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Fix STM32F1 SPI warning (gcc 8.2.1) (MarlinFirmware#15104)
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@tpruvot @thinkyhead
tpruvot authored and thinkyhead committed Aug 30, 2019
1 parent d068470 commit c014f8d
Showing 1 changed file with 87 additions and 90 deletions.
177 changes: 87 additions & 90 deletions Marlin/src/HAL/HAL_STM32F1/SPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,12 +47,7 @@
#warning "Unexpected clock speed; SPI frequency calculation will be incorrect"
#endif

struct spi_pins {
uint8_t nss;
uint8_t sck;
uint8_t miso;
uint8_t mosi;
};
struct spi_pins { uint8_t nss, sck, miso, mosi; };

static const spi_pins* dev_to_spi_pins(spi_dev *dev);
static void configure_gpios(spi_dev *dev, bool as_master);
Expand All @@ -64,40 +59,40 @@ static spi_baud_rate determine_baud_rate(spi_dev *dev, uint32_t freq);

static const spi_pins board_spi_pins[] __FLASH__ = {
#if BOARD_NR_SPI >= 1
{ BOARD_SPI1_NSS_PIN,
BOARD_SPI1_SCK_PIN,
BOARD_SPI1_MISO_PIN,
BOARD_SPI1_MOSI_PIN },
{ BOARD_SPI1_NSS_PIN,
BOARD_SPI1_SCK_PIN,
BOARD_SPI1_MISO_PIN,
BOARD_SPI1_MOSI_PIN },
#endif
#if BOARD_NR_SPI >= 2
{ BOARD_SPI2_NSS_PIN,
BOARD_SPI2_SCK_PIN,
BOARD_SPI2_MISO_PIN,
BOARD_SPI2_MOSI_PIN },
{ BOARD_SPI2_NSS_PIN,
BOARD_SPI2_SCK_PIN,
BOARD_SPI2_MISO_PIN,
BOARD_SPI2_MOSI_PIN },
#endif
#if BOARD_NR_SPI >= 3
{ BOARD_SPI3_NSS_PIN,
BOARD_SPI3_SCK_PIN,
BOARD_SPI3_MISO_PIN,
BOARD_SPI3_MOSI_PIN },
{ BOARD_SPI3_NSS_PIN,
BOARD_SPI3_SCK_PIN,
BOARD_SPI3_MISO_PIN,
BOARD_SPI3_MOSI_PIN },
#endif
};

#if BOARD_NR_SPI >= 1
static void (*_spi1_this);
static void *_spi1_this;
#endif
#if BOARD_NR_SPI >= 2
static void (*_spi2_this);
static void *_spi2_this;
#endif
#if BOARD_NR_SPI >= 3
static void (*_spi3_this);
static void *_spi3_this;
#endif

/**
* Constructor
*/
SPIClass::SPIClass(uint32_t spi_num) {
_currentSetting=&_settings[spi_num-1];// SPI channels are called 1 2 and 3 but the array is zero indexed
_currentSetting = &_settings[spi_num - 1]; // SPI channels are called 1 2 and 3 but the array is zero indexed

switch (spi_num) {
#if BOARD_NR_SPI >= 1
Expand Down Expand Up @@ -149,7 +144,7 @@ SPIClass::SPIClass(uint32_t spi_num) {
_currentSetting->state = SPI_STATE_IDLE;
}

/*
/**
* Set up/tear down
*/
void SPIClass::updateSettings() {
Expand All @@ -175,17 +170,16 @@ void SPIClass::beginSlave() {
}

void SPIClass::end() {
if (!spi_is_enabled(_currentSetting->spi_d))
return;
if (!spi_is_enabled(_currentSetting->spi_d)) return;

// Follows RM0008's sequence for disabling a SPI in master/slave
// full duplex mode.
while (spi_is_rx_nonempty(_currentSetting->spi_d)) {
// FIXME [0.1.0] remove this once you have an interrupt based driver
volatile uint16_t rx __attribute__((unused)) = spi_rx_reg(_currentSetting->spi_d);
}
while (!spi_is_tx_empty(_currentSetting->spi_d)) {};
while (spi_is_busy(_currentSetting->spi_d)) {};
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ }
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ }

spi_peripheral_disable(_currentSetting->spi_d);
// added for DMA callbacks.
Expand All @@ -207,10 +201,10 @@ void SPIClass::setBitOrder(BitOrder bitOrder) {
_currentSetting->spi_d->regs->CR1 = cr1;
}

