Paparazzi UAS  v6.2_unstable
Paparazzi is a free software Unmanned Aircraft System.
SPI Interface
+ Collaboration diagram for SPI Interface:

Data Structures

struct  spi_transaction
 SPI transaction structure. More...
 
struct  spi_periph
 SPI peripheral structure. More...
 

Macros

#define SPI_TRANSACTION_QUEUE_LEN   8
 SPI transaction queue length. More...
 
#define SPI_SLAVE0   0
 
#define SPI_SLAVE1   1
 
#define SPI_SLAVE2   2
 
#define SPI_SLAVE3   3
 
#define SPI_SLAVE4   4
 
#define SPI_SLAVE5   5
 
#define SPI_SLAVE6   6
 
#define SPI_SLAVE7   7
 
#define SPI_SLAVE8   8
 

Typedefs

typedef void(* SPICallback) (struct spi_transaction *trans)
 SPI Callback function. More...
 

Enumerations

enum  SPIMode { SPIMaster, SPISlave }
 
enum  SPISlaveSelect { SPISelectUnselect, SPISelect, SPIUnselect, SPINoSelect }
 SPI slave selection behavior options. More...
 
enum  SPIClockPhase { SPICphaEdge1, SPICphaEdge2 }
 SPI CPHA (clock phase) options. More...
 
enum  SPIClockPolarity { SPICpolIdleLow, SPICpolIdleHigh }
 SPI CPOL (clock polarity) options. More...
 
enum  SPIDataSizeSelect { SPIDss8bit, SPIDss16bit }
 SPI data word size of transfer. More...
 
enum  SPITransactionStatus {
  SPITransPending, SPITransRunning, SPITransSuccess, SPITransFailed,
  SPITransDone
}
 SPI transaction status. More...
 
enum  SPIStatus { SPIIdle, SPIRunning }
 SPI peripheral status. More...
 
enum  SPIBitOrder { SPIMSBFirst, SPILSBFirst }
 
enum  SPIClockDiv {
  SPIDiv2, SPIDiv4, SPIDiv8, SPIDiv16,
  SPIDiv32, SPIDiv64, SPIDiv128, SPIDiv256
}
 Peripheral clock divider. More...
 

Functions

void spi0_init (void)
 
void spi0_arch_init (void)
 Architecture dependent SPI0 initialization. More...
 
void spi1_init (void)
 
void spi1_arch_init (void)
 Architecture dependent SPI1 initialization. More...
 
void spi2_init (void)
 
void spi2_arch_init (void)
 Architecture dependent SPI2 initialization. More...
 
void spi_init (struct spi_periph *p)
 Initialize a spi peripheral. More...
 
void spi_init_slaves (void)
 Initialize all used slaves and unselect them. More...
 
bool spi_submit (struct spi_periph *p, struct spi_transaction *t)
 Submit a spi transaction. More...
 
static bool spi_blocking_transceive (struct spi_periph *p, struct spi_transaction *t)
 Perform a spi transaction (blocking). More...
 
void spi_slave_select (uint8_t slave)
 Select a slave. More...
 
void spi_slave_unselect (uint8_t slave)
 Unselect a slave. More...
 
bool spi_lock (struct spi_periph *p, uint8_t slave)
 Lock the SPI fifo. More...
 
bool spi_resume (struct spi_periph *p, uint8_t slave)
 Resume the SPI fifo. More...
 
void spi_slave_init (struct spi_periph *p)
 Initialize a spi peripheral in slave mode. More...
 
bool spi_slave_register (struct spi_periph *p, struct spi_transaction *t)
 Register a spi transaction in slave mode (only one transaction can be registered). More...
 
bool spi_slave_wait (struct spi_periph *p)
 Initialized and wait for the next transaction. More...
 

Variables

struct spi_periph spi0
 
struct spi_periph spi1
 receive transferred over DMA More...
 
struct spi_periph spi2
 receive transferred over DMA More...
 

Detailed Description


Data Structure Documentation

◆ spi_transaction

struct spi_transaction

SPI transaction structure.

