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bsp/atsam: Fix SPI driver DMA support

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This commit is contained in:
Sebastian Huber
2019-03-19 10:04:33 +01:00
parent 5f813694f6
commit a5f84c6a8a
1 changed files with 157 additions and 147 deletions
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304
bsps/arm/atsam/spi/atsam_spi_bus.c
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@@ -40,31 +40,25 @@
#define MAX_SPI_FREQUENCY 50000000 #define MAX_SPI_FREQUENCY 50000000
#define DMA_NR_DESC_PER_DIR 3 typedef struct {
#define DMA_DESC_ALLIGNMENT 4 volatile LinkedListDescriporView0 tx_desc;
volatile LinkedListDescriporView0 rx_desc[3];
#define DMA_BUF_RX 0 uint8_t rx_bounce_head_buf[CPU_CACHE_LINE_BYTES];
#define DMA_BUF_TX 1 uint8_t rx_bounce_tail_buf[CPU_CACHE_LINE_BYTES];
#define DMA_BUF_DIRS 2 } atsam_spi_dma;
struct atsam_spi_xdma_buf {
LinkedListDescriporView0 desc[DMA_NR_DESC_PER_DIR];
uint8_t leadbuf[CPU_CACHE_LINE_BYTES];
uint8_t trailbuf[CPU_CACHE_LINE_BYTES];
};
typedef struct { typedef struct {
spi_bus base; spi_bus base;
rtems_binary_semaphore sem; rtems_binary_semaphore sem;
const spi_ioc_transfer *msg_current; const spi_ioc_transfer *msg_current;
uint32_t msg_todo; uint32_t msg_todo;
int msg_error; int error;
Spi *spi_regs; Spi *spi_regs;
uint32_t dma_tx_channel; uint32_t dma_tx_channel;
uint32_t dma_rx_channel; uint32_t dma_rx_channel;
struct atsam_spi_xdma_buf *dma_bufs; atsam_spi_dma *dma;
size_t leadbuf_rx_buffered_len; size_t rx_bounce_head_len;
size_t trailbuf_rx_buffered_len; size_t rx_bounce_tail_len;
int transfer_in_progress; int transfer_in_progress;
bool chip_select_decode; bool chip_select_decode;
uint8_t spi_id; uint8_t spi_id;
@@ -165,131 +159,138 @@ static void atsam_reset_spi(atsam_spi_bus *bus)
bus->spi_regs->SPI_CR = SPI_CR_SPIEN; bus->spi_regs->SPI_CR = SPI_CR_SPIEN;
} }
static void atsam_spi_check_alignment_and_set_up_dma_descriptors( static void atsam_spi_copy_rx_bounce_bufs(
atsam_spi_bus *bus, const atsam_spi_bus *bus,
struct atsam_spi_xdma_buf *buf, const spi_ioc_transfer *msg
const uint8_t *start,
size_t len,
bool tx
) )
{ {
LinkedListDescriporView0 *curdesc = buf->desc; if (bus->rx_bounce_head_len > 0) {
size_t misaligned_begin; atsam_copy_from_io(
size_t misaligned_end; msg->rx_buf,
size_t len_main; bus->dma->rx_bounce_head_buf,
const uint8_t *start_main; bus->rx_bounce_head_len
const uint8_t *start_trail; );
/* Check alignments. */
if (len < CPU_CACHE_LINE_BYTES) {
misaligned_begin = len;
misaligned_end = 0;
len_main = 0;
} else {
misaligned_begin = ((uint32_t) start) % CPU_CACHE_LINE_BYTES;
