16_bit_rx);
data->pio_rx_wrap = data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP(spi_sio_mode_0_0_16_bit_rx);
break;
case 1:
data->pio_rx_offset = pio_add_program(
data->pio, RPI_PICO_PIO_GET_PROGRAM(spi_sio_mode_0_0_8_bit_rx));
data->pio_rx_wrap_target =
data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP_TARGET(spi_sio_mode_0_0_8_bit_rx);
data->pio_rx_wrap = data->pio_rx_offset +
RPI_PICO_PIO_GET_WRAP(spi_sio_mode_0_0_8_bit_rx);
break;
default:
LOG_ERR("Support for %d transfer size not enabled", (data->dfs * 8));
return -EINVAL;
}
sm_config = pio_get_default_sm_config();
sm_config_set_clkdiv(&sm_config, clock_div);
sm_config_set_in_pins(&sm_config, sio->pin);
sm_config_set_in_shift(&sm_config, lsb, false, data->bits);
sm_config_set_out_pins(&sm_config, sio->pin, 1);
sm_config_set_out_shift(&sm_config, lsb, false, data->bits);
hw_set_bits(&data->pio->input_sync_bypass, 1u << sio->pin);
sm_config_set_sideset_pins(&sm_config, clk->pin);
sm_config_set_sideset(&sm_config, 1, false, false);
sm_config_set_wrap(
&sm_config,
data->pio_tx_offset + RPI_PICO_PIO_GET_WRAP_TARGET(spi_sio_mode_0_0_tx),
data->pio_tx_offset + RPI_PICO_PIO_GET_WRAP(spi_sio_mode_0_0_tx));
pio_sm_set_pindirs_with_mask(data->pio, data->pio_sm,
(BIT(clk->pin) | BIT(sio->pin)),
(BIT(clk->pin) | BIT(sio->pin)));
pio_sm_set_pins_with_mask(data->pio, data->pio_sm, 0,
BIT(clk->pin) | BIT(sio->pin));
pio_gpio_init(data->pio, sio->pin);
pio_gpio_init(data->pio, clk->pin);
pio_sm_init(data->pio, data->pio_sm, data->pio_tx_offset, &sm_config);
pio_sm_set_enabled(data->pio, data->pio_sm, true);
#else
LOG_ERR("SIO pin requires half-duplex support");
return -EINVAL;
#endif /* SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED */
} else {
/* 4-wire mode */
const struct gpio_dt_spec *miso = miso = &dev_cfg->miso_gpio;
const struct gpio_dt_spec *mosi = &dev_cfg->mosi_gpio;
const pio_program_t *program;
uint32_t wrap_target;
uint32_t wrap;
int cycles;
if ((cpol == 0) && (cpha == 0)) {
program = RPI_PICO_PIO_GET_PROGRAM(spi_mode_0_0);
wrap_target = RPI_PICO_PIO_GET_WRAP_TARGET(spi_mode_0_0);
wrap = RPI_PICO_PIO_GET_WRAP(spi_mode_0_0);
cycles = SPI_MODE_0_0_CYCLES;
} else if ((cpol == 1) && (cpha == 1)) {
program = RPI_PICO_PIO_GET_PROGRAM(spi_mode_1_1);
wrap_target = RPI_PICO_PIO_GET_WRAP_TARGET(spi_mode_1_1);
wrap = RPI_PICO_PIO_GET_WRAP(spi_mode_1_1);
cycles = SPI_MODE_1_1_CYCLES;
} else {
LOG_ERR("Not supported: cpol=%d, cpha=%d\n", cpol, cpha);
return -ENOTSUP;
}
if ((spi_cfg->frequency >
spi_pico_pio_maximum_clock_frequency(clock_freq, cycles)) ||
(spi_cfg->frequency <
spi_pico_pio_minimum_clock_frequency(clock_freq, cycles))) {
LOG_ERR("clock-frequency out of range");
return -EINVAL;
}
float clock_div =
spi_pico_pio_clock_divisor(clock_freq, cycles, spi_cfg->frequency);
