Merge pull request #11 from KurtE/SPI1-for-3.4/3.5

Added SPI1 object for Teensy 3.5 test board

SPI.cpp

@@ -48,7 +48,7 @@ void SPIClass::begin()
 	// MISO pin automatically overrides to INPUT.
 	// By doing this AFTER enabling SPI, we avoid accidentally
 	// clocking in a single bit since the lines go directly
-	// from "input" to SPI control.	 
+	// from "input" to SPI control.
 	// http://code.google.com/p/arduino/issues/detail?id=888
 	pinMode(SCK, OUTPUT);
 	pinMode(MOSI, OUTPUT);
@@ -145,6 +145,7 @@ void SPIClass::usingInterrupt(uint8_t interruptNumber)
 
 #elif defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISK)
 
+
 SPIClass SPI;
 
 uint8_t SPIClass::interruptMasksUsed = 0;
@@ -274,20 +275,33 @@ void SPIClass::setClockDivider_noInline(uint32_t clk)
 	updateCTAR(ctar);
 }
 
-bool SPIClass::pinIsChipSelect(uint8_t pin)
+uint8_t SPIClass::pinIsChipSelect(uint8_t pin)
 {
-	if (pin == 10 || pin == 9 || pin == 6 || pin == 2 || pin == 15) return true;
-	if (pin >= 20 && pin <= 23) return true;
-	return false;
+	switch (pin) {
+	  case 10: return 0x01; // PTC4
+	  case 2:  return 0x01; // PTD0
+	  case 9:  return 0x02; // PTC3
+	  case 6:  return 0x02; // PTD4
+	  case 20: return 0x04; // PTD5
+	  case 23: return 0x04; // PTC2
+	  case 21: return 0x08; // PTD6
+	  case 22: return 0x08; // PTC1
+	  case 15: return 0x10; // PTC0
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+	  case 26: return 0x01;
+#endif
+	}
+
+    return 0;
 }
 
 bool SPIClass::pinIsChipSelect(uint8_t pin1, uint8_t pin2)
 {
-	if (!pinIsChipSelect(pin1) || !pinIsChipSelect(pin2)) return false;
-	if ((pin1 ==  2 && pin2 == 10) || (pin1 == 10 && pin2 ==  2)) return false;
-	if ((pin1 ==  6 && pin2 ==  9) || (pin1 ==  9 && pin2 ==  6)) return false;
-	if ((pin1 == 20 && pin2 == 23) || (pin1 == 23 && pin2 == 20)) return false;
-	if ((pin1 == 21 && pin2 == 22) || (pin1 == 22 && pin2 == 21)) return false;
+	uint8_t pin1_mask, pin2_mask;
+	if ((pin1_mask = (uint8_t)pinIsChipSelect(pin1)) == 0) return false;
+	if ((pin2_mask = (uint8_t)pinIsChipSelect(pin2)) == 0) return false;
+	Serial.printf("pinIsChipSelect %d %d %x %x\n\r", pin1, pin2, pin1_mask, pin2_mask);
+	if ((pin1_mask & pin2_mask) != 0) return false;
 	return true;
 }
 