  • Use this structure to store a request of SPI transaction and submit it using spi_submit function
  • The input/output buffers needs to be created separately
  • Take care of pointing input_buf/ouput_buf correctly
  • input_length and output_length can be different, the larger number of the two specifies the total number of exchanged words,
  • if input_length is larger than output length, 0 is sent for the remaining words

Definition at line 148 of file spi.h.

+ Collaboration diagram for spi_transaction:
Data Fields
SPICallback after_cb NULL or function called after the transaction.
SPICallback before_cb NULL or function called before the transaction.
enum SPIBitOrder bitorder MSB/LSB order.
enum SPIClockDiv cdiv prescaler of main clock to use as SPI clock
enum SPIClockPhase cpha clock phase control
enum SPIClockPolarity cpol clock polarity control
enum SPIDataSizeSelect dss data transfer word size
volatile uint8_t * input_buf pointer to receive buffer for DMA
uint16_t input_length number of data words to read
volatile uint8_t * output_buf pointer to transmit buffer for DMA
uint16_t output_length number of data words to write
enum SPISlaveSelect select slave selection behavior
uint8_t slave_idx slave id: SPI_SLAVE0 to SPI_SLAVE4
enum SPITransactionStatus status

◆ spi_periph

struct spi_periph

SPI peripheral structure.

Definition at line 174 of file spi.h.

+ Collaboration diagram for spi_periph:
Data Fields
void * init_struct
enum SPIMode mode
void * reg_addr
volatile uint8_t rx_idx_buf
enum SPIStatus status internal state of the peripheral
volatile uint8_t suspend control for stop/resume of the fifo
struct spi_transaction * trans[SPI_TRANSACTION_QUEUE_LEN] circular buffer holding transactions
uint8_t trans_extract_idx
uint8_t trans_insert_idx
volatile uint8_t tx_idx_buf

Macro Definition Documentation

◆ SPI_SLAVE0

#define SPI_SLAVE0   0

Definition at line 192 of file spi.h.

◆ SPI_SLAVE1

#define SPI_SLAVE1   1

Definition at line 193 of file spi.h.

◆ SPI_SLAVE2

#define SPI_SLAVE2   2

Definition at line 194 of file spi.h.

◆ SPI_SLAVE3

#define SPI_SLAVE3   3

Definition at line 195 of file spi.h.

◆ SPI_SLAVE4

#define SPI_SLAVE4   4

Definition at line 196 of file spi.h.

◆ SPI_SLAVE5

#define SPI_SLAVE5   5

Definition at line 197 of file spi.h.

◆ SPI_SLAVE6

#define SPI_SLAVE6   6

Definition at line 198 of file spi.h.

◆ SPI_SLAVE7

#define SPI_SLAVE7   7

Definition at line 199 of file spi.h.

◆ SPI_SLAVE8

#define SPI_SLAVE8   8

Definition at line 200 of file spi.h.

◆ SPI_TRANSACTION_QUEUE_LEN

#define SPI_TRANSACTION_QUEUE_LEN   8

SPI transaction queue length.

Number of transactions that can be queued.

Definition at line 169 of file spi.h.

Typedef Documentation

◆ SPICallback

typedef void(* SPICallback) (struct spi_transaction *trans)

SPI Callback function.

If not NULL (or 0), call function (with transaction as parameter) before or after transaction, e.g to allow execution of hardware specific actions

Definition at line 136 of file spi.h.

Enumeration Type Documentation

◆ SPIBitOrder

Enumerator
SPIMSBFirst 
SPILSBFirst 

Definition at line 111 of file spi.h.

◆ SPIClockDiv

Peripheral clock divider.

Defines the SPI baudrate

Enumerator
SPIDiv2 
SPIDiv4 
SPIDiv8 
SPIDiv16 
SPIDiv32 
SPIDiv64 
SPIDiv128 
SPIDiv256 

Definition at line 119 of file spi.h.

◆ SPIClockPhase

SPI CPHA (clock phase) options.

Control whether data line is sampled at first or second edge of clock signal.

Enumerator
SPICphaEdge1 

CPHA = 0.

SPICphaEdge2 

CPHA = 1.

Definition at line 73 of file spi.h.

