Skip to content

Commit

Permalink
Support for SPI and EEPROM in amc board (#249)
Browse files Browse the repository at this point in the history 
* amc: adding support for its spi EEPROM. still wip

* embot::hw::spi, embot::hw::eeprom, embot::hw::chip::M95512DF -> enhancements

in particular:
- spi has runtime config for change of speed, mode and datasize (what is required by our aea)
- eeprom uses the chip M95512DF
- chip M95512DF now accepts also a embot::hw::spi::Config

* amc: changes for test of eeprom, enabled spi, spi2 and spi3 for aea sensors
  • Loading branch information
@marcoaccame
marcoaccame authored Jan 31, 2022
1 parent 3b771ab commit 32bba58
Show file tree
Hide file tree
Showing 24 changed files with 9,133 additions and 45 deletions.
274 changes: 274 additions & 0 deletions emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_bsp_amc.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,62 @@ using namespace embot::core::binary;
// - specialize the bsp
// --------------------------------------------------------------------------------------------------------------------

#if defined(EMBOT_ENABLE_hw_spi_123)
#include "embot_hw_gpio.h"
// it select spi1 / spi2 / spi3 in connector J5
void prepare_connector_j5_spi123()
{
constexpr embot::hw::gpio::Config out
{
embot::hw::gpio::Mode::OUTPUTpushpull,
embot::hw::gpio::Pull::nopull,
embot::hw::gpio::Speed::medium
};

constexpr embot::hw::gpio::State stateSPI[2] = {embot::hw::gpio::State::RESET, embot::hw::gpio::State::SET};

constexpr embot::hw::GPIO X1ENspi1[2] =
{
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::zero},
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::eight}
};

constexpr embot::hw::GPIO X2ENspi2[2] =
{
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::one},
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::nine}
};

constexpr embot::hw::GPIO X3ENspi3[2] =
{
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::two},
{embot::hw::GPIO::PORT::D, embot::hw::GPIO::PIN::ten}
};

// spi1
for(uint8_t i=0; i<2; i++)
{
embot::hw::gpio::init(X1ENspi1[i], out);
embot::hw::gpio::set(X1ENspi1[i], stateSPI[i]);
}

// spi2
for(uint8_t i=0; i<2; i++)
{
embot::hw::gpio::init(X2ENspi2[i], out);
embot::hw::gpio::set(X2ENspi2[i], stateSPI[i]);
}

// spi3
for(uint8_t i=0; i<2; i++)
{
embot::hw::gpio::init(X3ENspi3[i], out);
embot::hw::gpio::set(X3ENspi3[i], stateSPI[i]);
}

}
#endif

#if !defined(EMBOT_ENABLE_hw_bsp_specialize)
bool embot::hw::bsp::specialize() { return true; }
#else
Expand All @@ -54,6 +110,11 @@ bool embot::hw::bsp::specialize() { return true; }

bool embot::hw::bsp::specialize()
{

#if defined(EMBOT_ENABLE_hw_spi_123)
// 1. prepare spi1, spi2, spi3
prepare_connector_j5_spi123();
#endif
return true;
}

Expand Down Expand Up @@ -575,5 +636,218 @@ namespace embot { namespace hw { namespace eth {

// - support map: end of embot::hw::eth


// - support map: begin of embot::hw::eeprom

#include "embot_hw_eeprom.h"
#include "embot_hw_eeprom_bsp.h"

#if !defined(EMBOT_ENABLE_hw_eeprom)

namespace embot { namespace hw { namespace eeprom {

constexpr BSP thebsp { };
void BSP::init(embot::hw::EEPROM h) const {}
const BSP& getBSP()
{
return thebsp;
}

}}}

#else

namespace embot { namespace hw { namespace eeprom {

#if defined(STM32HAL_BOARD_AMC)

constexpr PROP ee1p = { embot::hw::eeprom::Type::chipM95512DF,
{
embot::hw::SPI::six,
//{},
{embot::hw::spi::Prescaler::eight, embot::hw::spi::DataSize::eight, embot::hw::spi::Mode::zero},
{
{embot::hw::GPIO::PORT::G, embot::hw::GPIO::PIN::eight}, // nS
{embot::hw::GPIO::PORT::F, embot::hw::GPIO::PIN::twelve}, // nW
{embot::hw::GPIO::PORT::F, embot::hw::GPIO::PIN::thirteen}, // nHOLD
{
embot::hw::gpio::Mode::OUTPUTpushpull,
embot::hw::gpio::Pull::nopull,
embot::hw::gpio::Speed::veryhigh
}
}
}
};

constexpr BSP thebsp {
// maskofsupported
mask::pos2mask<uint32_t>(EEPROM::one),
// properties
{{
&ee1p, nullptr
}}
};


void BSP::init(embot::hw::EEPROM h) const {}

#else
#error embot::hw::bsp::eeprom::thebsp must be defined
#endif

const BSP& getBSP()
{
return thebsp;
}

}}}

#endif // eeprom

// - support map: end of embot::hw::eeprom


// - support map: begin of embot::hw::spi

#include "embot_hw_spi.h"
#include "embot_hw_spi_bsp.h"

#if !defined(EMBOT_ENABLE_hw_spi)

namespace embot { namespace hw { namespace spi {

constexpr BSP thebsp { };
void BSP::init(embot::hw::SPI h) const {}
const BSP& getBSP()
{
return thebsp;
}

}}}

#else

namespace embot { namespace hw { namespace spi {

#if defined(STM32HAL_BOARD_AMC)

