diff --git a/src/shared/drivers/spi/SPIBus.h b/src/shared/drivers/spi/SPIBus.h
index 73914c9cabf850e95c7bf963c34ee8303fe01481..2781a9c7a8d670a55e61ca3cd9c0cf568d297599 100644
--- a/src/shared/drivers/spi/SPIBus.h
+++ b/src/shared/drivers/spi/SPIBus.h
@@ -104,8 +104,6 @@ public:
void set8BitFrameFormat();
- void set16BitFrameFormat();
-
void enableSoftwareSlaveManagement();
void disableSoftwareSlaveManagement();
@@ -331,26 +329,16 @@ inline void SPIBus::disable() { spi->CR1 &= ~SPI_CR1_SPE; }
inline void SPIBus::set8BitFrameFormat() { spi->CR1 &= ~SPI_CR1_DFF; }
-inline void SPIBus::set16BitFrameFormat() { spi->CR1 |= SPI_CR1_DFF; }
-
#else
inline void SPIBus::set8bitRXNE() { spi->CR2 |= SPI_CR2_FRXTH; }
-inline void SPIBus::set16bitRXNE() { spi->CR2 &= ~SPI_CR2_FRXTH; }
-
inline void SPIBus::set8BitFrameFormat()
{
spi->CR2 &= ~SPI_CR2_DS;
set8bitRXNE();
}
-inline void SPIBus::set16BitFrameFormat()
-{
- spi->CR2 |= SPI_CR2_DS;
- set16bitRXNE();
-}
-
#endif
inline void SPIBus::enableSoftwareSlaveManagement() { spi->CR1 |= SPI_CR1_SSM; }
@@ -443,11 +431,7 @@ inline void SPIBus::configure(SPIBusConfig newConfig)
enableInternalSlaveSelection();
setMasterConfiguration();
-#ifdef _ARCH_CORTEXM7_STM32F7
- // By default the driver uses 8 bit transactions. Therefore, for f7s,
- // configure the FIFO threshold to 8 bit
- set8bitRXNE();
-#endif
+ set8BitFrameFormat();
// Enable the peripheral
enable();
@@ -490,37 +474,20 @@ inline void SPIBus::read(uint8_t* data, size_t nBytes)
inline void SPIBus::read16(uint16_t* data, size_t nBytes)
{
- // At the start of the transfer we assume that the RX FIFO is empty
- assert((spi->SR & SPI_SR_RXNE) == 0);
-
- // Set 16 bit frame format
- set16BitFrameFormat();
+ // nBytes to be read must be a multiple of 2
+ assert(nBytes % 2 == 0);
+ uint16_t temp[2] = {0};
for (size_t i = 0; i < nBytes / 2; i++)
{
- // Wait until the peripheral is ready to transmit
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
-
- // Write the data item to transmit
- spi->DR = 0;
-
- // Make sure transmission is complete
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
- while ((spi->SR & SPI_SR_BSY) > 0)
- ;
-
- // Wait until data is received
- while ((spi->SR & SPI_SR_RXNE) == 0)
- ;
+ // Receiving MSB
+ temp[0] = static_cast<uint16_t>(read());
+ // Receiving LSB
+ temp[1] = static_cast<uint16_t>(read());
- // Read the received data item
- data[i] = static_cast<uint16_t>(spi->DR);
+ // MSB | LSB
+ data[i] = temp[0] << 8 | temp[1];
}
-
- // Go back to 8 bit frame format
- set8BitFrameFormat();
}
inline void SPIBus::write(uint8_t data) { transfer(data); }
@@ -539,37 +506,16 @@ inline void SPIBus::write(const uint8_t* data, size_t nBytes)
inline void SPIBus::write16(const uint16_t* data, size_t nBytes)
{
- // At the start of the transfer we assume that the RX FIFO is empty
- assert((spi->SR & SPI_SR_RXNE) == 0);
-
- // Set 16 bit frame format
- set16BitFrameFormat();
+ // nBytes to be read must be a multiple of 2
+ assert(nBytes % 2 == 0);
for (size_t i = 0; i < nBytes / 2; i++)
{
- // Wait until the peripheral is ready to transmit
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
-
- // Write the data item to transmit
- spi->DR = static_cast<uint16_t>(data[i]);
-
- // Make sure transmission is complete
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
- while ((spi->SR & SPI_SR_BSY) > 0)
- ;
-
- // Wait until data is received
- while ((spi->SR & SPI_SR_RXNE) == 0)
- ;
-
- // Read the received data item
- (void)spi->DR;
+ // Sending MSB
+ write(static_cast<uint8_t>(data[i] >> 8));
+ // Sending LSB
+ write(static_cast<uint8_t>(data[i]));
}
-
- // Go back to 8 bit frame format
- set8BitFrameFormat();
}
inline uint8_t SPIBus::transfer(uint8_t data)
