/* libhw/rp2040_hwspi.c - <libhw/generic/spi.h> implementation for the RP2040's ARM Primecell SSP (PL022)
*
* Copyright (C) 2024-2025 Luke T. Shumaker <lukeshu@lukeshu.com>
* SPDX-License-Identifier: AGPL-3.0-or-later
*/
#include <alloca.h>
#include <inttypes.h> /* for PRIu{n} */
#include <hardware/clocks.h> /* for clock_get_hz() and clk_peri */
#include <hardware/gpio.h>
#include <hardware/spi.h>
#include <libcr/coroutine.h>
#include <libmisc/assert.h>
#define LOG_NAME RP2040_SPI
#include <libmisc/log.h>
#define IMPLEMENTATION_FOR_LIBHW_RP2040_HWSPI_H YES
#include <libhw/rp2040_hwspi.h>
#include <libhw/generic/alarmclock.h>
#include "rp2040_dma.h"
#include "config.h"
#ifndef CONFIG_RP2040_SPI_DEBUG
#error config.h must define CONFIG_RP2040_SPI_DEBUG (bool)
#endif
LO_IMPLEMENTATION_C(io_duplex_readwriter, struct rp2040_hwspi, rp2040_hwspi, static)
LO_IMPLEMENTATION_C(spi, struct rp2040_hwspi, rp2040_hwspi, static)
static void rp2040_hwspi_intrhandler(void *_self, enum dmairq LM_UNUSED(irq), uint LM_UNUSED(channel)) {
struct rp2040_hwspi *self = _self;
gpio_put(self->pin_cs, 1);
cr_sema_signal_from_intrhandler(&self->sema);
}
#define assert_4distinct(a, b, c, d) \
assert(a != b); \
assert(a != c); \
assert(a != d); \
assert(b != c); \
assert(b != d); \
assert(c != d);
void _rp2040_hwspi_init(struct rp2040_hwspi *self,
enum rp2040_hwspi_instance inst_num,
enum spi_mode mode,
uint baudrate_hz,
uint64_t min_delay_ns,
uint8_t bogus_data,
uint pin_miso,
uint pin_mosi,
uint pin_clk,
uint pin_cs,
uint dma1,
uint dma2,
uint dma3,
uint dma4)
{
/* Be not weary: This is but 12 lines of actual code; and many
* lines of comments and assert()s. */
spi_inst_t *inst;
uint actual_baudrate_hz;
assert(self);
assert(baudrate_hz);
uint32_t clk_peri_hz = clock_get_hz(clk_peri);
debugf("clk_peri = %"PRIu32"Hz", clk_peri_hz);
assert(baudrate_hz*2 <= clk_peri_hz);
assert_4distinct(pin_miso, pin_mosi, pin_clk, pin_cs);
assert_4distinct(dma1, dma2, dma3, dma4);
/* Regarding the constraints on pin assignments: see the
* RP2040 datasheet, table 2, in §1.4.3 "GPIO Functions". */
switch (inst_num) {
case RP2040_HWSPI_0:
inst = spi0;
assert(pin_miso == 0 || pin_miso == 4 || pin_miso == 16 || pin_miso == 20);
/*assert(pin_cs == 1 || pin_cs == 5 || pin_cs == 17 || pin_cs == 21);*/
assert(pin_clk == 2 || pin_clk == 6 || pin_clk == 18 || pin_clk == 22);
assert(pin_mosi == 3 || pin_mosi == 7 || pin_mosi == 19 || pin_mosi == 23);
break;
case RP2040_HWSPI_1:
inst = spi1;
assert(pin_miso == 8 || pin_miso == 12 || pin_miso == 24 || pin_miso == 28);
/*assert(pin_cs == 9 || pin_cs == 13 || pin_cs == 25 || pin_cs == 29);*/
assert(pin_clk == 10 || pin_clk == 14 || pin_clk == 26);
assert(pin_mosi == 11 || pin_mosi == 15 || pin_mosi == 27);
break;
default:
assert_notreached("invalid hwspi instance number");
}
actual_baudrate_hz = spi_init(inst, baudrate_hz);
debugf("baudrate = %uHz", actual_baudrate_hz);
assert(actual_baudrate_hz == baudrate_hz);
spi_set_format(inst, 8,
(mode & 0b10) ? SPI_CPOL_1 : SPI_CPOL_0,
(mode & 0b01) ? SPI_CPHA_1 : SPI_CPHA_0,
SPI_MSB_FIRST);
/* Connect the pins to the PL022; set them each to "function
* 1" (again, see the RP2040 datasheet, table 2, in §1.4.3
* "GPIO Functions").