// for spi1,2,3,4: define a hspix, fill it properly in here, define the pins, fill them inside the HAL_SPI_MspInit() and HAL_SPI_MspDeInit() ...
// constexpr PROP spi1p = { &hspi1, 50*1000*1000};
// constexpr PROP spi2p = { &hspi2, 50*1000*1000};
// constexpr PROP spi3p = { &hspi3, 50*1000*1000};
// constexpr PROP spi4p = { &hspi4, 100*1000*1000};
constexpr PROP spi6p = { &hspi6, 100*1000*1000};
constexpr PROP spi5p = { &hspi5, 100*1000*1000};

static_assert(spi6p.clockrate == 100*1000*1000, "SPI::six is now 12.5Mhz and must be changed inside MX_SPI6_Init()");
// SPI::six is used @ 12.Mhz by a M95512-DFMC6 EEPROM and must be < 16MHz

constexpr BSP thebsp {
// maskofsupported
mask::pos2mask<uint32_t>(SPI::five) | mask::pos2mask<uint32_t>(SPI::six),
// properties
{{
nullptr, nullptr, nullptr, nullptr, &spi5p, &spi6p
}}
};


bool BSP::init(embot::hw::SPI h, const Config &config) const
{
// marco.accame: in here ... MX_SPI6_Ini() calls HAL_SPI_Init() and imposes the speed
// and the low level configuration specified inside cube-mx.
// it is quick and easy BUT: if we want to attach to the same bus more than one type
// of spi sensors (e.g., aea, aea3, AksIM-2, ...) then we must be able to call HAL_SPI_Init()
// with the parameters we want.
// conclusion: we shall move HAL_SPI_Init() out of BSP::init() and inside embot::hw::spi::init()
if(h == SPI::five)
{
MX_SPI5_Init();
}
else if(h == SPI::six)
{
if(false == config.isvalid())
{
MX_SPI6_Init();
// HAL_SPI_MspInit(&hspi6); // it is called inside HAL_SPI_Init()
}
else
{
hspi6.Instance = SPI6;
hspi6.Init.Mode = SPI_MODE_MASTER;
hspi6.Init.Direction = SPI_DIRECTION_2LINES;
hspi6.Init.DataSize = datasize2stm32(config.datasize);;
hspi6.Init.CLKPolarity = mode2stm32clkpolarity(config.mode);
hspi6.Init.CLKPhase = mode2stm32clkphase(config.mode);
hspi6.Init.NSS = SPI_NSS_SOFT;
hspi6.Init.BaudRatePrescaler = prescaler2stm32baudrateprescaler(config.prescaler);
hspi6.Init.FirstBit = SPI_FIRSTBIT_MSB;
hspi6.Init.TIMode = SPI_TIMODE_DISABLE;
hspi6.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
hspi6.Init.CRCPolynomial = 0x0;
hspi6.Init.NSSPMode = SPI_NSS_PULSE_ENABLE;
hspi6.Init.NSSPolarity = SPI_NSS_POLARITY_LOW;
hspi6.Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
hspi6.Init.TxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
hspi6.Init.RxCRCInitializationPattern = SPI_CRC_INITIALIZATION_ALL_ZERO_PATTERN;
hspi6.Init.MasterSSIdleness = SPI_MASTER_SS_IDLENESS_00CYCLE;
hspi6.Init.MasterInterDataIdleness = SPI_MASTER_INTERDATA_IDLENESS_00CYCLE;
hspi6.Init.MasterReceiverAutoSusp = SPI_MASTER_RX_AUTOSUSP_DISABLE;
hspi6.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_DISABLE;
hspi6.Init.IOSwap = SPI_IO_SWAP_DISABLE;
HAL_SPI_Init(&hspi6);
}
return true;
}


return false;
// the new rule could be:
// if we return true .... non extra init is required inside embot::hw::spi
// else ... we call HAL_SPI_Init() inside embot::hw::spi::init()
// w/ SPI_InitTypeDef values from embot::hw::spi::Config. we dont need to
// have the pins in there as they are initted by HAL_SPI_MspInit.
}

bool BSP::deinit(embot::hw::SPI h) const
{
if(h == SPI::five)
{
HAL_SPI_DeInit(&hspi5);
}
else if(h == SPI::six)
{
HAL_SPI_DeInit(&hspi6);
// HAL_SPI_MspDeInit(&hspi6); // // it is called inside HAL_SPI_DeInit()
return true;
}

return false;
}

#else
#error embot::hw::bsp::spi::thebsp must be defined
#endif

const BSP& getBSP()
{
return thebsp;
}

}}}

extern "C"
{
void SPI6_IRQHandler(void)
{
HAL_SPI_IRQHandler(&hspi6);
}
}

#endif // spi

// - support map: end of embot::hw::spi


// - end-of-file (leave a blank line after)----------------------------------------------------------------------------

6 changes: 6 additions & 0 deletions emBODY/eBcode/arch-arm/board/amc/bsp/embot_hw_bsp_amc_config.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,12 @@
#define EMBOT_ENABLE_hw_bsp_specialize
#define EMBOT_ENABLE_hw_gpio
#define EMBOT_ENABLE_hw_led
#define EMBOT_ENABLE_hw_eeprom
// #define EMBOT_ENABLE_hw_eeprom_emulatedMODE

#define EMBOT_ENABLE_hw_spi
// #define EMBOT_ENABLE_hw_spi_123

// #define EMBOT_ENABLE_hw_button
// #define EMBOT_ENABLE_hw_can
#undef EMBOT_ENABLE_hw_flash
Expand Down
1 change: 1 addition & 0 deletions emBODY/eBcode/arch-arm/board/amc/examples/embot-os-hw/bin/.placeholder.txt
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
.placeholder
Loading

0 comments on commit 32bba58

Please sign in to comment.