path: root/bsp/nxp/imx/imxrt/libraries/drivers/drv_spi.c

/*
 * Copyright (c) 2006-2023, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2018-03-27     Liuguang     the first version.
 * 2026-08-11     Ran          add RT1180 CM33 support with DMA
 */

#include <rtthread.h>
#ifdef BSP_USING_SPI

#include "drv_spi.h"
#include "fsl_common.h"
#include "fsl_iomuxc.h"
#include "fsl_lpspi.h"
#include "fsl_lpspi_edma.h"
#ifndef SOC_IMXRT1180_SERIES
#include "fsl_dmamux.h"
#endif

#define LOG_TAG "drv.spi"
#include <drv_log.h>

#if defined(FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL) && FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL
#error "Please don't define 'FSL_SDK_DISABLE_DRIVER_CLOCK_CONTROL'!"
#endif

enum
{
#ifdef BSP_USING_SPI1
    SPI1_INDEX,
#endif
#ifdef BSP_USING_SPI2
    SPI2_INDEX,
#endif
#ifdef BSP_USING_SPI3
    SPI3_INDEX,
#endif
#ifdef BSP_USING_SPI4
    SPI4_INDEX,
#endif
    SPI_INDEX_MAX
};

struct imxrt_sw_spi_cs
{
    rt_uint32_t pin;
};

struct dma_config
{
    lpspi_master_edma_handle_t spi_edma;

    edma_handle_t rx_edma;
    dma_request_source_t rx_request;
    rt_uint8_t rx_channel;

    edma_handle_t tx_edma;
    dma_request_source_t tx_request;
    rt_uint8_t tx_channel;

#ifdef SOC_IMXRT1180_SERIES
    EDMA_Type *edma_base;
#endif
};

struct imxrt_spi
{
    char *bus_name;
    LPSPI_Type *base;
    struct rt_spi_bus spi_bus;
    rt_sem_t xfer_sem;
    lpspi_master_handle_t spi_normal;
    struct dma_config *dma;
    rt_uint8_t dma_flag;
#if defined(SOC_IMXRT1170_SERIES)
    rt_uint16_t masterclock;
#elif defined(SOC_IMXRT1180_SERIES)
    clock_root_t clock_root;
#endif
};

static struct imxrt_spi lpspis[] = {
#ifdef BSP_USING_SPI1
    {
        .bus_name = "spi1",
        .base = LPSPI1,
        .dma = RT_NULL,
        .dma_flag = RT_FALSE,
#if defined(SOC_IMXRT1170_SERIES)
        .masterclock = 171,
#elif defined(SOC_IMXRT1180_SERIES)
        .clock_root = kCLOCK_Root_Lpspi0102,
#endif
    },
#endif
#ifdef BSP_USING_SPI2
    {
        .bus_name = "spi2",
        .base = LPSPI2,
        .dma = RT_NULL,
        .dma_flag = RT_FALSE,
#if defined(SOC_IMXRT1170_SERIES)
        .masterclock = 172,
#elif defined(SOC_IMXRT1180_SERIES)
        .clock_root = kCLOCK_Root_Lpspi0102,
#endif
    },
#endif
#ifdef BSP_USING_SPI3
    {
        .bus_name = "spi3",
        .base = LPSPI3,
        .dma = RT_NULL,
        .dma_flag = RT_FALSE,
#if defined(SOC_IMXRT1170_SERIES)
        .masterclock = 173,
#elif defined(SOC_IMXRT1180_SERIES)
        .clock_root = kCLOCK_Root_Lpspi0304,
#endif
    },
#endif
#ifdef BSP_USING_SPI4
    {
        .bus_name = "spi4",
        .base = LPSPI4,
        .dma = RT_NULL,
        .dma_flag = RT_FALSE,
#if defined(SOC_IMXRT1170_SERIES)
        .masterclock = 174,
#elif defined(SOC_IMXRT1180_SERIES)
        .clock_root = kCLOCK_Root_Lpspi0304,
#endif
    },
#endif
};

