diff options
| -rw-r--r-- | stmhal/spi.c | 284 |
1 files changed, 214 insertions, 70 deletions
diff --git a/stmhal/spi.c b/stmhal/spi.c index 2decc38f6..78d70d165 100644 --- a/stmhal/spi.c +++ b/stmhal/spi.c @@ -33,6 +33,7 @@ #include "qstr.h" #include "obj.h" #include "runtime.h" +#include "irq.h" #include "pin.h" #include "genhdr/pins.h" #include "bufhelper.h" @@ -71,6 +72,60 @@ SPI_HandleTypeDef SPIHandle2 = {.Instance = NULL}; SPI_HandleTypeDef SPIHandle3 = {.Instance = NULL}; #endif +// Possible DMA configurations for SPI busses: +// SPI1_RX: DMA2_Stream0.CHANNEL_3 or DMA2_Stream2.CHANNEL_3 +// SPI1_TX: DMA2_Stream3.CHANNEL_3 or DMA2_Stream5.CHANNEL_3 +// SPI2_RX: DMA1_Stream3.CHANNEL_0 +// SPI2_TX: DMA1_Stream4.CHANNEL_0 +// SPI3_RX: DMA1_Stream0.CHANNEL_0 or DMA1_Stream2.CHANNEL_0 +// SPI3_TX: DMA1_Stream5.CHANNEL_0 or DMA1_Stream7.CHANNEL_0 + +#define SPI1_DMA_CLK_ENABLE __DMA2_CLK_ENABLE +#define SPI1_RX_DMA_STREAM (DMA2_Stream2) +#define SPI1_TX_DMA_STREAM (DMA2_Stream5) +#define SPI1_DMA_CHANNEL (DMA_CHANNEL_3) +#define SPI1_RX_DMA_IRQN (DMA2_Stream2_IRQn) +#define SPI1_TX_DMA_IRQN (DMA2_Stream5_IRQn) +#define SPI1_RX_DMA_IRQ_HANDLER DMA2_Stream2_IRQHandler +#define SPI1_TX_DMA_IRQ_HANDLER DMA2_Stream5_IRQHandler + +#define SPI2_DMA_CLK_ENABLE __DMA1_CLK_ENABLE +#define SPI2_RX_DMA_STREAM (DMA1_Stream3) +#define SPI2_TX_DMA_STREAM (DMA1_Stream4) +#define SPI2_DMA_CHANNEL (DMA_CHANNEL_0) +#define SPI2_RX_DMA_IRQN (DMA1_Stream3_IRQn) +#define SPI2_TX_DMA_IRQN (DMA1_Stream4_IRQn) +#define SPI2_RX_DMA_IRQ_HANDLER DMA1_Stream3_IRQHandler +#define SPI2_TX_DMA_IRQ_HANDLER DMA1_Stream4_IRQHandler + +#define SPI3_DMA_CLK_ENABLE __DMA1_CLK_ENABLE +#define SPI3_RX_DMA_STREAM (DMA1_Stream2) +#define SPI3_TX_DMA_STREAM (DMA1_Stream7) +#define SPI3_DMA_CHANNEL (DMA_CHANNEL_0) +#define SPI3_RX_DMA_IRQN (DMA1_Stream2_IRQn) +#define SPI3_TX_DMA_IRQN (DMA1_Stream7_IRQn) +#define SPI3_RX_DMA_IRQ_HANDLER DMA1_Stream2_IRQHandler +#define SPI3_TX_DMA_IRQ_HANDLER DMA1_Stream7_IRQHandler + +#if MICROPY_HW_ENABLE_SPI1 +STATIC DMA_HandleTypeDef spi1_rx_dma_handle; +STATIC DMA_HandleTypeDef spi1_tx_dma_handle; +void SPI1_RX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi1_rx_dma_handle); } +void SPI1_TX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi1_tx_dma_handle); } +#endif + +STATIC DMA_HandleTypeDef spi2_rx_dma_handle; +STATIC DMA_HandleTypeDef spi2_tx_dma_handle; +void SPI2_RX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi2_rx_dma_handle); } +void SPI2_TX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi2_tx_dma_handle); } + +#if MICROPY_HW_ENABLE_SPI3 +STATIC DMA_HandleTypeDef spi3_rx_dma_handle; +STATIC DMA_HandleTypeDef spi3_tx_dma_handle; +void SPI3_RX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi3_rx_dma_handle); } +void SPI3_TX_DMA_IRQ_HANDLER(void) { HAL_DMA_IRQHandler(&spi3_tx_dma_handle); } +#endif + void spi_init0(void) { // reset the SPI handles #if MICROPY_HW_ENABLE_SPI1 @@ -93,6 +148,9 @@ void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { GPIO_InitStructure.Speed = GPIO_SPEED_FAST; GPIO_InitStructure.Pull = spi->Init.CLKPolarity == SPI_POLARITY_LOW ? GPIO_PULLDOWN : GPIO_PULLUP; + DMA_HandleTypeDef *rx_dma, *tx_dma; + IRQn_Type rx_dma_irqn, tx_dma_irqn; + const pin_obj_t *pins[4]; if (0) { #if MICROPY_HW_ENABLE_SPI1 @@ -105,6 +163,15 @@ void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { GPIO_InitStructure.Alternate = GPIO_AF5_SPI1; // enable the SPI clock __SPI1_CLK_ENABLE(); + // configure DMA + SPI1_DMA_CLK_ENABLE(); + spi1_rx_dma_handle.Instance = SPI1_RX_DMA_STREAM; + spi1_rx_dma_handle.Init.Channel = SPI1_DMA_CHANNEL; + spi1_tx_dma_handle.Instance = SPI1_TX_DMA_STREAM; + rx_dma = &spi1_rx_dma_handle; + tx_dma = &spi1_tx_dma_handle; + rx_dma_irqn = SPI1_RX_DMA_IRQN; + tx_dma_irqn = SPI1_TX_DMA_IRQN; #endif } else if (spi->Instance == SPI2) { // Y-skin: Y5=PB12=SPI2_NSS, Y6=PB13=SPI2_SCK, Y7=PB14=SPI2_MISO, Y8=PB15=SPI2_MOSI @@ -115,6 +182,15 @@ void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { GPIO_InitStructure.Alternate = GPIO_AF5_SPI2; // enable the SPI clock __SPI2_CLK_ENABLE(); + // configure DMA + SPI2_DMA_CLK_ENABLE(); + spi2_rx_dma_handle.Instance = SPI2_RX_DMA_STREAM; + spi2_rx_dma_handle.Init.Channel = SPI2_DMA_CHANNEL; + spi2_tx_dma_handle.Instance = SPI2_TX_DMA_STREAM; + rx_dma = &spi2_rx_dma_handle; + tx_dma = &spi2_tx_dma_handle; + rx_dma_irqn = SPI2_RX_DMA_IRQN; + tx_dma_irqn = SPI2_TX_DMA_IRQN; #if MICROPY_HW_ENABLE_SPI3 } else if (spi->Instance == SPI3) { pins[0] = &pin_A4; @@ -124,6 +200,15 @@ void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { GPIO_InitStructure.Alternate = GPIO_AF6_SPI3; // enable the SPI clock __SPI3_CLK_ENABLE(); + // configure DMA + SPI3_DMA_CLK_ENABLE(); + spi3_rx_dma_handle.Instance = SPI3_RX_DMA_STREAM; + spi3_rx_dma_handle.Init.Channel = SPI3_DMA_CHANNEL; + spi3_tx_dma_handle.Instance = SPI3_TX_DMA_STREAM; + rx_dma = &spi3_rx_dma_handle; + tx_dma = &spi3_tx_dma_handle; + rx_dma_irqn = SPI3_RX_DMA_IRQN; + tx_dma_irqn = SPI3_TX_DMA_IRQN; #endif } else { // SPI does not exist for this board (shouldn't get here, should be checked by caller) @@ -143,6 +228,37 @@ void spi_init(SPI_HandleTypeDef *spi, bool enable_nss_pin) { printf("OSError: HAL_SPI_Init failed\n"); return; } + + // configure DMA + + rx_dma->Init.Direction = DMA_PERIPH_TO_MEMORY; + rx_dma->Init.PeriphInc = DMA_PINC_DISABLE; + rx_dma->Init.MemInc = DMA_MINC_ENABLE; + rx_dma->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + rx_dma->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + rx_dma->Init.Mode = DMA_NORMAL; + rx_dma->Init.Priority = DMA_PRIORITY_LOW; + rx_dma->Init.FIFOMode = DMA_FIFOMODE_DISABLE; + rx_dma->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL; + rx_dma->Init.MemBurst = DMA_MBURST_INC4; + rx_dma->Init.PeriphBurst = DMA_PBURST_INC4; + + tx_dma->Init = rx_dma->Init; // copy rx settings + tx_dma->Init.Direction = DMA_MEMORY_TO_PERIPH; + + __HAL_LINKDMA(spi, hdmarx, *rx_dma); + HAL_DMA_DeInit(rx_dma); + HAL_DMA_Init(rx_dma); + + __HAL_LINKDMA(spi, hdmatx, *tx_dma); + HAL_DMA_DeInit(tx_dma); + HAL_DMA_Init(tx_dma); + + // Enable the relevant IRQs. + HAL_NVIC_SetPriority(rx_dma_irqn, 6, 0); + HAL_NVIC_EnableIRQ(rx_dma_irqn); + HAL_NVIC_SetPriority(tx_dma_irqn, 6, 0); + HAL_NVIC_EnableIRQ(tx_dma_irqn); } void spi_deinit(SPI_HandleTypeDef *spi) { @@ -167,6 +283,17 @@ void spi_deinit(SPI_HandleTypeDef *spi) { } } +STATIC HAL_StatusTypeDef spi_wait_dma_finished(SPI_HandleTypeDef *spi, uint32_t timeout) { + uint32_t start = HAL_GetTick(); + while (HAL_SPI_GetState(spi) != HAL_SPI_STATE_READY) { + if (HAL_GetTick() - start >= timeout) { + return HAL_TIMEOUT; + } + __WFI(); + } + return HAL_OK; +} + /******************************************************************************/ /* Micro Python bindings */ @@ -238,28 +365,27 @@ STATIC void pyb_spi_print(void (*print)(void *env, const char *fmt, ...), void * /// /// - `mode` must be either `SPI.MASTER` or `SPI.SLAVE`. /// - `baudrate` is the SCK clock rate (only sensible for a master). -STATIC const mp_arg_t pyb_spi_init_args[] = { - { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, - { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 