misaligned_end = (((uint32_t) start) + len) % CPU_CACHE_LINE_BYTES;
len_main = len - misaligned_begin - misaligned_end;
}
start_main = start + misaligned_begin;
start_trail = start_main + len_main;
/* Store length for copying data back. */
if (!tx) {
bus->leadbuf_rx_buffered_len = misaligned_begin;
bus->trailbuf_rx_buffered_len = misaligned_end;
} }
/* Handle misalignment on begin. */ if (bus->rx_bounce_tail_len > 0) {
if (misaligned_begin != 0) { atsam_copy_from_io(
if (tx) { msg->rx_buf + msg->len - bus->rx_bounce_tail_len,
atsam_copy_to_io(buf->leadbuf, start, misaligned_begin); bus->dma->rx_bounce_tail_buf,
} bus->rx_bounce_tail_len
curdesc->mbr_nda = (uint32_t) (&curdesc[1]); );
curdesc->mbr_ta = (uint32_t) buf->leadbuf;
curdesc->mbr_ubc = misaligned_begin;
}
/* Main part */
if (len_main > 0) {
curdesc->mbr_ubc |= tx ? XDMA_UBC_NSEN_UPDATED : XDMA_UBC_NDEN_UPDATED;
curdesc->mbr_ubc |= XDMA_UBC_NVIEW_NDV0;
curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_EN;
++curdesc;
curdesc->mbr_nda = (uint32_t) (&curdesc[1]);
curdesc->mbr_ta = (uint32_t) start_main;
curdesc->mbr_ubc = len_main;
if (tx) {
rtems_cache_flush_multiple_data_lines(start_main, len_main);
} else {
rtems_cache_invalidate_multiple_data_lines(start_main, len_main);
}
}
/* Handle misalignment on end */
if (misaligned_end != 0) {
curdesc->mbr_ubc |= tx ? XDMA_UBC_NSEN_UPDATED : XDMA_UBC_NDEN_UPDATED;
curdesc->mbr_ubc |= XDMA_UBC_NVIEW_NDV0;
curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_EN;
++curdesc;
if (tx) {
atsam_copy_to_io(buf->trailbuf, start_trail, misaligned_end);
}
curdesc->mbr_nda = 0;
curdesc->mbr_ta = (uint32_t) buf->trailbuf;
curdesc->mbr_ubc = misaligned_end;
curdesc->mbr_ubc |= XDMA_UBC_NDE_FETCH_DIS;
} }
} }
static void atsam_spi_copy_back_rx_after_dma_transfer( static void atsam_spi_setup_rx_dma_desc(
atsam_spi_bus *bus atsam_spi_bus *bus,
atsam_spi_dma *dma,
const uint8_t *buf,
size_t n
) )
{ {
if (bus->leadbuf_rx_buffered_len != 0) { volatile LinkedListDescriporView0 *desc;
atsam_copy_from_io( uintptr_t m;
bus->msg_current->rx_buf, uintptr_t b;
bus->dma_bufs[DMA_BUF_RX].leadbuf, uintptr_t a;
bus->leadbuf_rx_buffered_len uintptr_t ae;
); uintptr_t e;
}
if (bus->trailbuf_rx_buffered_len != 0) { desc = &dma->rx_desc[0];
atsam_copy_from_io( m = CPU_CACHE_LINE_BYTES - 1;
bus->msg_current->rx_buf + bus->msg_current->len - b = (uintptr_t) buf;
bus->trailbuf_rx_buffered_len, e = b + n;
bus->dma_bufs[DMA_BUF_RX].trailbuf, a = (b + m) & ~m;
bus->trailbuf_rx_buffered_len ae = e & ~m;
);
if (n <= m) {
bus->rx_bounce_head_len = n;
bus->rx_bounce_tail_len = 0;
desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
desc[0].mbr_ubc = n;
} else {
bus->rx_bounce_head_len = a - b;
bus->rx_bounce_tail_len = e & m;
if ((b & m) == 0) {
if ((n & m) == 0) {
desc[0].mbr_ta = a;
desc[0].mbr_ubc = n;
} else {
desc[0].mbr_ta = a;
desc[0].mbr_ubc = (ae - a) | XDMA_UBC_NDEN_UPDATED
| XDMA_UBC_NVIEW_NDV0
| XDMA_UBC_NDE_FETCH_EN;
desc[1].mbr_ta = (uint32_t) dma->rx_bounce_tail_buf;
desc[1].mbr_ubc = n & m;
}
} else {
if ((e & m) == 0) {
desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
desc[0].mbr_ubc = (a - b) | XDMA_UBC_NDEN_UPDATED
| XDMA_UBC_NVIEW_NDV0
| XDMA_UBC_NDE_FETCH_EN;
desc[1].mbr_ta = a;
desc[1].mbr_ubc = ae - a;
} else if ((ae - a) == 0) {
bus->rx_bounce_head_len = n;
bus->rx_bounce_tail_len = 0;
desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
desc[0].mbr_ubc = n;
} else {
desc[0].mbr_ta = (uint32_t) dma->rx_bounce_head_buf;
desc[0].mbr_ubc = (a - b) | XDMA_UBC_NDEN_UPDATED
| XDMA_UBC_NVIEW_NDV0
| XDMA_UBC_NDE_FETCH_EN;
desc[1].mbr_ta = a;
desc[1].mbr_ubc = (ae - a) | XDMA_UBC_NDEN_UPDATED
| XDMA_UBC_NVIEW_NDV0
| XDMA_UBC_NDE_FETCH_EN;
desc[2].mbr_ta = (uint32_t) dma->rx_bounce_tail_buf;
desc[2].mbr_ubc = e - ae;
}
}
rtems_cache_invalidate_multiple_data_lines((void *) a, ae - a);
} }
} }
static void atsam_spi_setup_tx_dma_desc(
atsam_spi_dma *dma,
const uint8_t *buf,
size_t n
)
{
volatile LinkedListDescriporView0 *desc;
desc = &dma->tx_desc;
desc->mbr_ta = (uint32_t) buf;
desc->mbr_ubc = n;
rtems_cache_flush_multiple_data_lines(buf, n);
}
static void atsam_spi_start_dma_transfer( static void atsam_spi_start_dma_transfer(
atsam_spi_bus *bus, atsam_spi_bus *bus,
const spi_ioc_transfer *msg const spi_ioc_transfer *msg
) )
{ {
Xdmac *pXdmac = XDMAC; atsam_spi_dma *dma;
Xdmac *pXdmac;
atsam_spi_check_alignment_and_set_up_dma_descriptors( dma = bus->dma;
bus, pXdmac = XDMAC;
&bus->dma_bufs[DMA_BUF_RX],
msg->rx_buf, bus->transfer_in_progress = 2;
msg->len,
false atsam_spi_setup_rx_dma_desc(bus, dma, msg->rx_buf, msg->len);
); atsam_spi_setup_tx_dma_desc(dma, msg->tx_buf, msg->len);
atsam_spi_check_alignment_and_set_up_dma_descriptors(
bus,
&bus->dma_bufs[DMA_BUF_TX],
msg->tx_buf,
msg->len,
true
);
XDMAC_SetDescriptorAddr( XDMAC_SetDescriptorAddr(
pXdmac, pXdmac,
bus->dma_rx_channel, bus->dma_rx_channel,
(uint32_t) bus->dma_bufs[DMA_BUF_RX].desc, (uint32_t) &dma->rx_desc[0],
0 0
); );
XDMAC_SetDescriptorControl( XDMAC_SetDescriptorControl(
@@ -302,7 +303,7 @@ static void atsam_spi_start_dma_transfer(
XDMAC_SetDescriptorAddr( XDMAC_SetDescriptorAddr(
pXdmac, pXdmac,
bus->dma_tx_channel, bus->dma_tx_channel,
