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Code Issues Wiki Activity

Interrupt/DMA driven SX1280 interaction for ELRS

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This commit is contained in:
Steve Evans 2022-02-02 21:05:58 +00:00
parent 7b4415f062
commit fc8640154a
39 changed files with 1003 additions and 438 deletions
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53
src/main/drivers/bus_spi.c
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@ -172,7 +172,7 @@ void spiReadWriteBuf(const extDevice_t *dev, uint8_t *txData, uint8_t *rxData, i
// This routine blocks so no need to use static data
busSegment_t segments[] = {
{.u.buffers = {txData, rxData}, len, true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -201,7 +201,7 @@ uint8_t spiReadWrite(const extDevice_t *dev, uint8_t data)
// This routine blocks so no need to use static data
busSegment_t segments[] = {
{.u.buffers = {&data, &retval}, sizeof(data), true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -220,7 +220,7 @@ uint8_t spiReadWriteReg(const extDevice_t *dev, uint8_t reg, uint8_t data)
busSegment_t segments[] = {
{.u.buffers = {&reg, NULL}, sizeof(reg), false, NULL},
{.u.buffers = {&data, &retval}, sizeof(data), true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -236,7 +236,7 @@ void spiWrite(const extDevice_t *dev, uint8_t data)
// This routine blocks so no need to use static data
busSegment_t segments[] = {
{.u.buffers = {&data, NULL}, sizeof(data), true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -251,7 +251,7 @@ void spiWriteReg(const extDevice_t *dev, uint8_t reg, uint8_t data)
busSegment_t segments[] = {
{.u.buffers = {&reg, NULL}, sizeof(reg), false, NULL},
{.u.buffers = {&data, NULL}, sizeof(data), true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -279,7 +279,7 @@ void spiReadRegBuf(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t l
busSegment_t segments[] = {
{.u.buffers = {&reg, NULL}, sizeof(reg), false, NULL},
{.u.buffers = {NULL, data}, length, true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -313,7 +313,7 @@ void spiWriteRegBuf(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint32_t
busSegment_t segments[] = {
{.u.buffers = {&reg, NULL}, sizeof(reg), false, NULL},
{.u.buffers = {data, NULL}, length, true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -329,7 +329,7 @@ uint8_t spiReadReg(const extDevice_t *dev, uint8_t reg)
busSegment_t segments[] = {
{.u.buffers = {&reg, NULL}, sizeof(reg), false, NULL},
{.u.buffers = {NULL, &data}, sizeof(data), true, NULL},
{.u.buffers = {NULL, NULL}, 0, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
spiSequence(dev, &segments[0]);
@ -404,13 +404,19 @@ static void spiIrqHandler(const extDevice_t *dev)
}
// Advance through the segment list
nextSegment = bus->curSegment + 1;
// OK to discard the volatile qualifier here
nextSegment = (busSegment_t *)bus->curSegment + 1;
if (nextSegment->len == 0) {
if (!bus->curSegment->negateCS) {
// Negate Chip Select if not done so already
IOHi(dev->busType_u.spi.csnPin);
}
// If a following transaction has been linked, start it
if (nextSegment->u.link.dev) {
const extDevice_t *nextDev = nextSegment->u.link.dev;
busSegment_t *nextSegments = nextSegment->u.link.segments;
busSegment_t *nextSegments = (busSegment_t *)nextSegment->u.link.segments;
// The end of the segment list has been reached
bus->curSegment = nextSegments;
nextSegment->u.link.dev = NULL;
@ -420,6 +426,9 @@ static void spiIrqHandler(const extDevice_t *dev)
bus->curSegment = (busSegment_t *)BUS_SPI_FREE;
}
} else {
// Do as much processing as possible before asserting CS to avoid violating minimum high time
bool negateCS = bus->curSegment->negateCS;
bus->curSegment = nextSegment;
// After the completion of the first segment setup the init structure for the subsequent segment
@ -428,6 +437,11 @@ static void spiIrqHandler(const extDevice_t *dev)
bus->initSegment = false;
}
if (negateCS) {
// Assert Chip Select - it's costly so only do so if necessary
IOLo(dev->busType_u.spi.csnPin);
}
// Launch the next transfer
spiInternalStartDMA(dev);
@ -713,10 +727,11 @@ void spiSequence(const extDevice_t *dev, busSegment_t *segments)
// Defer this transfer to be triggered upon completion of the current transfer
// Find the last segment of the current transfer
// Find the last segment of the new transfer
for (endSegment = segments; endSegment->len; endSegment++);
busSegment_t *endCmpSegment = bus->curSegment;
// Safe to discard the volatile qualifier as we're in an atomic block
busSegment_t *endCmpSegment = (busSegment_t *)bus->curSegment;
if (endCmpSegment) {
while (true) {
@ -736,16 +751,16 @@ void spiSequence(const extDevice_t *dev, busSegment_t *segments)
break;
} else {
// Follow the link to the next queued segment list
endCmpSegment = endCmpSegment->u.link.segments;
endCmpSegment = (busSegment_t *)endCmpSegment->u.link.segments;
}
}
// Record the dev and segments parameters in the terminating segment entry
endCmpSegment->u.link.dev = dev;
endCmpSegment->u.link.segments = segments;
return;
}
// Record the dev and segments parameters in the terminating segment entry
endCmpSegment->u.link.dev = dev;
endCmpSegment->u.link.segments = segments;
return;
} else {
// Claim the bus with this list of segments
bus->curSegment = segments;