if (!pio_can_add_program(data->pio, program)) {
return -EBUSY;
}
data->pio_tx_offset = pio_add_program(data->pio, program);
sm_config = pio_get_default_sm_config();
sm_config_set_clkdiv(&sm_config, clock_div);
sm_config_set_in_pins(&sm_config, miso->pin);
sm_config_set_in_shift(&sm_config, lsb, true, data->bits);
sm_config_set_out_pins(&sm_config, mosi->pin, 1);
sm_config_set_out_shift(&sm_config, lsb, true, data->bits);
sm_config_set_sideset_pins(&sm_config, clk->pin);
sm_config_set_sideset(&sm_config, 1, false, false);
sm_config_set_wrap(&sm_config, data->pio_tx_offset + wrap_target,
data->pio_tx_offset + wrap);
pio_sm_set_consecutive_pindirs(data->pio, data->pio_sm, miso->pin, 1, false);
pio_sm_set_pindirs_with_mask(data->pio, data->pio_sm,
(BIT(clk->pin) | BIT(mosi->pin)),
(BIT(clk->pin) | BIT(mosi->pin)));
pio_sm_set_pins_with_mask(data->pio, data->pio_sm, (cpol << clk->pin),
BIT(clk->pin) | BIT(mosi->pin));
pio_gpio_init(data->pio, mosi->pin);
pio_gpio_init(data->pio, miso->pin);
pio_gpio_init(data->pio, clk->pin);
pio_sm_init(data->pio, data->pio_sm, data->pio_tx_offset, &sm_config);
pio_sm_set_enabled(data->pio, data->pio_sm, true);
}
data->spi_ctx.config = spi_cfg;
return 0;
}
static void spi_pico_pio_txrx_4_wire(const struct device *dev)
{
struct spi_pico_pio_data *data = dev->data;
const size_t chunk_len = spi_context_max_continuous_chunk(&data->spi_ctx);
const void *txbuf = data->spi_ctx.tx_buf;
void *rxbuf = data->spi_ctx.rx_buf;
uint32_t txrx;
size_t fifo_cnt = 0;
data->tx_count = 0;
data->rx_count = 0;
pio_sm_clear_fifos(data->pio, data->pio_sm);
while (data->rx_count < chunk_len || data->tx_count < chunk_len) {
/* Fill up fifo with available TX data */
while ((!pio_sm_is_tx_fifo_full(data->pio, data->pio_sm)) &&
data->tx_count < chunk_len && fifo_cnt < PIO_FIFO_DEPTH) {
/* Send 0 in the case of read only operation */
txrx = 0;
switch (data->dfs) {
case 4: {
if (txbuf) {
txrx = ((uint32_t *)txbuf)[data->tx_count];
}
spi_pico_pio_sm_put32(data->pio, data->pio_sm, txrx);
data->tx_count += 4;
} break;
case 2: {
if (txbuf) {
txrx = ((uint16_t *)txbuf)[data->tx_count];
}
spi_pico_pio_sm_put16(data->pio, data->pio_sm, txrx);
data->tx_count += 2;
} break;
case 1: {
if (txbuf) {
txrx = ((uint8_t *)txbuf)[data->tx_count];
}
spi_pico_pio_sm_put8(data->pio, data->pio_sm, txrx);
data->tx_count++;
} break;
default:
LOG_ERR("Support fot %d bits not enabled", (data->dfs * 8));
break;
}
fifo_cnt++;
}
while ((!pio_sm_is_rx_fifo_empty(data->pio, data->pio_sm)) &&
data->rx_count < chunk_len && fifo_cnt > 0) {
switch (data->dfs) {
case 4: {
txrx = spi_pico_pio_sm_get32(data->pio, data->pio_sm);
/* Discard received data if rx buffer not assigned */
if (rxbuf) {
((uint32_t *)rxbuf)[data->rx_count] = (uint32_t)txrx;
}
data->rx_count += 4;
