From 5c4b44f81e82d813bfd991e57d21c64ca3070a44 Mon Sep 17 00:00:00 2001 From: Shicheng Chu <1468559561@qq.com> Date: Sun, 30 Jul 2023 20:36:47 +0800 Subject: [PATCH] [bsp][pico]add: drv_spi and drv_i2c --- bsp/raspberry-pico/drivers/SConscript | 6 + bsp/raspberry-pico/drivers/drv_i2c.c | 119 +++++++++++++ bsp/raspberry-pico/drivers/drv_i2c.h | 20 +++ bsp/raspberry-pico/drivers/drv_spi.c | 238 ++++++++++++++++++++++++++ bsp/raspberry-pico/drivers/drv_spi.h | 19 ++ bsp/raspberry-pico/libraries/Kconfig | 54 ++++++ 6 files changed, 456 insertions(+) create mode 100644 bsp/raspberry-pico/drivers/drv_i2c.c create mode 100644 bsp/raspberry-pico/drivers/drv_i2c.h create mode 100644 bsp/raspberry-pico/drivers/drv_spi.c create mode 100644 bsp/raspberry-pico/drivers/drv_spi.h diff --git a/bsp/raspberry-pico/drivers/SConscript b/bsp/raspberry-pico/drivers/SConscript index 83779589ee..6a8b3b1b9a 100644 --- a/bsp/raspberry-pico/drivers/SConscript +++ b/bsp/raspberry-pico/drivers/SConscript @@ -22,6 +22,12 @@ if GetDepend('BSP_USING_ADC'): if GetDepend('BSP_USING_WDT'): src += ['drv_wdt.c'] +if GetDepend('BSP_USING_SPI'): + src += ['drv_spi.c'] + +if GetDepend('BSP_USING_I2C'): + src += ['drv_i2c.c'] + group = DefineGroup('Drivers', src, depend = [''], CPPPATH = CPPPATH) Return('group') diff --git a/bsp/raspberry-pico/drivers/drv_i2c.c b/bsp/raspberry-pico/drivers/drv_i2c.c new file mode 100644 index 0000000000..6b987a2fde --- /dev/null +++ b/bsp/raspberry-pico/drivers/drv_i2c.c @@ -0,0 +1,119 @@ +/* + * Copyright (c) 2006-2023, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2023-07-27 Chushicheng the first version + */ + +#include "drv_i2c.h" +#include "pico/binary_info.h" +#include "hardware/gpio.h" +#include "hardware/i2c.h" + +#ifdef BSP_USING_I2C +#define DBG_TAG "drv.i2c" +#define DBG_LVL DBG_INFO +#include + +struct pico_i2c_bus +{ + struct rt_i2c_bus_device parent; + i2c_inst_t *handle; + rt_uint8_t i2c_sda_pin; + rt_uint8_t i2c_scl_pin; + rt_uint32_t baud; + char *device_name; + +}; + +static struct pico_i2c_bus pico_i2c_obj[] = +{ +#ifdef BSP_USING_I2C0 + { + .handle = i2c0, + .i2c_sda_pin = BSP_I2C0_SDA_PIN, + .i2c_scl_pin = BSP_I2C0_SCL_PIN, + .baud = 400000U, + .device_name = "i2c0", + }, +#endif +#ifdef BSP_USING_I2C1 + { + .handle = i2c1, + .i2c_sda_pin = BSP_I2C1_SDA_PIN, + .i2c_scl_pin = BSP_I2C1_SCL_PIN, + .baud = 400000U, + .device_name = "i2c1", + }, +#endif +}; + +rt_ssize_t pico_i2c_xfer(struct rt_i2c_bus_device *bus, + struct rt_i2c_msg msgs[], + rt_uint32_t num) +{ + struct rt_i2c_msg *msg; + rt_uint32_t i; + rt_err_t ret = -RT_ERROR; + + struct pico_i2c_bus *pico_i2c = (struct pico_i2c_bus *)bus; + + for (i = 0; i < num; i++) + { + msg = &msgs[i]; + + if (msg->flags & RT_I2C_RD) + { + i2c_read_blocking(pico_i2c->handle, msg->addr, msg->buf, msg->len, false); + } + else + { + i2c_write_blocking(pico_i2c->handle, msg->addr, msg->buf, msg->len, false); + } + } + + return ret; +} + +static const struct rt_i2c_bus_device_ops i2c_ops = +{ + .master_xfer = pico_i2c_xfer, + .slave_xfer = RT_NULL, + .i2c_bus_control = RT_NULL +}; + +int rt_hw_i2c_init(void) +{ + int result = RT_EOK; + + for (rt_size_t i = 0; i < sizeof(pico_i2c_obj) / sizeof(struct pico_i2c_bus); i++) + { + i2c_init(pico_i2c_obj[i].handle, pico_i2c_obj[i].baud); + gpio_set_function(pico_i2c_obj[i].i2c_sda_pin, GPIO_FUNC_I2C); + gpio_set_function(pico_i2c_obj[i].i2c_scl_pin, GPIO_FUNC_I2C); + gpio_pull_up(pico_i2c_obj[i].i2c_sda_pin); + gpio_pull_up(pico_i2c_obj[i].i2c_scl_pin); + // Make the I2C pins available to picotool + bi_decl(bi_2pins_with_func(pico_i2c_obj[i].i2c_sda_pin, pico_i2c_obj[i].i2c_scl_pin, GPIO_FUNC_I2C)); + pico_i2c_obj[i].parent.ops = &i2c_ops; + + /* register i2c device */ + if (rt_i2c_bus_device_register(&pico_i2c_obj[i].parent, pico_i2c_obj[i].device_name) == RT_EOK) + { + LOG_D("%s init success", pico_i2c_obj[i].device_name); + } + else + { + LOG_E("%s register failed", pico_i2c_obj[i].device_name); + result = -RT_ERROR; + } + } + + return result; +} +INIT_BOARD_EXPORT(rt_hw_i2c_init); + +#endif /* BSP_USING_I2C */ diff --git a/bsp/raspberry-pico/drivers/drv_i2c.h b/bsp/raspberry-pico/drivers/drv_i2c.h new file mode 100644 index 0000000000..7b05a1e816 --- /dev/null +++ b/bsp/raspberry-pico/drivers/drv_i2c.h @@ -0,0 +1,20 @@ +/* + * Copyright (c) 2006-2023, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2023-07-27 Chushicheng the first version + */ + +#ifndef DRV_I2C_H +#define DRV_I2C_H + +#include + +#ifdef BSP_USING_I2C +int rt_hw_i2c_init(void); +#endif /* BSP_USING_I2C */ + +#endif /* DRV_I2C_H */ diff --git a/bsp/raspberry-pico/drivers/drv_spi.c b/bsp/raspberry-pico/drivers/drv_spi.c new file mode 100644 index 0000000000..837ab37835 --- /dev/null +++ b/bsp/raspberry-pico/drivers/drv_spi.c @@ -0,0 +1,238 @@ +/* + * Copyright (c) 2006-2023, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2023-07-27 Chushicheng the first version + */ + +#include "drv_spi.h" +#include "pico/binary_info.h" +#include "hardware/gpio.h" +#include "hardware/spi.h" +#include "hardware/dma.h" + +#ifdef BSP_USING_SPI +#define DBG_TAG "drv.spi" +#define DBG_LVL DBG_INFO +#include + +struct pico_spi +{ + struct rt_spi_bus parent; + spi_inst_t *handle; + rt_uint8_t spi_rx_pin; + rt_uint8_t spi_tx_pin; + rt_uint8_t spi_sck_pin; + rt_uint8_t spi_cs_pin; + rt_uint8_t dma_tx; + rt_uint8_t dma_rx; + char *device_name; + +}; + +static struct pico_spi pico_spi_obj[] = +{ +#ifdef BSP_USING_SPI0 + { + .handle = spi0, + .spi_rx_pin = 4, + .spi_tx_pin = 3, + .spi_sck_pin = 2, + .spi_cs_pin = 5, + .device_name = "spi0", + }, +#endif +#ifdef BSP_USING_SPI1 + { + .handle = spi1, + .spi_rx_pin = 12, + .spi_tx_pin = 11, + .spi_sck_pin = 10, + .spi_cs_pin = 13, + .device_name = "spi1", + }, +#endif +}; + +static rt_err_t pico_spi_init(struct pico_spi *spi_drv, struct rt_spi_configuration *cfg) +{ + RT_ASSERT(spi_drv != RT_NULL); + RT_ASSERT(cfg != RT_NULL); + + spi_inst_t *spi_handle = spi_drv->handle; + spi_cpol_t cpol; + spi_cpha_t cpha; + rt_uint8_t dma_transfer_size; + + if (cfg->mode & RT_SPI_SLAVE) + { + spi_set_slave(spi_handle, true); + } + else + { + spi_set_slave(spi_handle, false); + } + + if (cfg->mode & RT_SPI_CPHA) + { + cpha = SPI_CPHA_1; + } + else + { + cpha = SPI_CPHA_0; + } + + if (cfg->mode & RT_SPI_CPOL) + { + cpol = SPI_CPOL_1; + } + else + { + cpol = SPI_CPOL_0; + } + + if (cfg->data_width >= 4 + && cfg->data_width <= 16) + { + spi_set_format(spi_handle, cfg->data_width, cpol, cpha, SPI_MSB_FIRST); + } + else + { + return -RT_EIO; + } + + LOG_D("spi baudrate:%d", cfg->max_hz); + spi_init(spi_handle, cfg->max_hz); + gpio_set_function(spi_drv->spi_rx_pin, GPIO_FUNC_SPI); + gpio_init(spi_drv->spi_cs_pin); + gpio_set_function(spi_drv->spi_sck_pin, GPIO_FUNC_SPI); + gpio_set_function(spi_drv->spi_tx_pin, GPIO_FUNC_SPI); + // Make the SPI pins available to picotool + bi_decl(bi_3pins_with_func(spi_drv->spi_rx_pin, spi_drv->spi_tx_pin, spi_drv->spi_sck_pin, GPIO_FUNC_SPI)); + // Make the CS pin available to picotool + bi_decl(bi_1pin_with_name(spi_drv->spi_cs_pin, "SPI CS")); + + // Grab some unused dma channels + spi_drv->dma_tx = dma_claim_unused_channel(true); + spi_drv->dma_rx = dma_claim_unused_channel(true); + /* DMA configuration */ + if(cfg->data_width == 8) + { + dma_transfer_size = DMA_SIZE_8; + } + else if(cfg->data_width == 16) + { + dma_transfer_size = DMA_SIZE_16; + } + else if(cfg->data_width == 32) + { + dma_transfer_size = DMA_SIZE_32; + } + dma_channel_config c = dma_channel_get_default_config(spi_drv->dma_tx); + channel_config_set_transfer_data_size(&c, dma_transfer_size); + channel_config_set_dreq(&c, spi_get_index(spi_handle) ? DREQ_SPI1_TX : DREQ_SPI0_TX); + dma_channel_set_config(spi_drv->dma_tx, &c, false); + + c = dma_channel_get_default_config(spi_drv->dma_rx); + channel_config_set_transfer_data_size(&c, dma_transfer_size); + channel_config_set_dreq(&c, spi_get_index(spi_handle) ? DREQ_SPI1_RX : DREQ_SPI0_RX); + channel_config_set_read_increment(&c, false); + channel_config_set_write_increment(&c, true); + dma_channel_set_config(spi_drv->dma_rx, &c, false); + return RT_EOK; +} + +rt_err_t rt_hw_spi_device_attach(const char *bus_name, const char *device_name, rt_base_t cs_pin) +{ + rt_err_t ret = RT_EOK; + + struct rt_spi_device *spi_device = (struct rt_spi_device *)rt_malloc(sizeof(struct rt_spi_device)); + + ret = rt_spi_bus_attach_device_cspin(spi_device, device_name, bus_name, cs_pin, RT_NULL); + + return ret; +} + +static rt_ssize_t spixfer(struct rt_spi_device *device, struct rt_spi_message *message) +{ + int i; + + RT_ASSERT(device != RT_NULL); + RT_ASSERT(device->bus != RT_NULL); + + struct pico_spi *spi = rt_container_of(device->bus, struct pico_spi, parent); + + if(message->cs_take && (device->cs_pin != PIN_NONE)) + { + rt_pin_write(device->cs_pin, PIN_LOW); + } + + dma_channel_config c = dma_get_channel_config(spi->dma_tx); + dma_channel_configure(spi->dma_tx, &c, + &spi_get_hw(spi->handle)->dr, // write address + (uint8_t *)(message->send_buf), // read address + message->length, // element count (each element is of size transfer_data_size) + false); // don't start yet + + c = dma_get_channel_config(spi->dma_rx); + dma_channel_configure(spi->dma_rx, &c, + (uint8_t *)(message->recv_buf), // write address + &spi_get_hw(spi->handle)->dr, // read address + message->length, // element count (each element is of size transfer_data_size) + false); // don't