/* Victor Perez. Added to test changing datasize from 8 to 16 bit modes on the fly.
* Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word.
*
*/
/**
* Victor Perez. Added to test changing datasize from 8 to 16 bit modes on the fly.
* Input parameter should be SPI_CR1_DFF set to 0 or 1 on a 32bit word.
*/
void SPIClass::setDataSize(uint32_t datasize) {
_currentSetting->dataSize = datasize;
uint32_t cr1 = _currentSetting->spi_d->regs->CR1 & ~(SPI_CR1_DFF);
Expand All @@ -220,9 +214,11 @@ void SPIClass::setDataSize(uint32_t datasize) {
}

void SPIClass::setDataMode(uint8_t dataMode) {
/* Notes:
As far as I can tell, the AVR numbers for dataMode appear to match the numbers required by the STM32
/*
Notes:
As far as we know the AVR numbers for dataMode match the numbers required by the STM32.
From the AVR doc http://www.atmel.com/images/doc2585.pdf section 2.4
SPI Mode CPOL CPHA Shift SCK-edge Capture SCK-edge
0 0 0 Falling Rising
1 0 1 Rising Falling
Expand Down Expand Up @@ -265,13 +261,12 @@ void SPIClass::beginTransactionSlave(SPISettings settings) {

void SPIClass::endTransaction() { }


/*
/**
* I/O
*/

uint16_t SPIClass::read() {
while ( spi_is_rx_nonempty(_currentSetting->spi_d)==0 ) ;
while (!spi_is_rx_nonempty(_currentSetting->spi_d)) { /* nada */ }
return (uint16)spi_rx_reg(_currentSetting->spi_d);
}

Expand All @@ -282,16 +277,16 @@ void SPIClass::read(uint8_t *buf, uint32_t len) {
// start sequence: write byte 0
regs->DR = 0x00FF; // write the first byte
// main loop
while ( (--len) ) {
while( !(regs->SR & SPI_SR_TXE) ); // wait for TXE flag
while (--len) {
while(!(regs->SR & SPI_SR_TXE)) { /* nada */ } // wait for TXE flag
noInterrupts(); // go atomic level - avoid interrupts to surely get the previously received data
regs->DR = 0x00FF; // write the next data item to be transmitted into the SPI_DR register. This clears the TXE flag.
while ( !(regs->SR & SPI_SR_RXNE) ); // wait till data is available in the DR register
while (!(regs->SR & SPI_SR_RXNE)) { /* nada */ } // wait till data is available in the DR register
*buf++ = (uint8)(regs->DR); // read and store the received byte. This clears the RXNE flag.
interrupts(); // let systick do its job
}
// read remaining last byte
while ( !(regs->SR & SPI_SR_RXNE) ) {} // wait till data is available in the Rx register
while (!(regs->SR & SPI_SR_RXNE)) { /* nada */ } // wait till data is available in the Rx register
*buf++ = (uint8)(regs->DR); // read and store the received byte
}

Expand All @@ -302,67 +297,68 @@ void SPIClass::write(uint16_t data) {
* This almost doubles the speed of this function.
*/
spi_tx_reg(_currentSetting->spi_d, data); // write the data to be transmitted into the SPI_DR register (this clears the TXE flag)
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
}

void SPIClass::write16(uint16_t data) {
// Added by stevestrong: write two consecutive bytes in 8 bit mode (DFF=0)
spi_tx_reg(_currentSetting->spi_d, data>>8); // write high byte
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // Wait until TXE=1
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // Wait until TXE=1
spi_tx_reg(_currentSetting->spi_d, data); // write low byte
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // Wait until TXE=1
while (spi_is_busy(_currentSetting->spi_d) != 0); // wait until BSY=0
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // Wait until TXE=1
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // wait until BSY=0
}