◆ SPIClockPolarity

SPI CPOL (clock polarity) options.

Control whether clock line is held low or high in idle state.

Enumerator
SPICpolIdleLow 

CPOL = 0.

SPICpolIdleHigh 

CPOL = 1.

Definition at line 82 of file spi.h.

◆ SPIDataSizeSelect

SPI data word size of transfer.

Enumerator
SPIDss8bit 
SPIDss16bit 

Definition at line 89 of file spi.h.

◆ SPIMode

enum SPIMode
Enumerator
SPIMaster 
SPISlave 

Definition at line 52 of file spi.h.

◆ SPISlaveSelect

SPI slave selection behavior options.

Default operation should be SelectUnselected, but some peripherals might need some special control. Use non-default control only if you know what you're doing.

Enumerator
SPISelectUnselect 

slave is selected before transaction and unselected after

SPISelect 

slave is selected before transaction but not unselected

SPIUnselect 

slave is not selected but unselected after transaction

SPINoSelect 

slave is not selected nor unselected

Definition at line 62 of file spi.h.

◆ SPIStatus

enum SPIStatus

SPI peripheral status.

Enumerator
SPIIdle 
SPIRunning 

Definition at line 106 of file spi.h.

◆ SPITransactionStatus

SPI transaction status.

Enumerator
SPITransPending 
SPITransRunning 
SPITransSuccess 
SPITransFailed 
SPITransDone 

Definition at line 96 of file spi.h.

Function Documentation

◆ spi0_arch_init()

void spi0_arch_init ( void  )

Architecture dependent SPI0 initialization.

Must be implemented by underlying architecture

Definition at line 137 of file spi_arch.c.

References fd, spi_periph::init_struct, spi_periph::reg_addr, spi0, SPI0_BITS_PER_WORD, SPI0_LSB_FIRST, SPI0_MAX_SPEED_HZ, and SPI0_MODE.

Referenced by spi0_init().

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◆ spi0_init()

void spi0_init ( void  )

Definition at line 37 of file spi.c.

References spi0, spi0_arch_init(), and spi_init().

Referenced by mcu_init().

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◆ spi1_arch_init()

◆ spi1_init()

void spi1_init ( void  )

Definition at line 48 of file spi.c.

References spi1, spi1_arch_init(), and spi_init().

Referenced by mcu_init().

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◆ spi2_arch_init()

◆ spi2_init()

void spi2_init ( void  )

Definition at line 59 of file spi.c.

References spi2, spi2_arch_init(), and spi_init().

Referenced by mcu_init().

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◆ spi_blocking_transceive()

static bool spi_blocking_transceive ( struct spi_periph p,
struct spi_transaction t 
)
inlinestatic

Perform a spi transaction (blocking).

Parameters
pspi peripheral to be used
tspi transaction
Returns
TRUE if transaction completed (success or failure)

Definition at line 287 of file spi.h.

References get_sys_time_float(), p, SPI_BLOCKING_TIMEOUT, spi_submit(), SPITransPending, SPITransRunning, and spi_transaction::status.

Referenced by readRegister_blocking(), and writeRegister_blocking().

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◆ spi_init()

void spi_init ( struct spi_periph p)

Initialize a spi peripheral.

Parameters
pspi peripheral to be configured

Definition at line 89 of file spi.c.

References p, SPIIdle, and SPIMaster.

Referenced by spi0_init(), spi1_init(), and spi2_init().

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◆ spi_init_slaves()

void spi_init_slaves ( void  )

Initialize all used slaves and unselect them.

Initialize all used slaves and unselect them.

Definition at line 684 of file spi_arch.c.

References gpio_setup_output(), SPI_SELECT_SLAVE0_PIN, SPI_SELECT_SLAVE0_PORT, SPI_SELECT_SLAVE1_PIN, SPI_SELECT_SLAVE1_PORT, SPI_SELECT_SLAVE2_PIN, SPI_SELECT_SLAVE2_PORT, SPI_SELECT_SLAVE3_PIN, SPI_SELECT_SLAVE3_PORT, SPI_SELECT_SLAVE4_PIN, SPI_SELECT_SLAVE4_PORT, SPI_SELECT_SLAVE5_PIN, SPI_SELECT_SLAVE5_PORT, spi_slave_unselect(), and SpiSlaveUnselect().

