PICO: Initial SPI

src/platform/PICO/bus_spi_pico.c

@@ -33,19 +33,114 @@
 #include "drivers/bus_spi_impl.h"
 #include "drivers/exti.h"
 #include "drivers/io.h"
+#include "drivers/io_def.h"
+#include "drivers/io_impl.h"
 
 #include "hardware/spi.h"
 #include "hardware/gpio.h"
+#include "hardware/clocks.h"
+#include "hardware/dma.h"
+
+#include "pg/bus_spi.h"
+
+#define SPI_SPEED_20MHZ 2000000
+
+const spiHardware_t spiHardware[] = {
+#ifdef RP2350B
+    {
+        .device = SPIDEV_0,
+        .reg = SPI0,
+        .sckPins = {
+            { DEFIO_TAG_E(P6) },
+            { DEFIO_TAG_E(P18) },
+            { DEFIO_TAG_E(P22) },
+        },
+        .misoPins = {
+            { DEFIO_TAG_E(P0) },
+            { DEFIO_TAG_E(P4) },
+            { DEFIO_TAG_E(P16) },
+            { DEFIO_TAG_E(P20) },
+        },
+        .mosiPins = {
+            { DEFIO_TAG_E(P3) },
+            { DEFIO_TAG_E(P7) },
+            { DEFIO_TAG_E(P19) },
+            { DEFIO_TAG_E(P23) },
+        },
+    },
+    {
+        .device = SPIDEV_1,
+        .reg = SPI1,
+        .sckPins = {
+            { DEFIO_TAG_E(P10) },
+            { DEFIO_TAG_E(P14) },
+        },
+        .misoPins = {
+            { DEFIO_TAG_E(P12) },
+            { DEFIO_TAG_E(P28) },
+        },
+        .mosiPins = {
+            { DEFIO_TAG_E(P11) },
+            { DEFIO_TAG_E(P15) },
+        },
+    },
+#endif
+};
 
 void spiPinConfigure(const struct spiPinConfig_s *pConfig)
 {
-    UNUSED(pConfig);
+    for (size_t hwindex = 0 ; hwindex < ARRAYLEN(spiHardware) ; hwindex++) {
+        const spiHardware_t *hw = &spiHardware[hwindex];
+
+        if (!hw->reg) {
+            continue;
+        }
+
+        SPIDevice device = hw->device;
+        spiDevice_t *pDev = &spiDevice[device];
+
+        for (int pindex = 0 ; pindex < MAX_SPI_PIN_SEL ; pindex++) {
+            if (pConfig[device].ioTagSck == hw->sckPins[pindex].pin) {
+                pDev->sck = hw->sckPins[pindex].pin;
+            }
+            if (pConfig[device].ioTagMiso == hw->misoPins[pindex].pin) {
+                pDev->miso = hw->misoPins[pindex].pin;
+            }
+            if (pConfig[device].ioTagMosi == hw->mosiPins[pindex].pin) {
+                pDev->mosi = hw->mosiPins[pindex].pin;
+            }
+        }
+
+        if (pDev->sck && pDev->miso && pDev->mosi) {
+            pDev->dev = hw->reg;
+            pDev->leadingEdge = false;
+        }
+    }
+}
+
+static spi_inst_t *getSpiInstanceByDevice(SPI0_Type *spi)
+{
+    if (spi == SPI0) {
+        return spi0;
+    } else if (spi == SPI1) {
+        return spi1;
+    }
+    return NULL;
 }
 
 void spiInitDevice(SPIDevice device)
 {
-    //TODO: implement
+    const spiDevice_t *spi = &spiDevice[device];
-    UNUSED(device);
+
+    if (!spi->dev) {
+        return;
+    }
+
+    spi_init(getSpiInstanceByDevice(spi->dev), SPI_SPEED_20MHZ);
+
+    gpio_set_function(IO_PINBYTAG(spi->miso), GPIO_FUNC_SPI);
+    gpio_set_function(IO_PINBYTAG(spi->mosi), GPIO_FUNC_SPI);
+    gpio_set_function(IO_PINBYTAG(spi->sck), GPIO_FUNC_SPI);
 }
 
 void spiInternalResetDescriptors(busDevice_t *bus)
@@ -62,15 +157,39 @@ void spiInternalResetStream(dmaChannelDescriptor_t *descriptor)
 