void SPIClass::write(uint16_t data, uint32_t n) {
// Added by stevstrong: Repeatedly send same data by the specified number of times
spi_reg_map * regs = _currentSetting->spi_d->regs;
while ( (n--)>0 ) {
while (n--) {
regs->DR = data; // write the data to be transmitted into the SPI_DR register (this clears the TXE flag)
while ( (regs->SR & SPI_SR_TXE)==0 ) ; // wait till Tx empty
while (!(regs->SR & SPI_SR_TXE)) { /* nada */ } // wait till Tx empty
}
while ( (regs->SR & SPI_SR_BSY) != 0); // wait until BSY=0 before returning
while (regs->SR & SPI_SR_BSY) { /* nada */ } // wait until BSY=0 before returning
}

void SPIClass::write(const void *data, uint32_t length) {
spi_dev * spi_d = _currentSetting->spi_d;
spi_tx(spi_d, data, length); // data can be array of bytes or words
while (spi_is_tx_empty(spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
}

uint8_t SPIClass::transfer(uint8_t byte) const {
spi_dev * spi_d = _currentSetting->spi_d;
spi_rx_reg(spi_d); // read any previous data
spi_tx_reg(spi_d, byte); // Write the data item to be transmitted into the SPI_DR register
while (spi_is_tx_empty(spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
return (uint8)spi_rx_reg(spi_d); // "... and read the last received data."
}

uint16_t SPIClass::transfer16(uint16_t data) const {
// Modified by stevestrong: write & read two consecutive bytes in 8 bit mode (DFF=0)
// This is more effective than two distinct byte transfers
spi_dev * spi_d = _currentSetting->spi_d;
spi_rx_reg(spi_d); // read any previous data
spi_tx_reg(spi_d, data>>8); // write high byte
while (spi_is_tx_empty(spi_d) == 0); // wait until TXE=1
while (spi_is_busy(spi_d) != 0); // wait until BSY=0
uint16_t ret = spi_rx_reg(spi_d)<<8; // read and shift high byte
spi_tx_reg(spi_d, data); // write low byte
while (spi_is_tx_empty(spi_d) == 0); // wait until TXE=1
while (spi_is_busy(spi_d) != 0); // wait until BSY=0
ret += spi_rx_reg(spi_d); // read low byte
spi_rx_reg(spi_d); // read any previous data
spi_tx_reg(spi_d, data>>8); // write high byte
while (!spi_is_tx_empty(spi_d)) { /* nada */ } // wait until TXE=1
while (spi_is_busy(spi_d)) { /* nada */ } // wait until BSY=0
uint16_t ret = spi_rx_reg(spi_d)<<8; // read and shift high byte
spi_tx_reg(spi_d, data); // write low byte
while (!spi_is_tx_empty(spi_d)) { /* nada */ } // wait until TXE=1
while (spi_is_busy(spi_d)) { /* nada */ } // wait until BSY=0
ret += spi_rx_reg(spi_d); // read low byte
return ret;
}

/* Roger Clark and Victor Perez, 2015
* Performs a DMA SPI transfer with at least a receive buffer.
* If a TX buffer is not provided, FF is sent over and over for the lenght of the transfer.
* On exit TX buffer is not modified, and RX buffer cotains the received data.
* Still in progress.
*/
/**
* Roger Clark and Victor Perez, 2015
* Performs a DMA SPI transfer with at least a receive buffer.
* If a TX buffer is not provided, FF is sent over and over for the lenght of the transfer.
* On exit TX buffer is not modified, and RX buffer cotains the received data.
* Still in progress.
*/
void SPIClass::dmaTransferSet(const void *transmitBuf, void *receiveBuf) {
dma_init(_currentSetting->spiDmaDev);
//spi_rx_dma_enable(_currentSetting->spi_d);
Expand Down Expand Up @@ -399,13 +395,13 @@ uint8_t SPIClass::dmaTransferRepeat(uint16_t length) {
//uint32_t m = millis();
uint8_t b = 0;
uint32_t m = millis();
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1) == 0) {
//Avoid interrupts and just loop waiting for the flag to be set.
while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) {
// Avoid interrupts and just loop waiting for the flag to be set.
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}

while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
spi_tx_dma_disable(_currentSetting->spi_d);
spi_rx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
Expand All @@ -416,7 +412,8 @@ uint8_t SPIClass::dmaTransferRepeat(uint16_t length) {
return b;
}