Referenced by mcu_init().

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◆ spi_lock()

bool spi_lock ( struct spi_periph p,
uint8_t  slave 
)

Lock the SPI fifo.

This will stop the SPI fifo after the current transaction if any, or before the next one if none are pending. Only the slave that locks the fifo can unlock it.

Parameters
pspi peripheral to be used
slaveslave id
Returns
true if correctly locked

Lock the SPI fifo.

Empty, for paparazzi compatibility only

Definition at line 656 of file spi_arch.c.

References FALSE, p, spi_arch_int_disable(), spi_arch_int_enable(), and TRUE.

Referenced by max1168_lock_cb().

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◆ spi_resume()

bool spi_resume ( struct spi_periph p,
uint8_t  slave 
)

Resume the SPI fifo.

Only the slave that locks the fifo can unlock it.

Parameters
pspi peripheral to be used
slaveslave id
Returns
true if correctly unlocked

Resume the SPI fifo.

Empty, for paparazzi compatibility only

Definition at line 670 of file spi_arch.c.

References FALSE, p, spi_arch_int_disable(), spi_arch_int_enable(), spi_start_dma_transaction(), SPIIdle, and TRUE.

Referenced by max1168_event().

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◆ spi_slave_init()

void spi_slave_init ( struct spi_periph p)

Initialize a spi peripheral in slave mode.

Parameters
pspi peripheral to be configured

Definition at line 147 of file spi.c.

References p, SPIIdle, and SPISlave.

◆ spi_slave_register()

bool spi_slave_register ( struct spi_periph p,
struct spi_transaction t 
)

Register a spi transaction in slave mode (only one transaction can be registered).

Must be implemented by the underlying architecture

Parameters
pspi peripheral to be used
tspi transaction
Returns
return true if registered with success

Definition at line 1624 of file spi_arch.c.

References spi_periph_dma::dma, spi_transaction::dss, get_transaction_signature(), spi_periph::init_struct, spi_transaction::input_buf, spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, spi_periph::reg_addr, spi_arch_int_enable(), spi_configure_dma(), spi_slave_set_config(), SPIRunning, SPITransRunning, spi_transaction::status, spi_periph::status, spi_periph::trans, spi_periph::trans_insert_idx, and TRUE.

Referenced by bluegiga_init(), bluegiga_receive(), qr_code_spi_link_init(), and qr_code_spi_link_periodic().

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◆ spi_slave_select()

void spi_slave_select ( uint8_t  slave)

◆ spi_slave_unselect()

void spi_slave_unselect ( uint8_t  slave)

Unselect a slave.

Parameters
slaveslave id

Unselect a slave.

Definition at line 598 of file spi_arch.c.

References gpio_set(), SPI_SELECT_SLAVE0_PIN, SPI_SELECT_SLAVE0_PORT, SPI_SELECT_SLAVE1_PIN, SPI_SELECT_SLAVE1_PORT, SPI_SELECT_SLAVE2_PIN, SPI_SELECT_SLAVE2_PORT, SPI_SELECT_SLAVE3_PIN, SPI_SELECT_SLAVE3_PORT, SPI_SELECT_SLAVE4_PIN, SPI_SELECT_SLAVE4_PORT, SPI_SELECT_SLAVE5_PIN, SPI_SELECT_SLAVE5_PORT, and SpiSlaveUnselect().

Referenced by max1168_event(), and spi_init_slaves().

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◆ spi_slave_wait()

bool spi_slave_wait ( struct spi_periph p)

Initialized and wait for the next transaction.

If a transaction is registered for this peripheral, the spi will be waiting for a communication from the master

Parameters
pspi peripheral to be used
Returns
return true if a transaction was register for this peripheral

◆ spi_submit()

bool spi_submit ( struct spi_periph p,
struct spi_transaction t 
)

Submit a spi transaction.