/* DMA config structs must be in non-cacheable memory because lpspi_master_edma_handle_t
 * embeds lpspiSoftwareTCD[] which the DMA engine reads directly. If the struct is in
 * cached SRAM the DMA sees stale cache lines and corrupts the transfer.
 * AT_NONCACHEABLE_SECTION_ALIGN_INIT places zero-or-nonzero-inited globals in the
 * NonCacheable linker section (defined in the RT1180 linker script). */
#ifdef BSP_SPI1_USING_DMA
static AT_NONCACHEABLE_SECTION_ALIGN_INIT(struct dma_config spi1_dma, 4) = {
#ifdef SOC_IMXRT1180_SERIES
    .rx_request = kDma3RequestMuxLPSPI1Rx,
    .rx_channel = BSP_SPI1_RX_DMA_CHANNEL,
    .tx_request = kDma3RequestMuxLPSPI1Tx,
    .tx_channel = BSP_SPI1_TX_DMA_CHANNEL,
    .edma_base = (EDMA_Type *)DMA3,
#else
    .rx_request = kDmaRequestMuxLPSPI1Rx,
    .rx_channel = BSP_SPI1_RX_DMA_CHANNEL,
    .tx_request = kDmaRequestMuxLPSPI1Tx,
    .tx_channel = BSP_SPI1_TX_DMA_CHANNEL,
#endif
};
#endif

#ifdef BSP_SPI2_USING_DMA
static AT_NONCACHEABLE_SECTION_ALIGN_INIT(struct dma_config spi2_dma, 4) = {
#ifdef SOC_IMXRT1180_SERIES
    .rx_request = kDma3RequestMuxLPSPI2Rx,
    .rx_channel = BSP_SPI2_RX_DMA_CHANNEL,
    .tx_request = kDma3RequestMuxLPSPI2Tx,
    .tx_channel = BSP_SPI2_TX_DMA_CHANNEL,
    .edma_base = (EDMA_Type *)DMA3,
#else
    .rx_request = kDmaRequestMuxLPSPI2Rx,
    .rx_channel = BSP_SPI2_RX_DMA_CHANNEL,
    .tx_request = kDmaRequestMuxLPSPI2Tx,
    .tx_channel = BSP_SPI2_TX_DMA_CHANNEL,
#endif
};
#endif

#ifdef BSP_SPI3_USING_DMA
static AT_NONCACHEABLE_SECTION_ALIGN_INIT(struct dma_config spi3_dma, 4) = {
#ifdef SOC_IMXRT1180_SERIES
    .rx_request = kDma4RequestMuxLPSPI3Rx,
    .rx_channel = BSP_SPI3_RX_DMA_CHANNEL,
    .tx_request = kDma4RequestMuxLPSPI3Tx,
    .tx_channel = BSP_SPI3_TX_DMA_CHANNEL,
    .edma_base = (EDMA_Type *)DMA4,
#else
    .rx_request = kDmaRequestMuxLPSPI3Rx,
    .rx_channel = BSP_SPI3_RX_DMA_CHANNEL,
    .tx_request = kDmaRequestMuxLPSPI3Tx,
    .tx_channel = BSP_SPI3_TX_DMA_CHANNEL,
#endif
};
#endif

#ifdef BSP_SPI4_USING_DMA
static AT_NONCACHEABLE_SECTION_ALIGN_INIT(struct dma_config spi4_dma, 4) = {
#ifdef SOC_IMXRT1180_SERIES
    .rx_request = kDma4RequestMuxLPSPI4Rx,
    .rx_channel = BSP_SPI4_RX_DMA_CHANNEL,
    .tx_request = kDma4RequestMuxLPSPI4Tx,
    .tx_channel = BSP_SPI4_TX_DMA_CHANNEL,
    .edma_base = (EDMA_Type *)DMA4,
#else
    .rx_request = kDmaRequestMuxLPSPI4Rx,
    .rx_channel = BSP_SPI4_RX_DMA_CHANNEL,
    .tx_request = kDmaRequestMuxLPSPI4Tx,
    .tx_channel = BSP_SPI4_TX_DMA_CHANNEL,
#endif
};
#endif