/* Roger Clark and Victor Perez, 2015
/**
* Roger Clark and Victor Perez, 2015
* Performs a DMA SPI transfer with at least a receive buffer.
* If a TX buffer is not provided, FF is sent over and over for the length of the transfer.
* On exit TX buffer is not modified, and RX buffer contains the received data.
Expand All @@ -427,7 +424,8 @@ uint8_t SPIClass::dmaTransfer(const void *transmitBuf, void *receiveBuf, uint16_
return dmaTransferRepeat(length);
}

/* Roger Clark and Victor Perez, 2015
/**
* Roger Clark and Victor Perez, 2015
* Performs a DMA SPI send using a TX buffer.
* On exit TX buffer is not modified.
* Still in progress.
Expand All @@ -448,19 +446,18 @@ uint8_t SPIClass::dmaSendRepeat(uint16_t length) {
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_set_num_transfers(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel, length);
_currentSetting->state = SPI_STATE_TRANSMIT;
dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);// enable transmit
dma_enable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel); // enable transmit
spi_tx_dma_enable(_currentSetting->spi_d);
if (_currentSetting->transmitCallback)
return 0;
if (_currentSetting->transmitCallback) return 0;

uint32_t m = millis();
uint8_t b = 0;
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)==0) {
//Avoid interrupts and just loop waiting for the flag to be set.
while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) {
// Avoid interrupts and just loop waiting for the flag to be set.
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
spi_tx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
dma_clear_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
Expand All @@ -478,14 +475,14 @@ uint8_t SPIClass::dmaSendAsync(const void * transmitBuf, uint16_t length, bool m

if (_currentSetting->state != SPI_STATE_READY) {
uint32_t m = millis();
while ((dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)==0) {
while (!(dma_get_isr_bits(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel) & DMA_ISR_TCIF1)) {
//Avoid interrupts and just loop waiting for the flag to be set.
//delayMicroseconds(10);
if ((millis() - m) > DMA_TIMEOUT) { b = 2; break; }
}

while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0 before disabling the SPI."
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // "... and then wait until BSY=0 before disabling the SPI."
spi_tx_dma_disable(_currentSetting->spi_d);
dma_disable(_currentSetting->spiDmaDev, _currentSetting->spiTxDmaChannel);
_currentSetting->state = SPI_STATE_READY;
Expand Down Expand Up @@ -575,11 +572,11 @@ void SPIClass::onTransmit(void(*callback)(void)) {
* during the initial setup and only set the callback to EventCallback if they are set.
*/
void SPIClass::EventCallback() {
while (spi_is_tx_empty(_currentSetting->spi_d) == 0); // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d) != 0); // "... and then wait until BSY=0"
while (!spi_is_tx_empty(_currentSetting->spi_d)) { /* nada */ } // "5. Wait until TXE=1 ..."
while (spi_is_busy(_currentSetting->spi_d)) { /* nada */ } // "... and then wait until BSY=0"
switch (_currentSetting->state) {
case SPI_STATE_TRANSFER:
while (spi_is_rx_nonempty(_currentSetting->spi_d));
while (spi_is_rx_nonempty(_currentSetting->spi_d)) { /* nada */ }
_currentSetting->state = SPI_STATE_READY;
spi_tx_dma_disable(_currentSetting->spi_d);
spi_rx_dma_disable(_currentSetting->spi_d);
Expand Down Expand Up @@ -718,10 +715,10 @@ static const spi_baud_rate baud_rates[8] __FLASH__ = {
SPI_BAUD_PCLK_DIV_256,
};

/*
* Note: This assumes you're on a LeafLabs-style board
* (CYCLES_PER_MICROSECOND == 72, APB2 at 72MHz, APB1 at 36MHz).
*/
/**
* Note: This assumes you're on a LeafLabs-style board
* (CYCLES_PER_MICROSECOND == 72, APB2 at 72MHz, APB1 at 36MHz).
*/
static spi_baud_rate determine_baud_rate(spi_dev *dev, uint32_t freq) {
uint32_t clock = 0;
switch (rcc_dev_clk(dev->clk_id)) {
Expand Down

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