Must be implemented by the underlying architecture

Parameters
pspi peripheral to be used
tspi transaction
Returns
TRUE if insertion to the transaction queue succeeded

Submit a spi transaction.

Interafces Paparazzi SPI code with ChibiOS SPI driver. The transaction length is max(rx,tx), before and after callbacks are called accordingly.

ChibiOS doesn't provide error checking for the SPI transactions, since all spi functions are return void. The SPI transaction is synchronous, so we always assume success if the transaction finishes.

There is no explicit timeout on SPI transaction. TODO: Timeout on SPI trans and error detection.

Parameters
[in]ppointer to a spi_periph struct
[in]tpointer to a spi_transaction struct

Definition at line 508 of file spi_arch.c.

References spi_transaction::dss, FALSE, fd, idx, if(), spi_transaction::input_buf, spi_transaction::input_length, spi_transaction::output_buf, spi_transaction::output_length, p, spi_transaction::select, spi_arch_int_disable(), spi_arch_int_enable(), spi_start_dma_transaction(), SPI_TRANSACTION_QUEUE_LEN, SPIDss16bit, SPIIdle, SPISelectUnselect, SPITransFailed, SPITransPending, SPITransSuccess, SPIUnselect, spi_transaction::status, and TRUE.

Referenced by ads1220_configure(), ads1220_read(), ads1220_send_config(), adxl345_spi_read(), adxl345_spi_write_to_reg(), cyrf6936_read_block(), cyrf6936_write_block(), eeprom25AA256_read(), high_speed_logger_direct_memory_init(), high_speed_logger_spi_link_periodic(), ins_configure(), l3gd20_spi_read(), l3gd20_spi_send_config(), l3gd20_spi_write_to_reg(), lis302dl_spi_read(), lis302dl_spi_send_config(), lis302dl_spi_write_to_reg(), lsm303d_spi_read(), lsm303d_spi_send_config(), lsm303d_spi_tx_reg(), max1168_read(), max7456_event(), max7456_periodic(), mcp355x_read(), memory_completly_erase(), memory_erase_4k(), memory_read_id(), memory_read_status_1(), memory_read_values(), memory_send_wrdi(), memory_send_wren(), memory_write_values(), mpu60x0_spi_read(), mpu60x0_spi_start_configure(), mpu60x0_spi_write_to_reg(), mpu9250_spi_read(), mpu9250_spi_start_configure(), mpu9250_spi_write_to_reg(), mpu_wait_slave4_ready(), ms2100_event(), ms2100_read(), ms5611_spi_event(), ms5611_spi_periodic_check(), ms5611_spi_start_configure(), ms5611_spi_start_conversion(), osd_put_s(), readRegister_nonblocking(), rxSpiReadCommandMulti(), rxSpiWriteCommandMulti(), sdcard_spi_multiwrite_next(), sdcard_spi_multiwrite_stop(), sdcard_spi_periodic(), sdcard_spi_request_bytes(), sdcard_spi_send_app_cmd(), sdcard_spi_send_cmd(), sdcard_spi_spicallback(), sonar_bebop_read(), spi_blocking_transceive(), sst25vfxxxx_after_cb(), sst25vfxxxx_block_write_en(), sst25vfxxxx_chip_erase(), sst25vfxxxx_read(), sst25vfxxxx_read_id(), sst25vfxxxx_write(), vn100_periodic_task(), w5100_get(), and w5100_set().

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Variable Documentation

◆ spi0

struct spi_periph spi0
Todo:
SPI error struct

Definition at line 35 of file spi.c.

Referenced by sonar_bebop_read(), spi0_arch_init(), and spi0_init().

◆ spi1

struct spi_periph spi1

receive transferred over DMA

transmit transferred over DMA

Definition at line 967 of file spi_arch.c.

Referenced by imu_px4fmu_init(), mcp355x_read(), qr_code_spi_link_init(), qr_code_spi_link_periodic(), spi1_arch_init(), and spi1_init().

◆ spi2

struct spi_periph spi2

receive transferred over DMA

transmit transferred over DMA

Definition at line 1004 of file spi_arch.c.

Referenced by spi2_arch_init(), and spi2_init().