static void spi_get_dma_config(void)
{
#ifdef BSP_SPI1_USING_DMA
    lpspis[SPI1_INDEX].dma = &spi1_dma;
    lpspis[SPI1_INDEX].dma_flag = RT_TRUE;
#endif
#ifdef BSP_SPI2_USING_DMA
    lpspis[SPI2_INDEX].dma = &spi2_dma;
    lpspis[SPI2_INDEX].dma_flag = RT_TRUE;
#endif
#ifdef BSP_SPI3_USING_DMA
    lpspis[SPI3_INDEX].dma = &spi3_dma;
    lpspis[SPI3_INDEX].dma_flag = RT_TRUE;
#endif
#ifdef BSP_SPI4_USING_DMA
    lpspis[SPI4_INDEX].dma = &spi4_dma;
    lpspis[SPI4_INDEX].dma_flag = RT_TRUE;
#endif
}

void normal_xfer_callback(LPSPI_Type *base, lpspi_master_handle_t *handle, status_t status, void *userData)
{
    /* xfer complete callback */
    struct imxrt_spi *spi = (struct imxrt_spi *)userData;
    rt_sem_release(spi->xfer_sem);
}

void edma_xfer_callback(LPSPI_Type *base, lpspi_master_edma_handle_t *handle, status_t status, void *userData)
{
    /* xfer complete callback */
    struct imxrt_spi *spi = (struct imxrt_spi *)userData;
    rt_sem_release(spi->xfer_sem);
}

rt_err_t rt_hw_spi_device_attach(const char *bus_name, const char *device_name, rt_uint32_t pin)
{
    rt_err_t ret = RT_EOK;

    struct rt_spi_device *spi_device = (struct rt_spi_device *)rt_malloc(sizeof(struct rt_spi_device));
    RT_ASSERT(spi_device != RT_NULL);

    struct imxrt_sw_spi_cs *cs_pin = (struct imxrt_sw_spi_cs *)rt_malloc(sizeof(struct imxrt_sw_spi_cs));
    RT_ASSERT(cs_pin != RT_NULL);

    cs_pin->pin = pin;
    rt_pin_mode(pin, PIN_MODE_OUTPUT);
    rt_pin_write(pin, PIN_HIGH);

    ret = rt_spi_bus_attach_device(spi_device, device_name, bus_name, (void *)cs_pin);

    return ret;
}

static uint32_t imxrt_get_lpspi_freq(struct imxrt_spi *spi)
{
    uint32_t freq = 0;

#if defined(SOC_IMXRT1180_SERIES)
    freq = CLOCK_GetRootClockFreq(spi->clock_root);
#elif defined(SOC_IMXRT1170_SERIES)
    freq = CLOCK_GetFreqFromObs(spi->masterclock, 2);
#else
    /* CLOCK_GetMux(kCLOCK_LpspiMux):
       00b: derive clock from PLL3 PFD1 720M
       01b: derive clock from PLL3 PFD0 720M
       10b: derive clock from PLL2      528M
       11b: derive clock from PLL2 PFD2 396M
    */
    switch (CLOCK_GetMux(kCLOCK_LpspiMux))
    {
    case 0:
        freq = CLOCK_GetFreq(kCLOCK_Usb1PllPfd1Clk);
        break;

    case 1:
        freq = CLOCK_GetFreq(kCLOCK_Usb1PllPfd0Clk);
        break;

    case 2:
        freq = CLOCK_GetFreq(kCLOCK_SysPllClk);
        break;

    case 3:
        freq = CLOCK_GetFreq(kCLOCK_SysPllPfd2Clk);
        break;
    }

    freq /= (CLOCK_GetDiv(kCLOCK_LpspiDiv) + 1U);
#endif

    return freq;
}

static void lpspi_normal_config(struct imxrt_spi *spi)
{
    RT_ASSERT(spi != RT_NULL);

    LPSPI_MasterTransferCreateHandle(spi->base,
                                     &spi->spi_normal,
                                     normal_xfer_callback,
                                     spi);
    LOG_D(LOG_TAG " %s normal config done\n", spi->bus_name);
}

static void lpspi_dma_config(struct imxrt_spi *spi)
{
#ifdef BSP_USING_DMA
    RT_ASSERT(spi != RT_NULL);