*
* ("GPIO_FUNC_SPI" is how the pico-sdk spells "function 1",
* since on the RP2040 all of the "function 1" functions are
* some part of SPI.) */
gpio_set_function(pin_clk, GPIO_FUNC_SPI);
gpio_set_function(pin_mosi, GPIO_FUNC_SPI);
gpio_set_function(pin_miso, GPIO_FUNC_SPI);
/* Initialize the CS pin for software control. */
gpio_init(pin_cs);
gpio_set_dir(pin_cs, GPIO_OUT);
gpio_put(pin_cs, 1);
/* Initialize self. */
self->inst = inst;
self->min_delay_ns = min_delay_ns;
self->bogus_data = bogus_data;
self->pin_cs = pin_cs;
self->dma_tx_ctrl = dma1;
self->dma_rx_ctrl = dma2;
self->dma_tx_data = dma3;
self->dma_rx_data = dma4;
self->dead_until_ns = 0;
self->sema = (cr_sema_t){0};
/* Initialize the interrupt handler. */
dmairq_set_and_enable_exclusive_handler(DMAIRQ_0, self->dma_rx_data, rp2040_hwspi_intrhandler, self);
}
static void rp2040_hwspi_readwritev(struct rp2040_hwspi *self, const struct duplex_iovec *iov, int iovcnt) {
assert(self);
assert(self->inst);
assert(iov);
assert(iovcnt > 0);
/* At this time, I have no intention to run SPI faster than
* 80MHz (= 80Mb/s = 10MB/s). If we ran the CPU at just
* 100MHz (we'll be running it faster than that, maybe even
* 200MHz), that means we'd have 10 clock cycles to send each
* byte.
*
* This affords us substantial simplifications, like being
* able to afford 4-cycle changeovers between DMA blocks, and
* not having to worry about alignment because we can just use
* DMA_SIZE_8.
*/
uint8_t bogus_rx_dst;
int pruned_iovcnt = 0;
for (int i = 0; i < iovcnt; i++)
if (iov[i].iov_len)
pruned_iovcnt++;
if (!pruned_iovcnt)
return;
/* For tx_data_blocks, it doesn't really matter which aliases
* we choose:
* - None of our fields can be NULL (so no
* false-termination).
* - Moving const fields first so they don't have to be
* re-programmed each time isn't possible for us there need
* to be at least 2 const fields, and we only have 1
* (read_addr for rx_data_blocks, and write_addr for
* tx_data_blocks).
*
* But for rx_data_blocks, we need ctrl to be the trigger
* register so that the DMA_CTRL_IRQ_QUIET flag isn't cleared
* before we get to the trigger; and while for tx_data_blocks
* it doesn't really matter, the inverse would be nice.