} break;
case 2: {
txrx = spi_pico_pio_sm_get16(data->pio, data->pio_sm);
/* Discard received data if rx buffer not assigned */
if (rxbuf) {
((uint16_t *)rxbuf)[data->rx_count] = (uint16_t)txrx;
}
data->rx_count += 2;
} break;
case 1: {
txrx = spi_pico_pio_sm_get8(data->pio, data->pio_sm);
/* Discard received data if rx buffer not assigned */
if (rxbuf) {
((uint8_t *)rxbuf)[data->rx_count] = (uint8_t)txrx;
}
data->rx_count++;
} break;
default:
LOG_ERR("Support fot %d bits not enabled", (data->dfs * 8));
break;
}
fifo_cnt--;
}
}
}
static void spi_pico_pio_txrx_3_wire(const struct device *dev)
{
#if SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED
struct spi_pico_pio_data *data = dev->data;
const struct spi_pico_pio_config *dev_cfg = dev->config;
const void *txbuf = data->spi_ctx.tx_buf;
void *rxbuf = data->spi_ctx.rx_buf;
uint32_t txrx;
int sio_pin = dev_cfg->sio_gpio.pin;
uint32_t tx_size = data->spi_ctx.tx_len; /* Number of WORDS to send */
uint32_t rx_size = data->spi_ctx.rx_len; /* Number of WORDS to receive */
data->tx_count = 0;
data->rx_count = 0;
if (txbuf) {
pio_sm_set_enabled(data->pio, data->pio_sm, false);
pio_sm_set_wrap(data->pio, data->pio_sm,
data->pio_tx_offset +
RPI_PICO_PIO_GET_WRAP_TARGET(spi_sio_mode_0_0_tx),
data->pio_tx_offset + RPI_PICO_PIO_GET_WRAP(spi_sio_mode_0_0_tx));
pio_sm_clear_fifos(data->pio, data->pio_sm);
pio_sm_set_pindirs_with_mask(data->pio, data->pio_sm, BIT(sio_pin), BIT(sio_pin));
pio_sm_restart(data->pio, data->pio_sm);
pio_sm_clkdiv_restart(data->pio, data->pio_sm);
pio_sm_exec(data->pio, data->pio_sm, pio_encode_jmp(data->pio_tx_offset));
pio_sm_set_enabled(data->pio, data->pio_sm, true);
while (data->tx_count < tx_size) {
/* Fill up fifo with available TX data */
while ((!pio_sm_is_tx_fifo_full(data->pio, data->pio_sm)) &&
data->tx_count < tx_size) {
switch (data->dfs) {
case 4: {
txrx = ((uint32_t *)txbuf)[data->tx_count];
spi_pico_pio_sm_put32(data->pio, data->pio_sm, txrx);
data->tx_count += 4;
} break;
case 2: {
txrx = ((uint16_t *)txbuf)[data->tx_count];
spi_pico_pio_sm_put16(data->pio, data->pio_sm, txrx);
data->tx_count += 2;
} break;
case 1: {
txrx = ((uint8_t *)txbuf)[data->tx_count];
spi_pico_pio_sm_put8(data->pio, data->pio_sm, txrx);
data->tx_count++;
} break;
default:
LOG_ERR("Support fot %d bits not enabled", (data->dfs * 8));
break;
}
}
}
while ((!pio_sm_is_tx_fifo_empty(data->pio, data->pio_sm)) ||
(!spi_pico_pio_sm_complete(data))) {
k_sleep(K_TICKS(data->tx_period_ticks));
}
}
if (rxbuf) {
pio_sm_set_enabled(data->pio, data->pio_sm, false);
pio_sm_set_wrap(data->pio, data->pio_sm, data->pio_rx_wrap_target,
data->pio_rx_wrap);
pio_sm_clear_fifos(data->pio, data->pio_sm);
pio_sm_set_pindirs_with_mask(data->pio, data->pio_sm, 0, BIT(sio_pin));
pio_sm_restart(data->pio, data->pio_sm);