@@ -308,6 +322,131 @@ uint8_t SPIClass::setCS(uint8_t pin)
 }
 
 
+
+/**********************************************************/
+/*     32 bit Teensy-3.4/3.5                              */
+/**********************************************************/
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+SPI1Class SPI1;
+
+uint8_t SPI1Class::interruptMasksUsed = 0;
+uint32_t SPI1Class::interruptMask[(NVIC_NUM_INTERRUPTS+31)/32];
+uint32_t SPI1Class::interruptSave[(NVIC_NUM_INTERRUPTS+31)/32];
+#ifdef SPI_TRANSACTION_MISMATCH_LED
+uint8_t SPI1Class::inTransactionFlag = 0;
+#endif
+
+void SPI1Class::begin()
+{
+	SIM_SCGC6 |= SIM_SCGC6_SPI1;
+	SPI1_MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
+	SPI1_CTAR0 = SPI_CTAR_FMSZ(7) | SPI_CTAR_PBR(0) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1);
+	SPI1_CTAR1 = SPI_CTAR_FMSZ(15) | SPI_CTAR_PBR(0) | SPI_CTAR_BR(1) | SPI_CTAR_CSSCK(1);
+	SPI1_MCR = SPI_MCR_MSTR | SPI_MCR_PCSIS(0x1F);
+	SPCR1.enable_pins(); // pins managed by SPCRemulation in avr_emulation.h
+}
+
+void SPI1Class::end() {
+	SPCR1.disable_pins();
+	SPI1_MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
+}
+
+void SPI1Class::usingInterrupt(IRQ_NUMBER_t interruptName)
+{
+	uint32_t n = (uint32_t)interruptName;
+
+	if (n >= NVIC_NUM_INTERRUPTS) return;
+
+	//Serial.print("usingInterrupt ");
+	//Serial.println(n);
+	interruptMasksUsed |= (1 << (n >> 5));
+	interruptMask[n >> 5] |= (1 << (n & 0x1F));
+	//Serial.printf("interruptMasksUsed = %d\n", interruptMasksUsed);
+	//Serial.printf("interruptMask[0] = %08X\n", interruptMask[0]);
+	//Serial.printf("interruptMask[1] = %08X\n", interruptMask[1]);
+	//Serial.printf("interruptMask[2] = %08X\n", interruptMask[2]);
+}
+
+void SPI1Class::notUsingInterrupt(IRQ_NUMBER_t interruptName)
+{
+	uint32_t n = (uint32_t)interruptName;
+	if (n >= NVIC_NUM_INTERRUPTS) return;
+	interruptMask[n >> 5] &= ~(1 << (n & 0x1F));
+	if (interruptMask[n >> 5] == 0) {
+		interruptMasksUsed &= ~(1 << (n >> 5));
+	}
+}
+
+
+static void updateCTAR1(uint32_t ctar)
+{
+	if (SPI1_CTAR0 != ctar) {
+		uint32_t mcr = SPI1_MCR;
+		if (mcr & SPI_MCR_MDIS) {
+			SPI1_CTAR0 = ctar;
+			SPI1_CTAR1 = ctar | SPI_CTAR_FMSZ(8);
+		} else {
+			SPI1_MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
+			SPI1_CTAR0 = ctar;
+			SPI1_CTAR1 = ctar | SPI_CTAR_FMSZ(8);
+			SPI1_MCR = mcr;
+		}
+	}
+}
+
+void SPI1Class::setBitOrder(uint8_t bitOrder)
+{
+	SIM_SCGC6 |= SIM_SCGC6_SPI1;
+	uint32_t ctar = SPI1_CTAR0;
+	if (bitOrder == LSBFIRST) {
+		ctar |= SPI_CTAR_LSBFE;
+	} else {
+		ctar &= ~SPI_CTAR_LSBFE;
+	}
+	updateCTAR1(ctar);
+}
+
+void SPI1Class::setDataMode(uint8_t dataMode)
+{
+	SIM_SCGC6 |= SIM_SCGC6_SPI1;
+
+	// TODO: implement with native code
+	SPCR1 = (SPCR1 & ~SPI_MODE_MASK) | dataMode;
+}
+
+void SPI1Class::setClockDivider_noInline(uint32_t clk)
+{
+	SIM_SCGC6 |= SIM_SCGC6_SPI1;
+	uint32_t ctar = SPI1_CTAR0;
+	ctar &= (SPI_CTAR_CPOL | SPI_CTAR_CPHA | SPI_CTAR_LSBFE);
+	if (ctar & SPI_CTAR_CPHA) {
+		clk = (clk & 0xFFFF0FFF) | ((clk & 0xF000) >> 4);
+	}
+	ctar |= clk;
+	updateCTAR1(ctar);
+}
+
+bool SPI1Class::pinIsChipSelect(uint8_t pin)
+{
+	if (pin == 6 || pin == 31) return true;
+	return false;
+}
+
+bool SPI1Class::pinIsChipSelect(uint8_t pin1, uint8_t pin2)
+{
+	return false; // only one CS bith 6 and 31 or logially the same.
+}
+
+uint8_t SPI1Class::setCS(uint8_t pin)
+{
+	switch (pin) {
+	  case 6:  CORE_PIN6_CONFIG  = PORT_PCR_MUX(7); return 0x01; // PTD4
+	  case 31: CORE_PIN31_CONFIG = PORT_PCR_MUX(2); return 0x01; // PTD5
+	}
+	return 0;
+}
+#endif
+
 /**********************************************************/
 /*     32 bit Teensy-LC                                   */
 /**********************************************************/

SPI.h

@@ -395,6 +395,9 @@ private:
 	static const uint32_t ctar_clock_table[23];
 	uint32_t ctar;
 	friend class SPIClass;
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+	friend class SPI1Class;
+#endif
 };
 
 
@@ -580,7 +583,7 @@ public:
 		SPCR.setSCK(pin);
 	}
 	// return true if "pin" has special chip select capability
-	static bool pinIsChipSelect(uint8_t pin);
+	static uint8_t pinIsChipSelect(uint8_t pin);
 	// return true if both pin1 and pin2 have independent chip select capability
 	static bool pinIsChipSelect(uint8_t pin1, uint8_t pin2);
 	// configure a pin for chip select and return its SPI_MCR_PCSIS bitmask
@@ -596,6 +599,200 @@ private:
 };
 