#ifdef SOC_IMXRT1180_SERIES
    EDMA_Type *edma_base = spi->dma->edma_base;

    EDMA_SetChannelMux(edma_base, spi->dma->rx_channel, spi->dma->rx_request);
    EDMA_CreateHandle(&spi->dma->rx_edma, edma_base, spi->dma->rx_channel);

    EDMA_SetChannelMux(edma_base, spi->dma->tx_channel, spi->dma->tx_request);
    EDMA_CreateHandle(&spi->dma->tx_edma, edma_base, spi->dma->tx_channel);
#else
    DMAMUX_SetSource(DMAMUX, spi->dma->rx_channel, spi->dma->rx_request);
    DMAMUX_EnableChannel(DMAMUX, spi->dma->rx_channel);
    EDMA_CreateHandle(&spi->dma->rx_edma, DMA0, spi->dma->rx_channel);

    DMAMUX_SetSource(DMAMUX, spi->dma->tx_channel, spi->dma->tx_request);
    DMAMUX_EnableChannel(DMAMUX, spi->dma->tx_channel);
    EDMA_CreateHandle(&spi->dma->tx_edma, DMA0, spi->dma->tx_channel);
#endif

    LPSPI_MasterTransferCreateHandleEDMA(spi->base,
                                         &spi->dma->spi_edma,
                                         edma_xfer_callback,
                                         spi,
                                         &spi->dma->rx_edma,
                                         &spi->dma->tx_edma);

    LOG_D("%s dma config done\n", spi->bus_name);
#endif
}

static rt_err_t spi_configure(struct rt_spi_device *device, struct rt_spi_configuration *cfg)
{
    lpspi_master_config_t masterConfig;
    struct imxrt_spi *spi = RT_NULL;

    RT_ASSERT(cfg != RT_NULL);
    RT_ASSERT(device != RT_NULL);

    spi = (struct imxrt_spi *)(device->bus->parent.user_data);
    RT_ASSERT(spi != RT_NULL);

    if (cfg->data_width != 8 && cfg->data_width != 16 && cfg->data_width != 32)
    {
        return -RT_EINVAL;
    }

    LPSPI_MasterGetDefaultConfig(&masterConfig);

    if (cfg->max_hz > 40 * 1000 * 1000)
    {
        cfg->max_hz = 40 * 1000 * 1000;
    }
    masterConfig.baudRate = cfg->max_hz;
    masterConfig.bitsPerFrame = cfg->data_width;

    if (cfg->mode & RT_SPI_MSB)
    {
        masterConfig.direction = kLPSPI_MsbFirst;
    }
    else
    {
        masterConfig.direction = kLPSPI_LsbFirst;
    }

    if (cfg->mode & RT_SPI_CPHA)
    {
        masterConfig.cpha = kLPSPI_ClockPhaseSecondEdge;
    }
    else
    {
        masterConfig.cpha = kLPSPI_ClockPhaseFirstEdge;
    }

    if (cfg->mode & RT_SPI_CPOL)
    {
        masterConfig.cpol = kLPSPI_ClockPolarityActiveLow;
    }
    else
    {
        masterConfig.cpol = kLPSPI_ClockPolarityActiveHigh;
    }
    masterConfig.whichPcs = kLPSPI_Pcs0;

#if defined(SOC_IMXRT1180_SERIES) || defined(SOC_IMXRT1170_SERIES)
    LPSPI_MasterInit(spi->base, &masterConfig, imxrt_get_lpspi_freq(spi));
#ifndef BSP_USING_BLOCKING_SPI
    if (RT_TRUE == spi->dma_flag)
    {
        lpspi_dma_config(spi);
    }
    else
    {
        lpspi_normal_config(spi);
    }
#endif
#else
    masterConfig.pinCfg = kLPSPI_SdiInSdoOut;
    masterConfig.pcsToSckDelayInNanoSec = 1000000000 / masterConfig.baudRate;
    masterConfig.lastSckToPcsDelayInNanoSec = 1000000000 / masterConfig.baudRate;
    masterConfig.betweenTransferDelayInNanoSec = 1000000000 / masterConfig.baudRate;

