applications: sdp: mspi: Initial implementation

Added initial mspi implementation with hard real time task running on
interrupts.

Signed-off-by: Michal Frankiewicz <[email protected]>
Signed-off-by: Magdalena Pastula <[email protected]>

applications/sdp/mspi/CMakeLists.txt

@@ -0,0 +1,19 @@
+#
+# Copyright (c) 2024 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+#
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(sdp_mspi)
+
+sdp_assembly_generate("${CMAKE_SOURCE_DIR}/src/hrt/hrt.c")
+sdp_assembly_check("${CMAKE_SOURCE_DIR}/src/hrt/hrt.c")
+sdp_assembly_prepare_install("${CMAKE_SOURCE_DIR}/src/hrt/hrt.c")
+
+target_sources(app PRIVATE src/main.c)
+target_sources(app PRIVATE src/hrt/hrt.s)
+
+add_dependencies(app asm_check)

applications/sdp/mspi/boards/nrf54l15dk_nrf54l15_cpuflpr.conf

@@ -0,0 +1,46 @@
+# Single-threaded
+CONFIG_MULTITHREADING=n
+CONFIG_KERNEL_MEM_POOL=n
+CONFIG_LOG=n
+
+# Drivers and peripherals
+CONFIG_I2C=n
+CONFIG_WATCHDOG=n
+CONFIG_GPIO=n
+CONFIG_PINCTRL=n
+CONFIG_SPI=n
+CONFIG_SERIAL=n
+CONFIG_FLASH=n
+
+# Power management
+CONFIG_PM=n
+
+# Interrupts
+CONFIG_DYNAMIC_INTERRUPTS=n
+CONFIG_IRQ_OFFLOAD=n
+CONFIG_GEN_SW_ISR_TABLE=n
+
+# Memory protection
+CONFIG_THREAD_STACK_INFO=n
+CONFIG_THREAD_CUSTOM_DATA=n
+CONFIG_FPU=n
+
+# Boot
+CONFIG_BOOT_BANNER=n
+CONFIG_NCS_BOOT_BANNER=n
+
+# Console
+CONFIG_CONSOLE=n
+CONFIG_UART_CONSOLE=n
+CONFIG_STDOUT_CONSOLE=n
+CONFIG_PRINTK=n
+CONFIG_EARLY_CONSOLE=n
+
+# Build
+CONFIG_SIZE_OPTIMIZATIONS=y
+
+# No timer support in the kernel
+CONFIG_SYS_CLOCK_EXISTS=n
+
+CONFIG_OUTPUT_DISASSEMBLY=y
+CONFIG_COMMON_LIBC_MALLOC=n

applications/sdp/mspi/boards/nrf54l15dk_nrf54l15_cpuflpr.overlay

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+&gpio0 {
+	status = "disabled";
+};
+
+&gpio1 {
+	status = "disabled";
+};
+
+&gpio2 {
+	status = "disabled";
+};
+
+&gpiote20 {
+	status = "disabled";
+};
+
+&gpiote30 {
+	status = "disabled";
+};
+
+&grtc {
+	status = "disabled";
+};
+
+&uart20 {
+	status = "disabled";
+};
+
+&uart30 {
+	status = "disabled";
+};
+
+&pwm20 {
+	status = "disabled";
+};

applications/sdp/mspi/sample.yaml

@@ -0,0 +1,12 @@
+sample:
+  name: SDP mSPI application
+  description: SDP mSPI application
+common:
+  integration_platforms:
+    - nrf54l15dk/nrf54l15/cpuflpr
+tests:
+  applications.sdp.mspi.icmsg:
+    build_only: true
+    sysbuild: true
+    platform_allow: nrf54l15dk/nrf54l15/cpuflpr
+    tags: ci_build sysbuild mspi

