Merge pull request #9385 from Bruin-Spacecraft-Group/main

SAMD51 SPI Secondary Mode

Author: tannewt

docs/porting.rst

@@ -72,6 +72,7 @@ as a natural "TODO" list. An example minimal build list is shown below:
     CIRCUITPY_FRAMEBUFFERIO = 0
     CIRCUITPY_FREQUENCYIO = 0
     CIRCUITPY_I2CTARGET = 0
+    CIRCUITPY_SPITARGET = 0
     # Requires SPI, PulseIO (stub ok):
     CIRCUITPY_DISPLAYIO = 0
 

locale/circuitpython.pot

@@ -594,6 +594,10 @@ msgstr ""
 msgid "Array values should be single bytes."
 msgstr ""
 
+#: ports/atmel-samd/common-hal/spitarget/SPITarget.c
+msgid "Async SPI transfer in progress on this bus, keep awaiting."
+msgstr ""
+
 #: shared-module/memorymonitor/AllocationAlarm.c
 #, c-format
 msgid "Attempt to allocate %d blocks"
@@ -1725,6 +1729,10 @@ msgstr ""
 msgid "PWM slice channel A already in use"
 msgstr ""
 
+#: shared-bindings/spitarget/SPITarget.c
+msgid "Packet buffers for an SPI transfer must have the same length."
+msgstr ""
+
 #: shared-module/jpegio/JpegDecoder.c
 msgid "Parameter error"
 msgstr ""
@@ -2017,8 +2025,8 @@ msgstr ""
 msgid "The length of rgb_pins must be 6, 12, 18, 24, or 30"
 msgstr ""
 
-#: shared-module/audiodelays/Echo.c shared-module/audiofilters/Filter.c
-#: shared-module/audiomixer/MixerVoice.c
+#: shared-module/audiodelays/Echo.c shared-module/audiofilters/Distortion.c
+#: shared-module/audiofilters/Filter.c shared-module/audiomixer/MixerVoice.c
 msgid "The sample's %q does not match"
 msgstr ""
 
@@ -2570,8 +2578,8 @@ msgstr ""
 msgid "bits must be 32 or less"
 msgstr ""
 
-#: shared-bindings/audiodelays/Echo.c shared-bindings/audiofilters/Filter.c
-#: shared-bindings/audiomixer/Mixer.c
+#: shared-bindings/audiodelays/Echo.c shared-bindings/audiofilters/Distortion.c
+#: shared-bindings/audiofilters/Filter.c shared-bindings/audiomixer/Mixer.c
 msgid "bits_per_sample must be 8 or 16"
 msgstr ""
 

ports/atmel-samd/audio_dma.c

@@ -30,8 +30,6 @@ static audio_dma_t *audio_dma_state[AUDIO_DMA_CHANNEL_COUNT];
 // This cannot be in audio_dma_state because it's volatile.
 static volatile bool audio_dma_pending[AUDIO_DMA_CHANNEL_COUNT];
 
-static bool audio_dma_allocated[AUDIO_DMA_CHANNEL_COUNT];
-
 uint8_t find_sync_event_channel_raise() {
     uint8_t event_channel = find_sync_event_channel();
     if (event_channel >= EVSYS_SYNCH_NUM) {
@@ -40,24 +38,6 @@ uint8_t find_sync_event_channel_raise() {
     return event_channel;
 }
 
-uint8_t dma_allocate_channel(void) {
-    uint8_t channel;
-    for (channel = 0; channel < AUDIO_DMA_CHANNEL_COUNT; channel++) {
-        if (!audio_dma_allocated[channel]) {
-            audio_dma_allocated[channel] = true;
-            return channel;
-        }
-    }
-    return channel; // i.e., return failure
-}
-
-void dma_free_channel(uint8_t channel) {
-    assert(channel < AUDIO_DMA_CHANNEL_COUNT);
-    assert(audio_dma_allocated[channel]);
-    audio_dma_disable_channel(channel);
-    audio_dma_allocated[channel] = false;
-}
-
 void audio_dma_disable_channel(uint8_t channel) {
     if (channel >= AUDIO_DMA_CHANNEL_COUNT) {
         return;
@@ -191,7 +171,7 @@ audio_dma_result audio_dma_setup_playback(audio_dma_t *dma,
     bool output_signed,
     uint32_t output_register_address,
     uint8_t dma_trigger_source) {
-    uint8_t dma_channel = dma_allocate_channel();
+    uint8_t dma_channel = dma_allocate_channel(true);
     if (dma_channel >= AUDIO_DMA_CHANNEL_COUNT) {
         return AUDIO_DMA_DMA_BUSY;
     }
@@ -342,8 +322,7 @@ void audio_dma_reset(void) {
     for (uint8_t i = 0; i < AUDIO_DMA_CHANNEL_COUNT; i++) {
         audio_dma_state[i] = NULL;
         audio_dma_pending[i] = false;
-        audio_dma_allocated[i] = false;
-        audio_dma_disable_channel(i);
+        dma_free_channel(i);
         dma_descriptor(i)->BTCTRL.bit.VALID = false;
         MP_STATE_PORT(playing_audio)[i] = NULL;
     }

