1 files changed, 415 insertions, 0 deletions

diff --git a/lib/chibios-contrib/testhal/MSP430X/EXP430FR5969/SPI/main.c b/lib/chibios-contrib/testhal/MSP430X/EXP430FR5969/SPI/main.c
new file mode 100644
index 000000000..ccb98d52f
--- /dev/null
+++ b/lib/chibios-contrib/testhal/MSP430X/EXP430FR5969/SPI/main.c
@@ -0,0 +1,415 @@
+/*
+    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+#include "ch.h"
+#include "hal.h"
+#include "hal_dma_lld.h"
+#include "string.h"
+
+/* Disable watchdog because of lousy startup code in newlib */
+static void __attribute__((naked, section(".crt_0042disable_watchdog"), used))
+disable_watchdog(void) {
+  WDTCTL = WDTPW | WDTHOLD;
+}
+
+const char * start_msg  = "\r\n\r\nExecuting SPI test suite...\r\n";
+const char * test_1_msg = "TEST 1: spiStartIgnore, with callback\r\n";
+const char * test_2_msg = "TEST 2: spiStartExchange, with callback\r\n";
+const char * test_3_msg = "TEST 3: spiStartSend, with callback\r\n";
+const char * test_4_msg = "TEST 4: spiStartReceive, with callback\r\n";
+const char * test_5_msg = "TEST 5: spiIgnore\r\n";
+const char * test_6_msg = "TEST 6: spiExchange\r\n";
+const char * test_7_msg = "TEST 7: spiSend\r\n";
+const char * test_8_msg = "TEST 8: spiReceive\r\n";
+const char * test_9_msg = "TEST 9: spiPolledExchange\r\n";
+const char * test_10_msg = "TEST 10: spiStartExchange with exclusive DMA\r\n";
+const char * test_11_msg =
+    "TEST 11: spiStartExchange with exclusive DMA for TX\r\n";
+const char * test_12_msg =
+    "TEST 12: spiStartExchange with exclusive DMA for RX\r\n";
+
+const char * succeed_string = "SUCCESS\r\n\r\n";
+const char * fail_string    = "FAILURE\r\n\r\n";
+
+char instring[256];
+char outstring[256];
+uint8_t cb_arg = 1;
+
+void spi_callback(SPIDriver * spip) {
+  (void)spip;
+  cb_arg = 0;
+}
+
+SPIConfig SPIDA1_config = {
+  spi_callback,         /* callback */
+  PAL_NOLINE,           /* hardware slave select line */
+  250000,               /* data rate */
+  MSP430X_SPI_BO_LSB,   /* bit order */
+  MSP430X_SPI_DS_EIGHT, /* data size */
+  0,                    /* SPI mode */
+  0xFFU,                /* no exclusive TX DMA */
+  0xFFU                 /* no exclusive RX DMA */
+};
+
+SPIConfig SPIDB0_config = {
+  NULL,                 /* callback */
+  LINE_LED_G,           /* GPIO slave select line */
+  1000,                 /* data rate */
+  MSP430X_SPI_BO_MSB,   /* bit order */
+  MSP430X_SPI_DS_SEVEN, /* data size */
+  3,                    /* SPI mode */
+  0xFF,                 /* no exclusive TX DMA */
+  0xFF                  /* no exclusive RX DMA */
+};
+
+/*
+ * Thread 2.
+ */
+THD_WORKING_AREA(waThread1, 4096);
+THD_FUNCTION(Thread1, arg) {
+
+  (void)arg;
+
+  /* Set up loopback mode for testing */
+  SPIDA1.regs->statw_a |= UCLISTEN;
+  SPIDB0.regs->statw_b |= UCLISTEN;
+
+  /*
+   * Activate the serial driver 0 using the driver default configuration.
+   */
+  sdStart(&SD0, NULL);
+
+  /* Activate the SPI driver A1 using its config */
+  spiStart(&SPIDA1, &SPIDA1_config);
+  /* Activate the SPI driver B0 using its config */
+  spiStart(&SPIDB0, &SPIDB0_config);
+
+  while (chnGetTimeout(&SD0, TIME_INFINITE)) {
+    chnWrite(&SD0, (const uint8_t *)start_msg, strlen(start_msg));
+    chThdSleepMilliseconds(2000);
+
+    /* Test 1 - spiStartIgnore with callback */
+    chnWrite(&SD0, (const uint8_t *)test_1_msg, strlen(test_1_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartIgnore(&SPIDA1, strlen(outstring));
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 2 - spiStartExchange with callback */
+    chnWrite(&SD0, (const uint8_t *)test_2_msg, strlen(test_2_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartExchange(&SPIDA1, strlen(instring), outstring, instring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 3 - spiStartSend with callback */
+    chnWrite(&SD0, (const uint8_t *)test_3_msg, strlen(test_3_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartSend(&SPIDA1, strlen(outstring), outstring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 4 - spiStartReceive with callback */
+    chnWrite(&SD0, (const uint8_t *)test_4_msg, strlen(test_4_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    chThdSleepMilliseconds(2000);
+    spiStartReceive(&SPIDA1, strlen(instring), instring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("After SPI test  \r\n", outstring) ||
+        strcmp("\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff"
+               "\xff\xff\xff",
+               instring) ||
+        cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 5 - spiIgnore */
+    chnWrite(&SD0, (const uint8_t *)test_5_msg, strlen(test_5_msg));
+    strcpy(instring, "After SPI test  \r\n");
+    strcpy(outstring, "Before SPI test \r\n");
+    if (strcmp("Before SPI test \r\n", outstring) ||
+        strcmp("After SPI test  \r\n", instring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDB0);
+    chThdSleepMilliseconds(2000);