pio_sm_clkdiv_restart(data->pio, data->pio_sm);
pio_sm_put(data->pio, data->pio_sm, rx_size - 1);
pio_sm_exec(data->pio, data->pio_sm, pio_encode_out(pio_x, 32));
pio_sm_exec(data->pio, data->pio_sm, pio_encode_jmp(data->pio_rx_offset));
pio_sm_set_enabled(data->pio, data->pio_sm, true);
while (data->rx_count < rx_size) {
while ((!pio_sm_is_rx_fifo_empty(data->pio, data->pio_sm)) &&
data->rx_count < rx_size) {
switch (data->dfs) {
case 4: {
txrx = spi_pico_pio_sm_get32(data->pio, data->pio_sm);
((uint32_t *)rxbuf)[data->rx_count] = (uint32_t)txrx;
data->rx_count += 4;
} break;
case 2: {
txrx = spi_pico_pio_sm_get16(data->pio, data->pio_sm);
((uint16_t *)rxbuf)[data->rx_count] = (uint16_t)txrx;
data->rx_count += 2;
} break;
case 1: {
txrx = spi_pico_pio_sm_get8(data->pio, data->pio_sm);
((uint8_t *)rxbuf)[data->rx_count] = (uint8_t)txrx;
data->rx_count++;
} break;
default:
LOG_ERR("Support fot %d bits not enabled", (data->dfs * 8));
break;
}
}
}
}
#else
LOG_ERR("SIO pin requires half-duplex support");
#endif /* SPI_RPI_PICO_PIO_HALF_DUPLEX_ENABLED */
}
static void spi_pico_pio_txrx(const struct device *dev)
{
const struct spi_pico_pio_config *dev_cfg = dev->config;
/* 3-wire or 4-wire mode? */
if (dev_cfg->sio_gpio.port) {
spi_pico_pio_txrx_3_wire(dev);
} else {
spi_pico_pio_txrx_4_wire(dev);
}
}
static int spi_pico_pio_transceive_impl(const struct device *dev, const struct spi_config *spi_cfg,
const struct spi_buf_set *tx_bufs,
const struct spi_buf_set *rx_bufs, bool asynchronous,
spi_callback_t cb, void *userdata)
{
const struct spi_pico_pio_config *dev_cfg = dev->config;
struct spi_pico_pio_data *data = dev->data;
struct spi_context *spi_ctx = &data->spi_ctx;
int rc = 0;
spi_context_lock(spi_ctx, asynchronous, cb, userdata, spi_cfg);
rc = spi_pico_pio_configure(dev_cfg, data, spi_cfg);
if (rc < 0) {
goto error;
}
spi_context_buffers_setup(spi_ctx, tx_bufs, rx_bufs, data->dfs);
spi_context_cs_control(spi_ctx, true);
do {
spi_pico_pio_txrx(dev);
spi_context_update_tx(spi_ctx, 1, data->tx_count);
spi_context_update_rx(spi_ctx, 1, data->rx_count);
} while (spi_pico_pio_transfer_ongoing(data));
spi_context_cs_control(spi_ctx, false);
error:
spi_context_release(spi_ctx, rc);
return rc;
}
static int spi_pico_pio_transceive(const struct device *dev, const struct spi_config *spi_cfg,
const struct spi_buf_set *tx_bufs,
const struct spi_buf_set *rx_bufs)
{
return spi_pico_pio_transceive_impl(dev, spi_cfg, tx_bufs, rx_bufs, false, NULL, NULL);
}
int spi_pico_pio_release(const struct device *dev, const struct spi_config *spi_cfg)
{
struct spi_pico_pio_data *data = dev->data;
spi_context_unlock_unconditionally(&data->spi_ctx);
return 0;
}
static const struct spi_driver_api spi_pico_pio_api = {
.transceive = spi_pico_pio_transceive,