 
+/**********************************************************/
+/*     Teensy 3.4 and 3.5 have SPI1 as well				  */
+/**********************************************************/
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+class SPI1Class {
+public:
+	// Initialize the SPI library
+	static void begin();
+
+	// If SPI is to used from within an interrupt, this function registers
+	// that interrupt with the SPI library, so beginTransaction() can
+	// prevent conflicts.  The input interruptNumber is the number used
+	// with attachInterrupt.  If SPI is used from a different interrupt
+	// (eg, a timer), interruptNumber should be 255.
+	static void usingInterrupt(uint8_t n) {
+		if (n == 3 || n == 4 || n == 24 || n == 33) {
+			usingInterrupt(IRQ_PORTA);
+		} else if (n == 0 || n == 1 || (n >= 16 && n <= 19) || n == 25 || n == 32) {
+			usingInterrupt(IRQ_PORTB);
+		} else if ((n >= 9 && n <= 13) || n == 15 || n == 22 || n == 23
+		  || (n >= 27 && n <= 30)) {
+			usingInterrupt(IRQ_PORTC);
+		} else if (n == 2 || (n >= 5 && n <= 8) || n == 14 || n == 20 || n == 21) {
+			usingInterrupt(IRQ_PORTD);
+		} else if (n == 26 || n == 31) {
+			usingInterrupt(IRQ_PORTE);
+		}
+	}
+	static void usingInterrupt(IRQ_NUMBER_t interruptName);
+	static void notUsingInterrupt(IRQ_NUMBER_t interruptName);
+
+	// Before using SPI.transfer() or asserting chip select pins,
+	// this function is used to gain exclusive access to the SPI bus
+	// and configure the correct settings.
+	inline static void beginTransaction(SPISettings settings) {
+		if (interruptMasksUsed) {
+			__disable_irq();
+			if (interruptMasksUsed & 0x01) {
+				interruptSave[0] = NVIC_ICER0 & interruptMask[0];
+				NVIC_ICER0 = interruptSave[0];
+			}
+			#if NVIC_NUM_INTERRUPTS > 32
+			if (interruptMasksUsed & 0x02) {
+				interruptSave[1] = NVIC_ICER1 & interruptMask[1];
+				NVIC_ICER1 = interruptSave[1];
+			}
+			#endif
+			#if NVIC_NUM_INTERRUPTS > 64 && defined(NVIC_ISER2)
+			if (interruptMasksUsed & 0x04) {
+				interruptSave[2] = NVIC_ICER2 & interruptMask[2];
+				NVIC_ICER2 = interruptSave[2];
+			}
+			#endif
+			#if NVIC_NUM_INTERRUPTS > 96 && defined(NVIC_ISER3)
+			if (interruptMasksUsed & 0x08) {
+				interruptSave[3] = NVIC_ICER3 & interruptMask[3];
+				NVIC_ICER3 = interruptSave[3];
+			}
+			#endif
+			__enable_irq();
+		}
+		#ifdef SPI_TRANSACTION_MISMATCH_LED
+		if (inTransactionFlag) {
+			pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
+			digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
+		}
+		inTransactionFlag = 1;
+		#endif
+		if (SPI1_CTAR0 != settings.ctar) {
+			SPI1_MCR = SPI_MCR_MDIS | SPI_MCR_HALT | SPI_MCR_PCSIS(0x1F);
+			SPI1_CTAR0 = settings.ctar;
+			SPI1_CTAR1 = settings.ctar| SPI_CTAR_FMSZ(8);
+			SPI1_MCR = SPI_MCR_MSTR | SPI_MCR_PCSIS(0x1F);
+		}
+	}
+
+	// Write to the SPI bus (MOSI pin) and also receive (MISO pin)
+	inline static uint8_t transfer(uint8_t data) {
+		SPI1_SR = SPI_SR_TCF;
+		SPI1_PUSHR = data;
+		while (!(SPI1_SR & SPI_SR_TCF)) ; // wait
+		return SPI1_POPR;
+	}
+	inline static uint16_t transfer16(uint16_t data) {
+		SPI1_SR = SPI_SR_TCF;
+		SPI1_PUSHR = data | SPI_PUSHR_CTAS(1);
+		while (!(SPI1_SR & SPI_SR_TCF)) ; // wait
+		return SPI1_POPR;
+	}
+	inline static void transfer(void *buf, size_t count) {
+		uint8_t *p = (uint8_t *)buf;
+		while (count--) {
+			*p = transfer(*p);
+			p++;
+		}
+	}
+
+	// After performing a group of transfers and releasing the chip select
+	// signal, this function allows others to access the SPI bus
+	inline static void endTransaction(void) {
+		#ifdef SPI_TRANSACTION_MISMATCH_LED
+		if (!inTransactionFlag) {