 void spiInternalInitStream(const extDevice_t *dev, bool preInit)
 {
-    //TODO: implement
+    int dma_tx = dma_claim_unused_channel(true);
-    UNUSED(dev);
+    int dma_rx = dma_claim_unused_channel(true);
-    UNUSED(preInit);
+
+    dev->bus->dmaTx->channel = dma_tx;
+    dev->bus->dmaRx->channel = dma_rx;
+    dev->bus->dmaTx->irqHandlerCallback = NULL;
+    dev->bus->dmaRx->irqHandlerCallback = spiInternalResetStream;
+
+    const spiDevice_t *spi = &spiDevice[spiDeviceByInstance(dev->bus->busType_u.spi.instance)];
+    dma_channel_config config = dma_channel_get_default_config(dma_tx);
+    channel_config_set_transfer_data_size(&config, DMA_SIZE_8);
+    channel_config_set_dreq(&config, spi_get_dreq(spi, true));
+
+    dma_channel_configure(dma_tx, &config, &spi_get_hw(spi)->dr, dev->txBuf, 0, false);
+
+    config = dma_channel_get_default_config(dma_rx);
+    channel_config_set_transfer_data_size(&config, DMA_SIZE_8);
+    channel_config_set_dreq(&config, spi_get_dreq(spi, false));
+
+    dma_channel_configure(dma_rx, &config, dev->rxBuf, &spi_get_hw(spi)->dr, 0, false);
+
+    dev->
 }
 
 void spiInternalStartDMA(const extDevice_t *dev)
 {
-    //TODO: implement
+    const spiDevice_t *spi = &spiDevice[spiDeviceByInstance(dev->bus->busType_u.spi.instance)];
-    UNUSED(dev);
+
+    dma_channel_set_trans_count(dev->bus->dmaTx, dev->bus->curSegment->len + 1, false);
+    dma_channel_set_trans_count(dev->bus->dmaRx, dev->bus->curSegment->len + 1, false);
+
+    dma_channel_start(dev->bus->dmaTx);
+    dma_channel_start(dev->bus->dmaRx);
 }
 
 void spiInternalStopDMA (const extDevice_t *dev)
@@ -88,7 +207,13 @@ void spiSequenceStart(const extDevice_t *dev)
 
 uint16_t spiCalculateDivider(uint32_t freq)
 {
-    UNUSED(freq);
+    /*
-    return 0;
+        Divider is probably not needed for the PICO as the baud rate on the
+        SPI bus can be set directly.
+
+        In anycase max SPI clock is half the system clock frequency.
+        Therefore the minimum divider is 2.
+    */
+    return MAX(2, (((clock_get_hz(clk_sys) + (freq / 2)) / freq) + 1) & ~1);
 }
 #endif

src/platform/PICO/dma_pico.c

@@ -0,0 +1,36 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+#include "drivers/dma.h"
+#include "dma_pico.h"
+
+dmaChannelDescriptor_t dmaDescriptors[DMA_HANDLER_END-1] = {
+    
+};
+
+void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
+{
+}

src/platform/PICO/dma_pico.h

@@ -0,0 +1,24 @@
+
+
+typedef enum {
+    DMA_NONE = 0,
+    DMA_CH1_HANDLER = 1,
+    DMA_CH2_HANDLER,
+    DMA_CH3_HANDLER,
+    DMA_CH4_HANDLER,
+    DMA_CH5_HANDLER,
+    DMA_CH6_HANDLER,
+    DMA_CH7_HANDLER,
+    DMA_CH8_HANDLER,
+    DMA_CH9_HANDLER,
+    DMA_CH10_HANDLER,
+    DMA_CH11_HANDLER,
+    DMA_CH12_HANDLER,
+#ifdef RP2350
+    DMA_CH13_HANDLER,
+    DMA_CH14_HANDLER,
+    DMA_CH15_HANDLER,
+    DMA_CH16_HANDLER,
+#endif
+    DMA_HANDLER_END
+} dmaIdentifier_e;

src/platform/PICO/platform_mcu.h

@@ -101,3 +101,5 @@ extern uint32_t systemUniqueId[3];
 
 #define UART_TX_BUFFER_ATTRIBUTE
 #define UART_RX_BUFFER_ATTRIBUTE
+
+#define MAX_SPI_PIN_SEL 4

src/platform/PICO/target/RP2350B/target.h

@@ -224,5 +224,3 @@ SPARE3          P47
 
 #define UARTHARDWARE_MAX_PINS 4
 #define UART_TRAIT_AF_PORT 1
-
-#define MAX_SPI_PIN_SEL 4