(uint32_t) bus->dma_bufs[DMA_BUF_TX].desc, (uint32_t) &dma->tx_desc,
0 0
); );
XDMAC_SetDescriptorControl( XDMAC_SetDescriptorControl(
@@ -326,7 +327,7 @@ static int atsam_check_configure_spi(atsam_spi_bus *bus, const spi_ioc_transfer
|| msg->cs != bus->base.cs || msg->cs != bus->base.cs
) { ) {
if ( if (
(msg->bits_per_word != 8 && msg->bits_per_word != 16) msg->bits_per_word != 8
|| msg->mode > 3 || msg->mode > 3
|| msg->speed_hz > bus->base.max_speed_hz || msg->speed_hz > bus->base.max_speed_hz
) { ) {
@@ -347,8 +348,6 @@ static void atsam_spi_setup_transfer(atsam_spi_bus *bus)
{ {
uint32_t msg_todo = bus->msg_todo; uint32_t msg_todo = bus->msg_todo;
bus->transfer_in_progress = 2;
if (msg_todo > 0) { if (msg_todo > 0) {
const spi_ioc_transfer *msg; const spi_ioc_transfer *msg;
int error; int error;
@@ -358,7 +357,7 @@ static void atsam_spi_setup_transfer(atsam_spi_bus *bus)
if (error == 0) { if (error == 0) {
atsam_spi_start_dma_transfer(bus, msg); atsam_spi_start_dma_transfer(bus, msg);
} else { } else {
bus->msg_error = error; bus->error = error;
atsam_spi_wakeup_task(bus); atsam_spi_wakeup_task(bus);
} }
} else { } else {
@@ -366,9 +365,18 @@ static void atsam_spi_setup_transfer(atsam_spi_bus *bus)
} }
} }
static void atsam_spi_dma_callback(uint32_t channel, void *arg) static void atsam_spi_dma_callback(uint32_t ch, void *arg, uint32_t status)
{ {
atsam_spi_bus *bus = (atsam_spi_bus *)arg; atsam_spi_bus *bus;
uint32_t dma_errors;
bus = arg;
dma_errors = XDMAC_CIE_DIE | XDMAC_CIE_FIE | XDMAC_CIE_RBIE | XDMAC_CIE_WBIE
| XDMAC_CIE_ROIE;
if ((status & dma_errors) != 0) {
bus->error = -EIO;
}
--bus->transfer_in_progress; --bus->transfer_in_progress;
@@ -393,12 +401,16 @@ static void atsam_spi_dma_callback(uint32_t channel, void *arg)
bus->spi_regs->SPI_CR = SPI_CR_LASTXFER; bus->spi_regs->SPI_CR = SPI_CR_LASTXFER;
} }
atsam_spi_copy_back_rx_after_dma_transfer(bus); atsam_spi_copy_rx_bounce_bufs(bus, msg);
bus->msg_current = msg + 1; bus->msg_current = msg + 1;
--bus->msg_todo; --bus->msg_todo;
atsam_spi_setup_transfer(bus); if (bus->error == 0) {
atsam_spi_setup_transfer(bus);
} else {
atsam_spi_wakeup_task(bus);
}
} }
} }
@@ -412,10 +424,10 @@ static int atsam_spi_transfer(
bus->msg_current = msgs; bus->msg_current = msgs;
bus->msg_todo = msg_count; bus->msg_todo = msg_count;
bus->msg_error = 0; bus->error = 0;
atsam_spi_setup_transfer(bus); atsam_spi_setup_transfer(bus);
rtems_binary_semaphore_wait(&bus->sem); rtems_binary_semaphore_wait(&bus->sem);
return bus->msg_error; return bus->error;
} }
@@ -446,7 +458,7 @@ static void atsam_spi_destroy(spi_bus *base)