ports/atmel-samd/audio_dma.h

@@ -44,9 +44,6 @@ typedef enum {
 void audio_dma_init(audio_dma_t *dma);
 void audio_dma_reset(void);
 
-uint8_t dma_allocate_channel(void);
-void dma_free_channel(uint8_t channel);
-
 // This sets everything up but doesn't start the timer.
 // Sample is the python object for the sample to play.
 // loop is true if we should loop the sample.

ports/atmel-samd/boards/circuitbrains_deluxe_m4/mpconfigboard.mk

@@ -12,4 +12,5 @@ LONGINT_IMPL = MPZ
 
 CIRCUITPY_PS2IO = 1
 CIRCUITPY_JPEGIO = 0
+CIRCUITPY_SPITARGET = 0
 CIRCUITPY_SYNTHIO = 0

ports/atmel-samd/boards/datalore_ip_m4/mpconfigboard.mk

@@ -11,3 +11,4 @@ EXTERNAL_FLASH_DEVICES = "GD25Q16C, W25Q16JVxQ, W25Q16JVxM"
 LONGINT_IMPL = MPZ
 CIRCUITPY_SYNTHIO = 0
 CIRCUITPY_JPEGIO = 0
+CIRCUITPY_SPITARGET = 0

ports/atmel-samd/boards/pybadge/mpconfigboard.mk

@@ -18,6 +18,7 @@ CIRCUITPY_I2CDISPLAYBUS = 0
 CIRCUITPY_JPEGIO = 0
 CIRCUITPY_KEYPAD = 1
 CIRCUITPY_PARALLELDISPLAYBUS= 0
+CIRCUITPY_SPITARGET = 0
 CIRCUITPY_STAGE = 1
 
 FROZEN_MPY_DIRS += $(TOP)/frozen/circuitpython-stage/pybadge

ports/atmel-samd/boards/pygamer/mpconfigboard.mk

@@ -18,6 +18,7 @@ CIRCUITPY_I2CDISPLAYBUS = 0
 CIRCUITPY_JPEGIO = 0
 CIRCUITPY_KEYPAD = 1
 CIRCUITPY_PARALLELDISPLAYBUS= 0
+CIRCUITPY_SPITARGET = 0
 CIRCUITPY_STAGE = 1
 
 FROZEN_MPY_DIRS += $(TOP)/frozen/circuitpython-stage/pygamer

ports/atmel-samd/boards/silicognition-m4-shim/mpconfigboard.mk

@@ -11,4 +11,5 @@ EXTERNAL_FLASH_DEVICES = GD25Q16C
 LONGINT_IMPL = MPZ
 
 CIRCUITPY_JPEGIO = 0
+CIRCUITPY_SPITARGET = 0
 CIRCUITPY_SYNTHIO = 0

ports/atmel-samd/boards/uartlogger2/mpconfigboard.mk

@@ -9,5 +9,6 @@ CHIP_FAMILY = samd51
 QSPI_FLASH_FILESYSTEM = 1
 EXTERNAL_FLASH_DEVICES = "W25Q32JVxQ"
 LONGINT_IMPL = MPZ
+CIRCUITPY_SPITARGET = 0
 CIRCUITPY_SYNTHIO = 0
 CIRCUITPY_JPEGIO = 0

ports/atmel-samd/common-hal/audiobusio/PDMIn.c

@@ -364,7 +364,7 @@ static uint16_t filter_sample(uint32_t pdm_samples[4]) {
 // output_buffer_length is the number of slots, not the number of bytes.
 uint32_t common_hal_audiobusio_pdmin_record_to_buffer(audiobusio_pdmin_obj_t *self,
     uint16_t *output_buffer, uint32_t output_buffer_length) {
-    uint8_t dma_channel = dma_allocate_channel();
+    uint8_t dma_channel = dma_allocate_channel(true);
     pdmin_event_channel = find_sync_event_channel_raise();
     pdmin_dma_block_done = false;
 

ports/atmel-samd/common-hal/busio/SPI.c

@@ -17,11 +17,12 @@
 
 #include "hal/include/hal_gpio.h"
 #include "hal/include/hal_spi_m_sync.h"
-#include "hal/include/hpl_spi_m_sync.h"
 