328125} }, - { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, - { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, - { MP_QSTR_dir, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_DIRECTION_2LINES} }, - { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, - { MP_QSTR_nss, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_NSS_SOFT} }, - { MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} }, - { MP_QSTR_ti, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, - { MP_QSTR_crc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, -}; -#define PYB_SPI_INIT_NUM_ARGS MP_ARRAY_SIZE(pyb_spi_init_args) +STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { + static const mp_arg_t allowed_args[] = { + { MP_QSTR_mode, MP_ARG_REQUIRED | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_baudrate, MP_ARG_INT, {.u_int = 328125} }, + { MP_QSTR_polarity, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 1} }, + { MP_QSTR_phase, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 0} }, + { MP_QSTR_dir, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_DIRECTION_2LINES} }, + { MP_QSTR_bits, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 8} }, + { MP_QSTR_nss, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_NSS_SOFT} }, + { MP_QSTR_firstbit, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = SPI_FIRSTBIT_MSB} }, + { MP_QSTR_ti, MP_ARG_KW_ONLY | MP_ARG_BOOL, {.u_bool = false} }, + { MP_QSTR_crc, MP_ARG_KW_ONLY | MP_ARG_OBJ, {.u_obj = mp_const_none} }, + }; -STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { // parse args - mp_arg_val_t vals[PYB_SPI_INIT_NUM_ARGS]; - mp_arg_parse_all(n_args, args, kw_args, PYB_SPI_INIT_NUM_ARGS, pyb_spi_init_args, vals); + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args, pos_args, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); // set the SPI configuration values SPI_InitTypeDef *init = &self->spi->Init; - init->Mode = vals[0].u_int; + init->Mode = args[0].u_int; // compute the baudrate prescaler from the requested baudrate // select a prescaler that yields at most the requested baudrate @@ -271,7 +397,7 @@ STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, mp_uint_t n_args, // SPI2 and SPI3 are on APB1 spi_clock = HAL_RCC_GetPCLK1Freq(); } - uint br_prescale = spi_clock / vals[1].u_int; + uint br_prescale = spi_clock / args[1].u_int; if (br_prescale <= 2) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; } else if (br_prescale <= 4) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_4; } else if (br_prescale <= 8) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8; } @@ -281,19 +407,19 @@ STATIC mp_obj_t pyb_spi_init_helper(const pyb_spi_obj_t *self, mp_uint_t n_args, else if (br_prescale <= 128) { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_128; } else { init->BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256; } - init->CLKPolarity = vals[2].u_int == 0 ? SPI_POLARITY_LOW : SPI_POLARITY_HIGH; - init->CLKPhase = vals[3].u_int == 0 ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE; - init->Direction = vals[4].u_int; - init->DataSize = (vals[5].u_int == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT; - init->NSS = vals[6].u_int; - init->FirstBit = vals[7].u_int; - init->TIMode = vals[8].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED; - if (vals[9].u_obj == mp_const_none) { + init->CLKPolarity = args[2].u_int == 0 ? SPI_POLARITY_LOW : SPI_POLARITY_HIGH; + init->CLKPhase = args[3].u_int == 0 ? SPI_PHASE_1EDGE : SPI_PHASE_2EDGE; + init->Direction = args[4].u_int; + init->DataSize = (args[5].u_int == 16) ? SPI_DATASIZE_16BIT : SPI_DATASIZE_8BIT; + init->NSS = args[6].u_int; + init->FirstBit = args[7].u_int; + init->TIMode = args[8].u_bool ? SPI_TIMODE_ENABLED : SPI_TIMODE_DISABLED; + if (args[9].u_obj == mp_const_none) { init->CRCCalculation = SPI_CRCCALCULATION_DISABLED; init->CRCPolynomial = 0; } else { init->CRCCalculation = SPI_CRCCALCULATION_ENABLED; - init->CRCPolynomial = mp_obj_get_int(vals[9].u_obj); + init->CRCPolynomial = mp_obj_get_int(args[9].u_obj); } // init the SPI bus @@ -363,28 +489,34 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_1(pyb_spi_deinit_obj, pyb_spi_deinit); /// - `timeout` is the timeout in milliseconds to wait for the send. /// /// Return value: `None`. -STATIC const mp_arg_t pyb_spi_send_args[] = { - { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, - { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, -}; -#define PYB_SPI_SEND_NUM_ARGS MP_ARRAY_SIZE(pyb_spi_send_args) - -STATIC mp_obj_t pyb_spi_send(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { +STATIC mp_obj_t pyb_spi_send(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { // TODO assumes transmission size is 8-bits wide - pyb_spi_obj_t *self = args[0]; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; // parse args - mp_arg_val_t vals[PYB_SPI_SEND_NUM_ARGS]; - mp_arg_parse_all(n_args - 1, args + 1, kw_args, PYB_SPI_SEND_NUM_ARGS, pyb_spi_send_args, vals); + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); // get the buffer to send from mp_buffer_info_t bufinfo; uint8_t data[1]; - pyb_buf_get_for_send(vals[0].u_obj, &bufinfo, data); + pyb_buf_get_for_send(args[0].u_obj, &bufinfo, data); // send the data - HAL_StatusTypeDef status = HAL_SPI_Transmit(self->spi, bufinfo.buf, bufinfo.len, vals[1].u_int); + HAL_StatusTypeDef status; + if (query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_Transmit(self->spi, bufinfo.buf, bufinfo.len, args[1].u_int); + } else { + status = HAL_SPI_Transmit_DMA(self->spi, bufinfo.buf, bufinfo.len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, args[1].u_int); + } + } if (status != HAL_OK) { mp_hal_raise(status); @@ -404,27 +536,33 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_send_obj, 1, pyb_spi_send); /// /// Return value: if `recv` is an integer then a new buffer of the bytes received, /// otherwise the same buffer that was passed in to `recv`. -STATIC const mp_arg_t pyb_spi_recv_args[] = { - { MP_QSTR_recv, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, - { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, -}; -#define PYB_SPI_RECV_NUM_ARGS MP_ARRAY_SIZE(pyb_spi_recv_args) - -STATIC mp_obj_t pyb_spi_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { +STATIC mp_obj_t pyb_spi_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { // TODO assumes transmission size is 8-bits wide - pyb_spi_obj_t *self = args[0]; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_recv, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; // parse args - mp_arg_val_t vals[PYB_SPI_RECV_NUM_ARGS]; - mp_arg_parse_all(n_args - 1, args + 1, kw_args, PYB_SPI_RECV_NUM_ARGS, pyb_spi_recv_args, vals); + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); // get the buffer to receive into mp_buffer_info_t bufinfo; - mp_obj_t o_ret = pyb_buf_get_for_recv(vals[0].u_obj, &bufinfo); + mp_obj_t o_ret = pyb_buf_get_for_recv(args[0].u_obj, &bufinfo); // receive the data - HAL_StatusTypeDef status = HAL_SPI_Receive(self->spi, bufinfo.buf, bufinfo.len, vals[1].u_int); + HAL_StatusTypeDef status; + if (query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_Receive(self->spi, bufinfo.buf, bufinfo.len, args[1].u_int); + } else { + status = HAL_SPI_Receive_DMA(self->spi, bufinfo.buf, bufinfo.len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, args[1].u_int); + } + } if (status != HAL_OK) { mp_hal_raise(status); @@ -432,7 +570,7 @@ STATIC mp_obj_t pyb_spi_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *k // return the received data if (o_ret == MP_OBJ_NULL) { - return vals[0].u_obj; + return args[0].u_obj; } else { return mp_obj_str_builder_end(o_ret); } @@ -450,21 +588,19 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pyb_spi_recv_obj, 