rgbyteclock-code/spi.c

/*
 * ----------------------------------------------------------------------------
 * "THE BEER-WARE LICENSE" (Revision 42):
 * <struppi@struppi.name> wrote this file. As long as you retain this notice you
 * can do whatever you want with this stuff. If we meet some day, and you think
 * this stuff is worth it, you can buy me a beer in return.
 * (c) 2013,2014 Stefan Rupp
 * ----------------------------------------------------------------------------
 */


#include "spi.h"
#include "ringbuffer.h"
#include "crc.h"
#include <stdlib.h>
#include <string.h>
#include <avr/interrupt.h>


#define COMM_OBJECT_SIZE (16)
#define NUM_COMM_OBJECTS (4)
#define RB_SIZE (NUM_COMM_OBJECTS)
#define SPI_COMM_PADDING (0x00)
#define LEN_SIZE (1) // LEN is 1 byte long

static uint8_t rbuff_used_rx[RB_BUFSIZE(RB_SIZE)];
static uint8_t rbuff_used_tx[RB_BUFSIZE(RB_SIZE)];
static uint8_t rbuff_unused[RB_BUFSIZE(RB_SIZE)];

static uint8_t comm_objects[NUM_COMM_OBJECTS][COMM_OBJECT_SIZE];


struct spi_comm_t {
  uint8_t txout_buf[COMM_OBJECT_SIZE];
  uint8_t rxin_buf[COMM_OBJECT_SIZE];
  uint16_t crc;
  uint8_t count;
};
static struct spi_comm_t spi_comm;


static inline void set_ack_miso(uint8_t ack)
{
  if (ack) PORTC |= (1<<PC7);
  else PORTC &= ~(1<<PC7);
}



static void set_crc(void* const buf)
{
  uint8_t* const data = buf;
  uint8_t len = data[0];
  uint16_t crc = CRC_INIT_VALUE;
  uint16_t *crc_ptr;

  for (int i=1; i<=len; ++i) {
    crc = crc_step(crc, data[i]);
  }

  crc_ptr = buf + len + 1;
  *crc_ptr = crc;
  len += 2;
  data[0] = len;
}


static inline uint8_t get_ack_mosi(void)

{

#if 0
  return (PINB & (1<<PB5))?1:0;
#else 
  return 1;
#endif
}


ISR(SPI_STC_vect)
{
  SPDR = spi_comm.txout_buf[spi_comm.count+1];
  spi_comm.rxin_buf[spi_comm.count] = SPDR;
  spi_comm.crc = crc_step(spi_comm.crc, spi_comm.rxin_buf[spi_comm.count]);
  spi_comm.count++;


}


// This is the interrupt handler for the CS line.
// in case of a falling edge, we prepare for the
// SPI transfer that is about to come in in 100uS.
// in case of an rising edge, we do some cleanup.
ISR(PCINT1_vect)
{
  uint8_t tx_obj, rx_obj;

  if (PINC & (1<<PC1)) {
    // rising edge
    if ( spi_comm.rxin_buf[0] != SPI_COMM_PADDING ) {
      uint8_t len = spi_comm.rxin_buf[0];

      uint8_t data_valid = (spi_comm.crc == 0x0000);
      data_valid = 1; // FIXME: CRC not implemented on python side, so ignore for now
      set_ack_miso(data_valid);

      if (data_valid && ringbuf_get_nb(rbuff_unused, &rx_obj)) {
	spi_comm.rxin_buf[0] = len-2; // strip CRC from data
	if (len > COMM_OBJECT_SIZE) {len = COMM_OBJECT_SIZE;}
        memcpy(comm_objects[rx_obj], spi_comm.rxin_buf, len);
        ringbuf_put_nb(rbuff_used_rx, rx_obj);
      }
    }
  }
  else {
    // falling edge
    spi_comm.crc = CRC_INIT_VALUE;
    spi_comm.count = 0;
    uint8_t ack_mosi = get_ack_mosi();
    if (ack_mosi) {
      if ( ringbuf_get_nb(rbuff_used_tx, &tx_obj) ) {
	uint8_t len = comm_objects[tx_obj][0];
	if (len > COMM_OBJECT_SIZE) {len = COMM_OBJECT_SIZE;}
	memcpy(spi_comm.txout_buf, comm_objects[tx_obj], len);
	SPDR = comm_objects[tx_obj][0];
	ringbuf_put_nb(rbuff_unused, tx_obj); // there ought always be enough space in this ringbuffer
      }
      else {
	memset(spi_comm.txout_buf, SPI_COMM_PADDING, COMM_OBJECT_SIZE-1);
	SPDR = SPI_COMM_PADDING;
      }
    }
    else { // no ACK from master, so retransmit same frame once more. no need to copy anything, as txbuf wasn't touched.
      SPDR = spi_comm.txout_buf[0];
    }
  }

}


int8_t spi_slave_init()
{

  ringbuf_init(rbuff_used_rx, RB_SIZE, NULL);
  ringbuf_init(rbuff_used_tx, RB_SIZE, NULL);
  ringbuf_init(rbuff_unused, RB_SIZE, NULL);

  for (uint8_t i=0; i<NUM_COMM_OBJECTS; i++) {
    ringbuf_put_nb(rbuff_unused, i);
  }
  
  PCMSK1 |= (1<<PCINT9);
  PCICR  |= (1<<PCIE1);
  
  /* Set MISO output, all others input */
  DDRD |= (1<<PD2);
  DDRD &= ~((1<<PD3)|(1<<PD4));
  /* Enable SPI */
  
  SPCR = (1<<SPE) | (1<<SPIE);	// enable SPI
  
  DDRB &= ~(1<<PB5);  // ACK_MOSI
  PORTB &= ~(1<<PB5);
  
  DDRC |= (1<<PC7); // ACK_MISO
  set_ack_miso(0);
  
  return 1;
}


int8_t spi_prepare_to_send(void *data)
{
  uint8_t tx_object;
  uint8_t len = ((uint8_t *)data)[0];

  if ((len + LEN_SIZE + CRC_LEN) > COMM_OBJECT_SIZE) {
    return -1;
  }
  if ( ringbuf_get_nb(rbuff_unused, &tx_object) ) {
    set_crc(data);
    memcpy(comm_objects[tx_object], data, len);
    if ( ringbuf_put_nb(rbuff_used_tx, tx_object) ) {
      return tx_object;
    }
    else {
      return -tx_object;
      //PORTB ^= (1<<PB3);
    }
  }
  else {
    return (-127);
  }
}


int8_t spi_receive(void *data)
{
  uint8_t rx_object;
  
  if ( ringbuf_get_nb(rbuff_used_rx, &rx_object) ) {
    memcpy(data, comm_objects[rx_object], COMM_OBJECT_SIZE);
    if ( ringbuf_put_nb(rbuff_unused, rx_object) ) {
      return rx_object;
    }
    else {
      return (-rx_object);
      //PORTB ^= (1<<PB3);
    }
  }
  else {
    return -127;
  }
}