+			pinMode(SPI_TRANSACTION_MISMATCH_LED, OUTPUT);
+			digitalWrite(SPI_TRANSACTION_MISMATCH_LED, HIGH);
+		}
+		inTransactionFlag = 0;
+		#endif
+		if (interruptMasksUsed) {
+			if (interruptMasksUsed & 0x01) {
+				NVIC_ISER0 = interruptSave[0];
+			}
+			#if NVIC_NUM_INTERRUPTS > 32
+			if (interruptMasksUsed & 0x02) {
+				NVIC_ISER1 = interruptSave[1];
+			}
+			#endif
+			#if NVIC_NUM_INTERRUPTS > 64 && defined(NVIC_ISER2)
+			if (interruptMasksUsed & 0x04) {
+				NVIC_ISER2 = interruptSave[2];
+			}
+			#endif
+			#if NVIC_NUM_INTERRUPTS > 96 && defined(NVIC_ISER3)
+			if (interruptMasksUsed & 0x08) {
+				NVIC_ISER3 = interruptSave[3];
+			}
+			#endif
+		}
+	}
+
+	// Disable the SPI bus
+	static void end();
+
+	// This function is deprecated.	 New applications should use
+	// beginTransaction() to configure SPI settings.
+	static void setBitOrder(uint8_t bitOrder);
+
+	// This function is deprecated.	 New applications should use
+	// beginTransaction() to configure SPI settings.
+	static void setDataMode(uint8_t dataMode);
+
+	// This function is deprecated.	 New applications should use
+	// beginTransaction() to configure SPI settings.
+	inline static void setClockDivider(uint8_t clockDiv) {
+		if (clockDiv == SPI_CLOCK_DIV2) {
+			setClockDivider_noInline(SPISettings(12000000, MSBFIRST, SPI_MODE0).ctar);
+		} else if (clockDiv == SPI_CLOCK_DIV4) {
+			setClockDivider_noInline(SPISettings(4000000, MSBFIRST, SPI_MODE0).ctar);
+		} else if (clockDiv == SPI_CLOCK_DIV8) {
+			setClockDivider_noInline(SPISettings(2000000, MSBFIRST, SPI_MODE0).ctar);
+		} else if (clockDiv == SPI_CLOCK_DIV16) {
+			setClockDivider_noInline(SPISettings(1000000, MSBFIRST, SPI_MODE0).ctar);
+		} else if (clockDiv == SPI_CLOCK_DIV32) {
+			setClockDivider_noInline(SPISettings(500000, MSBFIRST, SPI_MODE0).ctar);
+		} else if (clockDiv == SPI_CLOCK_DIV64) {
+			setClockDivider_noInline(SPISettings(250000, MSBFIRST, SPI_MODE0).ctar);
+		} else { /* clockDiv == SPI_CLOCK_DIV128 */
+			setClockDivider_noInline(SPISettings(125000, MSBFIRST, SPI_MODE0).ctar);
+		}
+	}
+	static void setClockDivider_noInline(uint32_t clk);
+
+	// These undocumented functions should not be used.  SPI.transfer()
+	// polls the hardware flag which is automatically cleared as the
+	// AVR responds to SPI's interrupt
+	inline static void attachInterrupt() { }
+	inline static void detachInterrupt() { }
+
+	// Teensy 3.x can use alternate pins for these 3 SPI signals.
+	inline static void setMOSI(uint8_t pin) __attribute__((always_inline)) {
+		SPCR1.setMOSI(pin);
+	}
+	inline static void setMISO(uint8_t pin) __attribute__((always_inline)) {
+		SPCR1.setMISO(pin);
+	}
+	inline static void setSCK(uint8_t pin) __attribute__((always_inline)) {
+		SPCR1.setSCK(pin);
+	}
+	// return true if "pin" has special chip select capability
+	static bool pinIsChipSelect(uint8_t pin);
+	// return true if both pin1 and pin2 have independent chip select capability
+	static bool pinIsChipSelect(uint8_t pin1, uint8_t pin2);
+	// configure a pin for chip select and return its SPI_MCR_PCSIS bitmask
+	static uint8_t setCS(uint8_t pin);
+
+private:
+	static uint8_t interruptMasksUsed;
+	static uint32_t interruptMask[(NVIC_NUM_INTERRUPTS+31)/32];
+	static uint32_t interruptSave[(NVIC_NUM_INTERRUPTS+31)/32];
+	#ifdef SPI_TRANSACTION_MISMATCH_LED
+	static uint8_t inTransactionFlag;
+	#endif
+};
+#endif
+
 
 
 
@@ -1475,5 +1672,7 @@ extern SPIClass SPI;
 #if defined(__arm__) && defined(TEENSYDUINO) && defined(KINETISL)
 extern SPI1Class SPI1;
 #endif
-
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+extern SPI1Class SPI1;
+#endif
 #endif