1, pyb_spi_recv); /// - `timeout` is the timeout in milliseconds to wait for the receive. /// /// Return value: the buffer with the received bytes. -STATIC const mp_arg_t pyb_spi_send_recv_args[] = { - { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, - { MP_QSTR_recv, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, - { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, -}; -#define PYB_SPI_SEND_RECV_NUM_ARGS MP_ARRAY_SIZE(pyb_spi_send_recv_args) - -STATIC mp_obj_t pyb_spi_send_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map_t *kw_args) { +STATIC mp_obj_t pyb_spi_send_recv(mp_uint_t n_args, const mp_obj_t *pos_args, mp_map_t *kw_args) { // TODO assumes transmission size is 8-bits wide - pyb_spi_obj_t *self = args[0]; + static const mp_arg_t allowed_args[] = { + { MP_QSTR_send, MP_ARG_REQUIRED | MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_recv, MP_ARG_OBJ, {.u_obj = MP_OBJ_NULL} }, + { MP_QSTR_timeout, MP_ARG_KW_ONLY | MP_ARG_INT, {.u_int = 5000} }, + }; // parse args - mp_arg_val_t vals[PYB_SPI_SEND_RECV_NUM_ARGS]; - mp_arg_parse_all(n_args - 1, args + 1, kw_args, PYB_SPI_SEND_RECV_NUM_ARGS, pyb_spi_send_recv_args, vals); + pyb_spi_obj_t *self = pos_args[0]; + mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)]; + mp_arg_parse_all(n_args - 1, pos_args + 1, kw_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args); // get buffers to send from/receive to mp_buffer_info_t bufinfo_send; @@ -472,24 +608,24 @@ STATIC mp_obj_t pyb_spi_send_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map mp_buffer_info_t bufinfo_recv; mp_obj_t o_ret; - if (vals[0].u_obj == vals[1].u_obj) { + if (args[0].u_obj == args[1].u_obj) { // same object for send and receive, it must be a r/w buffer - mp_get_buffer_raise(vals[0].u_obj, &bufinfo_send, MP_BUFFER_RW); + mp_get_buffer_raise(args[0].u_obj, &bufinfo_send, MP_BUFFER_RW); bufinfo_recv = bufinfo_send; o_ret = MP_OBJ_NULL; } else { // get the buffer to send from - pyb_buf_get_for_send(vals[0].u_obj, &bufinfo_send, data_send); + pyb_buf_get_for_send(args[0].u_obj, &bufinfo_send, data_send); // get the buffer to receive into - if (vals[1].u_obj == MP_OBJ_NULL) { + if (args[1].u_obj == MP_OBJ_NULL) { // only send argument given, so create a fresh buffer of the send length bufinfo_recv.len = bufinfo_send.len; bufinfo_recv.typecode = 'B'; o_ret = mp_obj_str_builder_start(&mp_type_bytes, bufinfo_recv.len, (byte**)&bufinfo_recv.buf); } else { // recv argument given - mp_get_buffer_raise(vals[1].u_obj, &bufinfo_recv, MP_BUFFER_WRITE); + mp_get_buffer_raise(args[1].u_obj, &bufinfo_recv, MP_BUFFER_WRITE); if (bufinfo_recv.len != bufinfo_send.len) { nlr_raise(mp_obj_new_exception_msg(&mp_type_ValueError, "recv must be same length as send")); } @@ -498,7 +634,15 @@ STATIC mp_obj_t pyb_spi_send_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map } // send and receive the data - HAL_StatusTypeDef status = HAL_SPI_TransmitReceive(self->spi, bufinfo_send.buf, bufinfo_recv.buf, bufinfo_send.len, vals[2].u_int); + HAL_StatusTypeDef status; + if (query_irq() == IRQ_STATE_DISABLED) { + status = HAL_SPI_TransmitReceive(self->spi, bufinfo_send.buf, bufinfo_recv.buf, bufinfo_send.len, args[2].u_int); + } else { + status = HAL_SPI_TransmitReceive_DMA(self->spi, bufinfo_send.buf, bufinfo_recv.buf, bufinfo_send.len); + if (status == HAL_OK) { + status = spi_wait_dma_finished(self->spi, args[2].u_int); + } + } if (status != HAL_OK) { mp_hal_raise(status); @@ -506,7 +650,7 @@ STATIC mp_obj_t pyb_spi_send_recv(mp_uint_t n_args, const mp_obj_t *args, mp_map // return the received data if (o_ret == MP_OBJ_NULL) { - return vals[1].u_obj; + return args[1].u_obj; } else { return mp_obj_str_builder_end(o_ret); } |