*/
struct dma_alias1 *tx_data_blocks = alloca(sizeof(struct dma_alias1)*(pruned_iovcnt+1));
struct dma_alias0 *rx_data_blocks = alloca(sizeof(struct dma_alias0)*(pruned_iovcnt+1));
for (int i = 0, j = 0; i < iovcnt; i++) {
if (!iov[i].iov_len)
continue;
tx_data_blocks[j] = (typeof(tx_data_blocks[0])){
.read_addr = iov[i].iov_write_src ?: &self->bogus_data,
.write_addr = &spi_get_hw(self->inst)->dr,
.trans_count = iov[i].iov_len,
.ctrl = (DMA_CTRL_ENABLE
| DMA_CTRL_DATA_SIZE(DMA_SIZE_8)
| (iov[i].iov_write_src ? DMA_CTRL_INCR_READ : 0)
| DMA_CTRL_CHAIN_TO(self->dma_tx_ctrl)
| DMA_CTRL_TREQ_SEL(SPI_DREQ_NUM(self->inst, true))
| DMA_CTRL_IRQ_QUIET),
};
rx_data_blocks[j] = (typeof(rx_data_blocks[0])){
.read_addr = &spi_get_hw(self->inst)->dr,
.write_addr = iov[i].iov_read_dst ?: &bogus_rx_dst,
.trans_count = iov[i].iov_len,
.ctrl = (DMA_CTRL_ENABLE
| DMA_CTRL_DATA_SIZE(DMA_SIZE_8)
| (iov[i].iov_read_dst ? DMA_CTRL_INCR_WRITE : 0)
| DMA_CTRL_CHAIN_TO(self->dma_rx_ctrl)
| DMA_CTRL_TREQ_SEL(SPI_DREQ_NUM(self->inst, false))
| DMA_CTRL_IRQ_QUIET),
};
j++;
}
tx_data_blocks[pruned_iovcnt] = (typeof(tx_data_blocks[0])){0};
rx_data_blocks[pruned_iovcnt] = (typeof(rx_data_blocks[0])){0};
/* Set up ctrl. */
DMA_NONTRIGGER(self->dma_tx_ctrl, read_addr) = tx_data_blocks;
DMA_NONTRIGGER(self->dma_tx_ctrl, write_addr) = DMA_CHAN_ADDR(self->dma_tx_data, typeof(tx_data_blocks[0]));
DMA_NONTRIGGER(self->dma_tx_ctrl, trans_count) = DMA_CHAN_WR_TRANS_COUNT(typeof(tx_data_blocks[0]));
DMA_NONTRIGGER(self->dma_tx_ctrl, ctrl) = (DMA_CTRL_ENABLE
| DMA_CHAN_WR_CTRL(typeof(tx_data_blocks[0]))
| DMA_CTRL_INCR_READ
| DMA_CTRL_CHAIN_TO(self->dma_tx_data)
| DMA_CTRL_TREQ_SEL(DREQ_FORCE)
| DMA_CTRL_IRQ_QUIET);
DMA_NONTRIGGER(self->dma_rx_ctrl, read_addr) = rx_data_blocks;
DMA_NONTRIGGER(self->dma_rx_ctrl, write_addr) = DMA_CHAN_ADDR(self->dma_rx_data, typeof(rx_data_blocks[0]));
DMA_NONTRIGGER(self->dma_rx_ctrl, trans_count) = DMA_CHAN_WR_TRANS_COUNT(typeof(rx_data_blocks[0]));
DMA_NONTRIGGER(self->dma_rx_ctrl, ctrl) = (DMA_CTRL_ENABLE
| DMA_CHAN_WR_CTRL(typeof(rx_data_blocks[0]))
| DMA_CTRL_INCR_READ
| DMA_CTRL_CHAIN_TO(self->dma_rx_data)
| DMA_CTRL_TREQ_SEL(DREQ_FORCE)
| DMA_CTRL_IRQ_QUIET);
/* Run. */
uint64_t now = LO_CALL(bootclock, get_time_ns);
if (now < self->dead_until_ns)
sleep_until_ns(self->dead_until_ns);
bool saved = cr_save_and_disable_interrupts();
gpio_put(self->pin_cs, 0);
dma_hw->multi_channel_trigger = (1u<<self->dma_tx_ctrl) | (1u<<self->dma_rx_ctrl);
cr_restore_interrupts(saved);
cr_sema_wait(&self->sema);
self->dead_until_ns = LO_CALL(bootclock, get_time_ns) + self->min_delay_ns;
}