    LPSPI_MasterInit(spi->base, &masterConfig, imxrt_get_lpspi_freq(spi));
    spi->base->CFGR1 |= LPSPI_CFGR1_PCSCFG_MASK;
#endif

    return RT_EOK;
}

static rt_ssize_t spixfer(struct rt_spi_device *device, struct rt_spi_message *message)
{
    lpspi_transfer_t transfer;
    status_t status;
    RT_ASSERT(device != RT_NULL);
    RT_ASSERT(device->bus != RT_NULL);
    RT_ASSERT(device->bus->parent.user_data != RT_NULL);

    struct imxrt_spi *spi = (struct imxrt_spi *)(device->bus->parent.user_data);
    struct imxrt_sw_spi_cs *cs = device->parent.user_data;

    if (message->cs_take)
    {
        rt_pin_write(cs->pin, PIN_LOW);
    }

    transfer.dataSize = message->length;
    transfer.rxData = (uint8_t *)(message->recv_buf);
    transfer.txData = (uint8_t *)(message->send_buf);

    if (RT_FALSE == spi->dma_flag)
    {
        /* Non-DMA path: byte-swap and PCS-continuous are safe for interrupt/polling mode. */
        transfer.configFlags = kLPSPI_MasterPcs0 | kLPSPI_MasterByteSwap | kLPSPI_MasterPcsContinuous;
#ifdef BSP_USING_BLOCKING_SPI
        status = LPSPI_MasterTransferBlocking(spi->base, &transfer);
        rt_sem_release(spi->xfer_sem);
#else
        status = LPSPI_MasterTransferNonBlocking(spi->base, &spi->spi_normal, &transfer);
#endif
    }
    else
    {
#ifdef BSP_USING_DMA
        /* DMA path: do NOT use kLPSPI_MasterByteSwap - the EDMA driver packs 8-bit
         * frames into 32-bit FIFO words; byte-swap reverses order within each word
         * and corrupts data after the first word boundary. Use plain Pcs0 only. */
        transfer.configFlags = kLPSPI_MasterPcs0;
        status = LPSPI_MasterTransferEDMA(spi->base, &spi->dma->spi_edma, &transfer);
#endif
    }
    rt_sem_take(spi->xfer_sem, RT_WAITING_FOREVER);

    if (message->cs_release)
    {
        rt_pin_write(cs->pin, PIN_HIGH);
    }

    if (status != kStatus_Success)
    {
        LOG_E("%s transfer error : %d", spi->bus_name, status);
        message->length = 0;
    }

    return message->length;
}

static struct rt_spi_ops imxrt_spi_ops = {
    .configure = spi_configure,
    .xfer = spixfer
};

int rt_hw_spi_bus_init(void)
{
    int i;
    rt_err_t ret = RT_EOK;

    spi_get_dma_config();

    for (i = 0; i < sizeof(lpspis) / sizeof(lpspis[0]); i++)
    {
        lpspis[i].spi_bus.parent.user_data = &lpspis[i];

        ret = rt_spi_bus_register(&lpspis[i].spi_bus, lpspis[i].bus_name, &imxrt_spi_ops);
        /* For RT1180/RT1170: handle setup is deferred to spi_configure() after
         * LPSPI_MasterInit() enables the peripheral clock gate. Calling it here
         * (before any spi_configure) would access an un-clocked peripheral and
         * cause a HardFault.
         * For other platforms the handle is set up here as before. */
#if !defined(SOC_IMXRT1180_SERIES) && !defined(SOC_IMXRT1170_SERIES)
#ifndef BSP_USING_BLOCKING_SPI
        if (RT_TRUE == lpspis[i].dma_flag)
        {
            lpspi_dma_config(&lpspis[i]);
        }
        else
        {
            lpspi_normal_config(&lpspis[i]);
        }
#endif
#endif
        char sem_name[RT_NAME_MAX];
        rt_sprintf(sem_name, "%s_s", lpspis[i].bus_name);
        lpspis[i].xfer_sem = rt_sem_create(sem_name, 0, RT_IPC_FLAG_PRIO);
    }

    return ret;
}
INIT_DEVICE_EXPORT(rt_hw_spi_bus_init);

#endif /* BSP_USING_SPI */