@@ -600,52 +546,38 @@ inline uint8_t SPIBus::transfer(uint8_t data)
inline uint16_t SPIBus::transfer16(uint16_t data)
{
- // At the start of the transfer we assume that the RX FIFO is empty
- assert((spi->SR & SPI_SR_RXNE) == 0);
-
- // Set 16 bit frame format
- set16BitFrameFormat();
-
- // Wait until the peripheral is ready to transmit
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
-
- // Write the data item to transmit
- spi->DR = static_cast<uint16_t>(data);
-
- // Make sure transmission is complete
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
- while ((spi->SR & SPI_SR_BSY) > 0)
- ;
-
- // Wait until data is received
- while ((spi->SR & SPI_SR_RXNE) == 0)
- ;
-
- // Read the received data item
- data = static_cast<uint16_t>(spi->DR);
-
- // Go back to 8 bit frame format
- set8BitFrameFormat();
-
- return data;
+ uint16_t temp[2] = {0};
+ // Transferring MSB, putting the read value in the MSB of temp
+ temp[0] = static_cast<uint16_t>(transfer(static_cast<uint8_t>(data >> 8)));
+ // Transferring LSB, putting the read value in the LSB of temp
+ temp[1] = static_cast<uint16_t>(transfer(static_cast<uint8_t>(data)));
+ // MSB | LSB
+ return temp[0] << 8 | temp[1];
}
inline uint32_t SPIBus::transfer24(uint32_t data)
{
- uint32_t res = static_cast<uint32_t>(transfer16(data >> 8)) << 8;
- res |= transfer(data);
-
- return res;
+ uint32_t temp[3] = {0};
+ // Transferring MSB, putting the read value in the MSB of temp
+ temp[0] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data >> 16)));
+ temp[1] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data >> 8)));
+ // Transferring LSB, putting the read value in the LSB of temp
+ temp[2] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data)));
+
+ return temp[0] << 16 | temp[1] << 8 | temp[2];
}
inline uint32_t SPIBus::transfer32(uint32_t data)
{
- uint32_t res = static_cast<uint32_t>(transfer16(data >> 16)) << 16;
- res |= transfer16(data);
-
- return res;
+ uint32_t temp[4] = {0};
+ // Transferring MSB, putting the read value in the MSB of temp
+ temp[0] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data >> 24)));
+ temp[1] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data >> 16)));
+ temp[2] = static_cast<uint32_t>(transfer(static_cast<uint8_t>(data >> 8)));
+ // Transferring LSB, putting the read value in the LSB of temp
+ temp[3] = transfer(static_cast<uint8_t>(data));
+
+ return temp[0] << 24 | temp[1] << 16 | temp[2] << 8 | temp[3];
}
inline void SPIBus::transfer(uint8_t* data, size_t nBytes)
@@ -656,37 +588,19 @@ inline void SPIBus::transfer(uint8_t* data, size_t nBytes)
inline void SPIBus::transfer16(uint16_t* data, size_t nBytes)
{
- // At the start of the transfer we assume that the RX FIFO is empty
- assert((spi->SR & SPI_SR_RXNE) == 0);
+ // nBytes to be read must be a multiple of 2
+ assert(nBytes % 2 == 0);
- // Set 16 bit frame format
- set16BitFrameFormat();
+ uint16_t temp[2] = {0};
for (size_t i = 0; i < nBytes / 2; i++)
{
- // Wait until the peripheral is ready to transmit
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
-
- // Write the data item to transmit
- spi->DR = static_cast<uint16_t>(data[i]);
-
- // Make sure transmission is complete
- while ((spi->SR & SPI_SR_TXE) == 0)
- ;
- while ((spi->SR & SPI_SR_BSY) > 0)
- ;
-
- // Wait until data is received
- while ((spi->SR & SPI_SR_RXNE) == 0)
- ;
-
- // Read the received data item
- data[i] = static_cast<uint16_t>(spi->DR);
+ temp[0] =
+ static_cast<uint16_t>(transfer(static_cast<uint8_t>(data[i] >> 8)));
+ temp[1] =
+ static_cast<uint16_t>(transfer(static_cast<uint8_t>(data[i])));
+ data[i] = temp[0] << 8 | temp[1];
}
-
- // Go back to 8 bit frame format
- set8BitFrameFormat();
}
} // namespace Boardcore