.release = spi_pico_pio_release,
};
static int config_gpio(const struct gpio_dt_spec *gpio, const char *tag, int mode)
{
int rc = 0;
if (!device_is_ready(gpio->port)) {
LOG_ERR("GPIO port for %s pin is not ready", tag);
return -ENODEV;
}
rc = gpio_pin_configure_dt(gpio, mode);
if (rc < 0) {
LOG_ERR("Couldn't configure %s pin; (%d)", tag, rc);
return rc;
}
return 0;
}
int spi_pico_pio_init(const struct device *dev)
{
const struct spi_pico_pio_config *dev_cfg = dev->config;
struct spi_pico_pio_data *data = dev->data;
int rc;
rc = pinctrl_apply_state(dev_cfg->pin_cfg, PINCTRL_STATE_DEFAULT);
if (rc) {
LOG_ERR("Failed to apply pinctrl state");
return rc;
}
rc = config_gpio(&dev_cfg->clk_gpio, "clk", GPIO_OUTPUT_ACTIVE);
if (rc < 0) {
return rc;
}
if (dev_cfg->mosi_gpio.port != NULL) {
rc = config_gpio(&dev_cfg->mosi_gpio, "mosi", GPIO_OUTPUT);
if (rc < 0) {
return rc;
}
}
if (dev_cfg->miso_gpio.port != NULL) {
rc = config_gpio(&dev_cfg->miso_gpio, "miso", GPIO_INPUT);
if (rc < 0) {
return rc;
}
}
rc = spi_context_cs_configure_all(&data->spi_ctx);
if (rc < 0) {
LOG_ERR("Failed to configure CS pins: %d", rc);
return rc;
}
spi_context_unlock_unconditionally(&data->spi_ctx);
return 0;
}
#define SPI_PICO_PIO_INIT(inst) \
PINCTRL_DT_INST_DEFINE(inst); \
static struct spi_pico_pio_config spi_pico_pio_config_##inst = { \
.piodev = DEVICE_DT_GET(DT_INST_PARENT(inst)), \
.pin_cfg = PINCTRL_DT_INST_DEV_CONFIG_GET(inst), \
.clk_gpio = GPIO_DT_SPEC_INST_GET(inst, clk_gpios), \
.mosi_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, mosi_gpios, {0}), \
.miso_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, miso_gpios, {0}), \
.sio_gpio = GPIO_DT_SPEC_INST_GET_OR(inst, sio_gpios, {0}), \
.clk_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(inst)), \
.clk_id = (clock_control_subsys_t)DT_INST_PHA_BY_IDX(inst, clocks, 0, clk_id), \
}; \
static struct spi_pico_pio_data spi_pico_pio_data_##inst = { \
SPI_CONTEXT_INIT_LOCK(spi_pico_pio_data_##inst, spi_ctx), \
SPI_CONTEXT_INIT_SYNC(spi_pico_pio_data_##inst, spi_ctx), \
SPI_CONTEXT_CS_GPIOS_INITIALIZE(DT_DRV_INST(inst), spi_ctx)}; \
DEVICE_DT_INST_DEFINE(inst, spi_pico_pio_init, NULL, &spi_pico_pio_data_##inst, \
&spi_pico_pio_config_##inst, POST_KERNEL, CONFIG_SPI_INIT_PRIORITY, \
&spi_pico_pio_api); \
BUILD_ASSERT(DT_INST_NODE_HAS_PROP(inst, clk_gpios), "Missing clock GPIO"); \
BUILD_ASSERT(((DT_INST_NODE_HAS_PROP(inst, mosi_gpios) \
|| DT_INST_NODE_HAS_PROP(inst, miso_gpios)) \
&& (!DT_INST_NODE_HAS_PROP(inst, sio_gpios))) \
|| (DT_INST_NODE_HAS_PROP(inst, sio_gpios) \
&& !(DT_INST_NODE_HAS_PROP(inst, mosi_gpios) \
|| DT_INST_NODE_HAS_PROP(inst, miso_gpios))), \
"Invalid GPIO Configuration");
DT_INST_FOREACH_STATUS_OKAY(SPI_PICO_PIO_INIT)
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