start yet + + dma_start_channel_mask((1u << spi->dma_tx) | (1u << spi->dma_rx)); + dma_channel_wait_for_finish_blocking(spi->dma_tx); + dma_channel_wait_for_finish_blocking(spi->dma_rx); + + if(message->cs_release && (device->cs_pin != PIN_NONE)) + { + rt_pin_write(device->cs_pin, PIN_HIGH); + } + + return message->length; +} + +static rt_err_t spi_configure(struct rt_spi_device *device, + struct rt_spi_configuration *configuration) +{ + rt_err_t ret = RT_EOK; + struct pico_spi *spi = rt_container_of(device->bus, struct pico_spi, parent); + ret = pico_spi_init(spi, configuration); + + return ret; +} + +static const struct rt_spi_ops pico_spi_ops = +{ + .configure = spi_configure, + .xfer = spixfer, +}; + +int rt_hw_spi_init(void) +{ + int result = RT_EOK; + + for (rt_size_t i = 0; i < sizeof(pico_spi_obj) / sizeof(struct pico_spi); i++) + { + LOG_D("%s initing", pico_spi_obj[i].device_name); + /* register spi device */ + if (rt_spi_bus_register(&pico_spi_obj[i].parent, pico_spi_obj[i].device_name, &pico_spi_ops) == RT_EOK) + { + LOG_D("%s init success", pico_spi_obj[i].device_name); + } + else + { + LOG_E("%s register failed", pico_spi_obj[i].device_name); + result = -RT_ERROR; + } + } + + return result; +} +INIT_BOARD_EXPORT(rt_hw_spi_init); + +#endif /* BSP_USING_SPI */ diff --git a/bsp/raspberry-pico/drivers/drv_spi.h b/bsp/raspberry-pico/drivers/drv_spi.h new file mode 100644 index 0000000000..8af9af677e --- /dev/null +++ b/bsp/raspberry-pico/drivers/drv_spi.h @@ -0,0 +1,19 @@ +/* + * Copyright (c) 2006-2023, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2023-07-27 Chushicheng the first version + */ + +#ifndef DRV_SPI_H +#define DRV_SPI_H + +#include + +#ifdef BSP_USING_SPI +rt_err_t rt_hw_spi_device_attach(const char *bus_name, const char *device_name, rt_base_t cs_pin); +#endif /* BSP_USING_SPI */ +#endif /* DRV_SPI_H */ diff --git a/bsp/raspberry-pico/libraries/Kconfig b/bsp/raspberry-pico/libraries/Kconfig index a9992b04e4..ddc471a2f3 100644 --- a/bsp/raspberry-pico/libraries/Kconfig +++ b/bsp/raspberry-pico/libraries/Kconfig @@ -119,6 +119,60 @@ menu "On-chip Peripheral Drivers" bool "Enable WDT" select RT_USING_WDT default n + + menuconfig BSP_USING_SPI + config BSP_USING_SPI + bool "Enable SPI" + select RT_USING_SPI + default n + + if BSP_USING_SPI + config BSP_USING_SPI0 + bool "Enable SPI0" + default n + + config BSP_USING_SPI1 + bool "Enable SPI1" + default n + endif + + menuconfig BSP_USING_I2C + config BSP_USING_I2C + bool "Enable I2C" + select RT_USING_I2C + select RT_USING_I2C_BITOPS + select RT_USING_PIN + default n + + if BSP_USING_I2C + config BSP_USING_I2C0 + bool "Enable I2C0" + default n + if BSP_USING_I2C0 + config BSP_I2C0_SCL_PIN + int "i2c0 scl pin number (GP)" + range 0 28 + default 21 + config BSP_I2C0_SDA_PIN + int "I2C0 sda pin number (GP)" + range 0 28 + default 20 + endif + + config BSP_USING_I2C1 + bool "Enable I2C1" + default n + if BSP_USING_I2C1 + config BSP_I2C1_SCL_PIN + int "i2c1 scl pin number (GP)" + range 0 28 + default 19 + config BSP_I2C1_SDA_PIN + int "I2C1 sda pin number (GP)" + range 0 28 + default 18 + endif + endif endmenu endmenu