 #include "samd/dma.h"
 #include "samd/sercom.h"
 
+void setup_pin(const mcu_pin_obj_t *pin, uint32_t pinmux);
+
 void common_hal_busio_spi_construct(busio_spi_obj_t *self,
     const mcu_pin_obj_t *clock, const mcu_pin_obj_t *mosi,
     const mcu_pin_obj_t *miso, bool half_duplex) {
@@ -76,6 +77,7 @@ void common_hal_busio_spi_construct(busio_spi_obj_t *self,
             if (!samd_peripherals_valid_spi_clock_pad(clock_pad)) {
                 continue;
             }
+            // find mosi_pad first, since it corresponds to dopo which takes limited values
             for (int j = 0; j < NUM_SERCOMS_PER_PIN; j++) {
                 if (!mosi_none) {
                     if (sercom_index == mosi->sercom[j].index) {
@@ -125,6 +127,8 @@ void common_hal_busio_spi_construct(busio_spi_obj_t *self,
 
     // Pads must be set after spi_m_sync_init(), which uses default values from
     // the prototypical SERCOM.
+
+    hri_sercomspi_write_CTRLA_MODE_bf(sercom, 3);
     hri_sercomspi_write_CTRLA_DOPO_bf(sercom, dopo);
     hri_sercomspi_write_CTRLA_DIPO_bf(sercom, miso_pad);
 
@@ -137,30 +141,21 @@ void common_hal_busio_spi_construct(busio_spi_obj_t *self,
         mp_raise_OSError(MP_EIO);
     }
 
-    gpio_set_pin_direction(clock->number, GPIO_DIRECTION_OUT);
-    gpio_set_pin_pull_mode(clock->number, GPIO_PULL_OFF);
-    gpio_set_pin_function(clock->number, clock_pinmux);
-    claim_pin(clock);
+    setup_pin(clock, clock_pinmux);
     self->clock_pin = clock->number;
 
     if (mosi_none) {
         self->MOSI_pin = NO_PIN;
     } else {
-        gpio_set_pin_direction(mosi->number, GPIO_DIRECTION_OUT);
-        gpio_set_pin_pull_mode(mosi->number, GPIO_PULL_OFF);
-        gpio_set_pin_function(mosi->number, mosi_pinmux);
+        setup_pin(mosi, mosi_pinmux);
         self->MOSI_pin = mosi->number;
-        claim_pin(mosi);
     }
 
     if (miso_none) {
         self->MISO_pin = NO_PIN;
     } else {
-        gpio_set_pin_direction(miso->number, GPIO_DIRECTION_IN);
-        gpio_set_pin_pull_mode(miso->number, GPIO_PULL_OFF);
-        gpio_set_pin_function(miso->number, miso_pinmux);
+        setup_pin(miso, miso_pinmux);
         self->MISO_pin = miso->number;
-        claim_pin(miso);
     }
 
     spi_m_sync_enable(&self->spi_desc);
@@ -322,3 +317,11 @@ uint8_t common_hal_busio_spi_get_polarity(busio_spi_obj_t *self) {
     void *hw = self->spi_desc.dev.prvt;
     return hri_sercomspi_get_CTRLA_CPOL_bit(hw);
 }
+
+void setup_pin(const mcu_pin_obj_t *pin, uint32_t pinmux) {
+    gpio_set_pin_direction(pin->number, GPIO_DIRECTION_OUT);
+    gpio_set_pin_pull_mode(pin->number, GPIO_PULL_OFF);
+    gpio_set_pin_function(pin->number, pinmux);
+    claim_pin(pin);
+    hri_port_set_PINCFG_DRVSTR_bit(PORT, (enum gpio_port)GPIO_PORT(pin->number), GPIO_PIN(pin->number));
+}

ports/atmel-samd/common-hal/imagecapture/ParallelImageCapture.c

@@ -135,7 +135,7 @@ void common_hal_imagecapture_parallelimagecapture_singleshot_capture(imagecaptur
     mp_buffer_info_t bufinfo;
     mp_get_buffer_raise(buffer, &bufinfo, MP_BUFFER_RW);
 
-    uint8_t dma_channel = dma_allocate_channel();
+    uint8_t dma_channel = dma_allocate_channel(true);
 
     uint32_t *dest = bufinfo.buf;
     size_t count = bufinfo.len / 4; // PCC receives 4 bytes (2 pixels) at a time