Merge pull request #2288 from LinuxCNC/hm2-bspi-fixes

Hm2 bspi fixes

Author: jepler

src/hal/drivers/mesa-hostmot2/bspi.c

@@ -140,15 +140,20 @@ int hm2_tram_add_bspi_frame(char *name, int chan, rtapi_u32 **wbuff, rtapi_u32 *
     } else {
         HM2_ERR("SPI frame must have a write entry for channel (%i) on %s.\n", chan, name);
         return -1;
-    }    
+    }
+    bool will_echo = !(hm2->bspi.instance[i].cd[chan] & 0x80000000);
+    bool has_rbuff = rbuff != NULL;
+    if (will_echo != has_rbuff) {
+        HM2_ERR("SPI frame must have a read entry for channel (%i) on %s.\n", chan, name);
+        return -1;
+    }
     if (rbuff != NULL){
-        // Don't add a read entry for a no-echo channel
-        if(!(hm2->bspi.instance[i].cd[chan] & 0x80000000)) {
-            r = hm2_register_tram_read_region(hm2,hm2->bspi.instance[i].addr[0], sizeof(rtapi_u32),rbuff);
-            if (r < 0) {
-                HM2_ERR( "Failed to add TRAM read entry for %s\n", name);
-                return -1;
-            }
+        // Reading from addr[0] instead of addr[chan] is intentional
+        // here - all the channels share one receive FIFO.
+        r = hm2_register_tram_read_region(hm2,hm2->bspi.instance[i].addr[0], sizeof(rtapi_u32),rbuff);
+        if (r < 0) {
+            HM2_ERR( "Failed to add TRAM read entry for %s\n", name);
+            return -1;
         }
     }
 
@@ -174,6 +179,26 @@ int hm2_allocate_bspi_tram(char* name)
     return 0;
 }
 
+EXPORT_SYMBOL_GPL(hm2_bspi_clear_fifo);
+int hm2_bspi_clear_fifo(char * name)
+{
+    hostmot2_t * hm2;
+    int i, r;
+
+    i = hm2_get_bspi(&hm2, name);
+    if (i < 0){
+        HM2_ERR_NO_LL("Can not find BSPI instance %s.\n", name);
+        return -1;
+    }
+    rtapi_u32 zero = 0;
+    r = hm2->llio->write(hm2->llio, hm2->bspi.instance[i].count_addr, &zero, sizeof(rtapi_u32));
+    if (r < 0) {
+        HM2_ERR("BSPI: hm2->llio->write failure %s\n", name);
+    }
+    
+    return r;
+}
+
 EXPORT_SYMBOL_GPL(hm2_bspi_write_chan);
 int hm2_bspi_write_chan(char* name, int chan, rtapi_u32 val)
 {

src/hal/drivers/mesa-hostmot2/hostmot2-serial.h

@@ -39,6 +39,7 @@ int hm2_bspi_set_write_function(char *name, int (*func)(void *subdata), void *su
 int hm2_bspi_write_chan(char* name, int chan, rtapi_u32 val);
 int hm2_allocate_bspi_tram(char* name);
 int hm2_tram_add_bspi_frame(char *name, int chan, rtapi_u32 **wbuff, rtapi_u32 **rbuff);
+int hm2_bspi_clear_fifo(char * name);
 
 RTAPI_END_DECLS
 

src/hal/drivers/mesa-hostmot2/hostmot2.h

@@ -1719,6 +1719,7 @@ int hm2_sserial_read_configs(hostmot2_t *hm2, hm2_sserial_remote_t *chan);
 int  hm2_bspi_parse_md(hostmot2_t *hm2, int md_index);
 void hm2_bspi_print_module(hostmot2_t *hm2);
 void hm2_bspi_cleanup(hostmot2_t *hm2);
+int hm2_bspi_clear_fifo(char * name);
 void hm2_bspi_write(hostmot2_t *hm2);
 void hm2_bspi_force_write(hostmot2_t *hm2);
 void hm2_bspi_prepare_tram_write(hostmot2_t *hm2, long period);

src/hal/drivers/mesa_7i65.comp

@@ -206,15 +206,27 @@ EXTRA_SETUP(){
                       "quitting\n", -r);
         return -EINVAL;
     }
+
+    // Clear BSPI Rx & Tx FIFOs.
+    // This discards the received data from the ADC setup writes above,
+    // and any other old stale data.
+    r = hm2_bspi_clear_fifo(name);
+    if (r < 0) {
+        rtapi_print_msg(RTAPI_MSG_ERR, "failed to clear BSPI fifos on %s\n", name);
+    }
+
     // Add BSPI Frames
+    // digital inputs and outputs
     r += hm2_tram_add_bspi_frame(name, 4, &CPLD_write,
                             &CPLD_read);
 
+    // analog inputs
     for(i = 0; i < 8; i++) {
         r += hm2_tram_add_bspi_frame(name, 3, &AD7329_write[i],
                                 &AD7329_read[i]);
     }
 
+    // analog outputs
     r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1A,0);
     r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1B,0);
     r += hm2_tram_add_bspi_frame(name, 1, &AD5754_1C,0);