+    spiIgnore(&SPIDB0, strlen(outstring));
+    spiUnselect(&SPIDB0);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("Before SPI test \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 6 - spiExchange */
+    chnWrite(&SD0, (const uint8_t *)test_6_msg, strlen(test_6_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDB0);
+    spiExchange(&SPIDB0, strlen(outstring), outstring, instring);
+    spiUnselect(&SPIDB0);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 7 - spiSend */
+    chnWrite(&SD0, (const uint8_t *)test_7_msg, strlen(test_7_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDB0);
+    spiSend(&SPIDB0, strlen(outstring), outstring);
+    spiUnselect(&SPIDB0);
+    if (strcmp("After SPI test  \r\n", outstring) ||
+        strcmp("Before SPI test \r\n", instring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Test 8 - spiReceive */
+    chnWrite(&SD0, (const uint8_t *)test_8_msg, strlen(test_8_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDB0);
+    spiReceive(&SPIDB0, strlen(instring), instring);
+    spiUnselect(&SPIDB0);
+    if (strcmp("After SPI test  \r\n", outstring) ||
+        strcmp("\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f\x7f"
+               "\x7f\x7f\x7f",
+               instring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+    
+    /* Test 9 - spiPolledExchange */
+    chnWrite(&SD0, (const uint8_t *)test_9_msg, strlen(test_9_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDB0);
+    outstring[0] = spiPolledExchange(&SPIDB0, instring[0]);
+    spiUnselect(&SPIDB0);
+    if (strcmp("Bfter SPI test  \r\n", outstring) ||
+        strcmp("Before SPI test \r\n", instring)) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Reconfigure SPIDA1 to use exclusive DMA for both */
+    spiStop(&SPIDA1);
+    SPIDA1_config.dmatx_index = 0;
+    SPIDA1_config.dmarx_index = 1;
+    SPIDA1_config.spi_mode    = 1; /* because why not get coverage */
+    spiStart(&SPIDA1, &SPIDA1_config);
+
+    /* Test 10 - spiStartExchange with exclusive DMA */
+    chnWrite(&SD0, (const uint8_t *)test_10_msg, strlen(test_10_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartExchange(&SPIDA1, strlen(outstring), outstring, instring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Reconfigure SPIDA1 to use exclusive DMA for TX only */
+    spiStop(&SPIDA1);
+    SPIDA1_config.dmatx_index = 0;
+    SPIDA1_config.dmarx_index = 0xFFU;
+    SPIDA1_config.spi_mode    = 2; /* because why not get coverage */
+    spiStart(&SPIDA1, &SPIDA1_config);
+
+    /* Test 11 - spiStartExchange with exclusive DMA for TX */
+    chnWrite(&SD0, (const uint8_t *)test_11_msg, strlen(test_11_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartExchange(&SPIDA1, strlen(outstring), outstring, instring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+
+    /* Reconfigure SPIDA1 to use exclusive DMA for TX only */
+    spiStop(&SPIDA1);
+    SPIDA1_config.dmatx_index = 0xFFU;
+    SPIDA1_config.dmarx_index = 1;
+    SPIDA1_config.spi_mode    = 3; /* because why not get coverage */
+    spiStart(&SPIDA1, &SPIDA1_config);
+
+    /* Test 12 - spiStartExchange with exclusive DMA for RX */
+    chnWrite(&SD0, (const uint8_t *)test_12_msg, strlen(test_12_msg));
+    strcpy(outstring, "After SPI test  \r\n");
+    strcpy(instring, "Before SPI test \r\n");
+    cb_arg = 1;
+    if (strcmp("Before SPI test \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 1) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    spiSelect(&SPIDA1);
+    spiStartExchange(&SPIDA1, strlen(outstring), outstring, instring);
+    while (SPIDA1.state != SPI_READY)
+      ; /* wait for transaction to finish */
+    spiUnselect(&SPIDA1);
+    if (strcmp("After SPI test  \r\n", instring) ||
+        strcmp("After SPI test  \r\n", outstring) || cb_arg != 0) {
+      chnWrite(&SD0, (const uint8_t *)fail_string, strlen(fail_string));
+    }
+    else {
+      chnWrite(&SD0, (const uint8_t *)succeed_string, strlen(succeed_string));
+    }
+  }
+}
+
+/*
+ * Threads static table, one entry per thread. The number of entries must
+ * match NIL_CFG_NUM_THREADS.
+ */
+THD_TABLE_BEGIN
+  THD_TABLE_ENTRY(waThread1, "spi_test", Thread1, NULL)
+THD_TABLE_END
+
+/*
+ * Application entry point.
+ */
+int main(void) {
+
+  /*
+   * System initializations.
+   * - HAL initialization, this also initializes the configured device drivers
+   *   and performs the board-specific initializations.
+   * - Kernel initialization, the main() function becomes a thread and the
+   *   RTOS is active.
+   */
+  WDTCTL = WDTPW | WDTHOLD;
+
+  halInit();
+  chSysInit();
+  dmaInit();
+
+  /* This is now the idle thread loop, you may perform here a low priority
+     task but you must never try to sleep or wait in this loop. Note that
+     this tasks runs at the lowest priority level so any instruction added
+     here will be executed after all other tasks have been started.*/
+  while (true) {
+  }
+}