SPI_Disable(bus->spi_regs); SPI_Disable(bus->spi_regs);
PMC_DisablePeripheral(bus->spi_id); PMC_DisablePeripheral(bus->spi_id);
rtems_cache_coherent_free(bus->dma_bufs); rtems_cache_coherent_free(bus->dma);
rtems_binary_semaphore_destroy(&bus->sem); rtems_binary_semaphore_destroy(&bus->sem);
spi_bus_destroy_and_free(&bus->base); spi_bus_destroy_and_free(&bus->base);
} }
@@ -457,7 +469,7 @@ static int atsam_spi_setup(spi_bus *base)
if ( if (
bus->base.speed_hz > MAX_SPI_FREQUENCY bus->base.speed_hz > MAX_SPI_FREQUENCY
|| (bus->base.bits_per_word != 8 && bus->base.bits_per_word != 16) || bus->base.bits_per_word != 8
) { ) {
return -EINVAL; return -EINVAL;
} }
@@ -467,18 +479,21 @@ static int atsam_spi_setup(spi_bus *base)
static void atsam_spi_init_xdma(atsam_spi_bus *bus) static void atsam_spi_init_xdma(atsam_spi_bus *bus)
{ {
atsam_spi_dma *dma;
sXdmadCfg cfg; sXdmadCfg cfg;
uint32_t xdmaInt; uint32_t xdmaInt;
uint8_t channel; uint8_t channel;
eXdmadRC rc; eXdmadRC rc;
uint32_t xdma_cndc; uint32_t xdma_cndc;
bus->dma_bufs = rtems_cache_coherent_allocate( dma = rtems_cache_coherent_allocate(sizeof(*dma), 0, 0);
DMA_BUF_DIRS * sizeof(*(bus->dma_bufs)), assert(dma != NULL);
DMA_DESC_ALLIGNMENT, bus->dma = dma;
0
); dma->tx_desc.mbr_nda = 0;
assert(bus->dma_bufs != NULL); dma->rx_desc[0].mbr_nda = (uint32_t) &dma->rx_desc[1];
dma->rx_desc[1].mbr_nda = (uint32_t) &dma->rx_desc[2];
dma->rx_desc[2].mbr_nda = 0;
bus->dma_tx_channel = XDMAD_AllocateChannel( bus->dma_tx_channel = XDMAD_AllocateChannel(
&XDMAD_Instance, &XDMAD_Instance,
@@ -517,13 +532,8 @@ static void atsam_spi_init_xdma(atsam_spi_bus *bus)
assert(rc == XDMAD_OK); assert(rc == XDMAD_OK);
/* Put all relevant interrupts on */ /* Put all relevant interrupts on */
xdmaInt = ( xdmaInt = XDMAC_CIE_LIE | XDMAC_CIE_DIE | XDMAC_CIE_FIE | XDMAC_CIE_RBIE
XDMAC_CIE_BIE | | XDMAC_CIE_WBIE | XDMAC_CIE_ROIE;
XDMAC_CIE_DIE |
XDMAC_CIE_FIE |
XDMAC_CIE_RBIE |
XDMAC_CIE_WBIE |
XDMAC_CIE_ROIE);
/* Setup RX */ /* Setup RX */
memset(&cfg, 0, sizeof(cfg)); memset(&cfg, 0, sizeof(cfg));
@@ -549,7 +559,7 @@ static void atsam_spi_init_xdma(atsam_spi_bus *bus)
bus->dma_rx_channel, bus->dma_rx_channel,
&cfg, &cfg,
xdma_cndc, xdma_cndc,
(uint32_t) bus->dma_bufs[DMA_BUF_RX].desc, (uint32_t) &bus->dma->rx_desc[0],
xdmaInt xdmaInt
); );
assert(rc == XDMAD_OK); assert(rc == XDMAD_OK);
@@ -578,7 +588,7 @@ static void atsam_spi_init_xdma(atsam_spi_bus *bus)
bus->dma_tx_channel, bus->dma_tx_channel,
&cfg, &cfg,
xdma_cndc, xdma_cndc,
(uint32_t) bus->dma_bufs[DMA_BUF_TX].desc, (uint32_t) &bus->dma->tx_desc,
xdmaInt xdmaInt
); );
assert(rc == XDMAD_OK); assert(rc == XDMAD_OK);