applications/sdp/mspi/src/hrt/hrt.c

@@ -0,0 +1,180 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+#include "hrt.h"
+#include <hal/nrf_vpr_csr_vio.h>
+#include <hal/nrf_vpr_csr_vtim.h>
+
+#define CLK_FIRST_CYCLE_MULTIPLICATOR (3)
+
+void write_single_by_word(volatile uint32_t *data, uint8_t data_len, uint32_t counter_top,
+			  uint8_t word_size, bool ce_enable_state, bool hold_ce)
+{
+
+	NRFX_ASSERT(word_size <= MAX_WORD_SIZE);
+	/* Configuration step */
+	uint16_t dir = nrf_vpr_csr_vio_dir_get();
+
+	nrf_vpr_csr_vio_dir_set(dir | PIN_DIR_OUT_MASK(D0_PIN) | PIN_DIR_OUT_MASK(CS_PIN) |
+				PIN_DIR_OUT_MASK(SCLK_PIN));
+
+	uint16_t out = nrf_vpr_csr_vio_out_get();
+
+	nrf_vpr_csr_vio_out_set(out | PIN_OUT_LOW_MASK(D0_PIN) | PIN_OUT_HIGH_MASK(CS_PIN) |
+				PIN_OUT_LOW_MASK(SCLK_PIN));
+
+	nrf_vpr_csr_vio_mode_out_t out_mode = {
+		.mode = NRF_VPR_CSR_VIO_SHIFT_OUTB_TOGGLE,
+		.frame_width = 1,
+	};
+
+	nrf_vpr_csr_vio_mode_out_set(&out_mode);
+	nrf_vpr_csr_vio_mode_in_buffered_set(NRF_VPR_CSR_VIO_MODE_IN_CONTINUOUS);
+
+	nrf_vpr_csr_vio_config_t config;
+
+	nrf_vpr_csr_vio_config_get(&config);
+	config.input_sel = false;
+	nrf_vpr_csr_vio_config_set(&config);
+
+	/* Fix position of data if word size < MAX_WORD_SIZE,
+	 * so that leading zeros would not be printed instead of data bits.
+	 */
+	if (word_size < MAX_WORD_SIZE) {
+		for (uint8_t i = 0; i < data_len; i++) {
+			data[i] = data[i] << (MAX_WORD_SIZE - word_size);
+		}
+	}
+
+	/* Counter settings */
+	nrf_vpr_csr_vtim_count_mode_set(0, NRF_VPR_CSR_VTIM_COUNT_RELOAD);
+	nrf_vpr_csr_vtim_simple_counter_top_set(0, counter_top);
+
+	/* Set number of shifts before OUTB needs to be updated.
+	 * First shift needs to be increased by 1.
+	 */
+	nrf_vpr_csr_vio_shift_cnt_out_set(word_size);
+	nrf_vpr_csr_vio_shift_cnt_out_buffered_set(word_size - 1);
+
+	/* Enable CS */
+	out = nrf_vpr_csr_vio_out_get();
+	out &= ~PIN_OUT_HIGH_MASK(CS_PIN);
+	out |= ce_enable_state ? PIN_OUT_HIGH_MASK(CS_PIN) : PIN_OUT_LOW_MASK(CS_PIN);
+	nrf_vpr_csr_vio_out_set(out);
+
+	/* Start counter */
+	nrf_vpr_csr_vtim_simple_counter_set(0, CLK_FIRST_CYCLE_MULTIPLICATOR * counter_top);
+
+	/* Send data */
+	for (uint8_t i = 0; i < data_len; i++) {
+		nrf_vpr_csr_vio_out_buffered_reversed_byte_set(data[i]);
+	}
+
+	/* Clear all bits, wait until the last word is sent */
+	nrf_vpr_csr_vio_out_buffered_set(0);
+
+	/* Final configuration */
+	out_mode.mode = NRF_VPR_CSR_VIO_SHIFT_NONE;
+	nrf_vpr_csr_vio_mode_out_buffered_set(&out_mode);
+	nrf_vpr_csr_vio_mode_in_buffered_set(NRF_VPR_CSR_VIO_MODE_IN_CONTINUOUS);
+
+	/* Deselect slave */
+	if (!hold_ce) {
+		out = nrf_vpr_csr_vio_out_get();
+		out &= ~(PIN_OUT_HIGH_MASK(CS_PIN) | PIN_OUT_HIGH_MASK(SCLK_PIN));
+		out |= ce_enable_state ? PIN_OUT_LOW_MASK(CS_PIN) : PIN_OUT_HIGH_MASK(CS_PIN);
+		out |= PIN_OUT_LOW_MASK(SCLK_PIN);
+		nrf_vpr_csr_vio_out_set(out);
+	}
+
+	/* Stop counter */
+	nrf_vpr_csr_vtim_count_mode_set(0, NRF_VPR_CSR_VTIM_COUNT_STOP);
+}
+
+void write_quad_by_word(volatile uint32_t *data, uint8_t data_len, uint32_t counter_top,
+			uint8_t word_size, bool ce_enable_state, bool hold_ce)
+{
+	NRFX_ASSERT(word_size % 4 == 0);
+	NRFX_ASSERT(word_size <= MAX_WORD_SIZE);
+	/* Configuration step */
+	uint16_t dir = nrf_vpr_csr_vio_dir_get();
+
+	nrf_vpr_csr_vio_dir_set(dir | PIN_DIR_OUT_MASK(D0_PIN) | PIN_DIR_OUT_MASK(D1_PIN) |
+				PIN_DIR_OUT_MASK(D2_PIN) | PIN_DIR_OUT_MASK(D3_PIN) |
+				PIN_DIR_OUT_MASK(CS_PIN) | PIN_DIR_OUT_MASK(SCLK_PIN));
+
+	uint16_t out = nrf_vpr_csr_vio_out_get();
+
+	nrf_vpr_csr_vio_out_set(out | PIN_OUT_LOW_MASK(D0_PIN) | PIN_OUT_LOW_MASK(D1_PIN) |
+				PIN_OUT_LOW_MASK(D2_PIN) | PIN_OUT_LOW_MASK(D3_PIN) |
+				PIN_OUT_HIGH_MASK(CS_PIN) | PIN_OUT_LOW_MASK(SCLK_PIN));
+
+	nrf_vpr_csr_vio_mode_out_t out_mode = {
+		.mode = NRF_VPR_CSR_VIO_SHIFT_OUTB_TOGGLE,
+		.frame_width = 4,
+	};
+
+	nrf_vpr_csr_vio_mode_out_set(&out_mode);
+	nrf_vpr_csr_vio_mode_in_buffered_set(NRF_VPR_CSR_VIO_MODE_IN_CONTINUOUS);
+
+	nrf_vpr_csr_vio_config_t config;
+
+	nrf_vpr_csr_vio_config_get(&config);
+	config.input_sel = false;
+	nrf_vpr_csr_vio_config_set(&config);
+
+	/* Fix position of data if word size < MAX_WORD_SIZE,
+	 * so that leading zeros would not be printed instead of data.
+	 */
+	if (word_size < MAX_WORD_SIZE) {
+		for (uint8_t i = 0; i < data_len; i++) {
+			data[i] = data[i] << (MAX_WORD_SIZE - word_size);
+		}
+	}
+
+	/* Counter settings */
+	nrf_vpr_csr_vtim_count_mode_set(0, NRF_VPR_CSR_VTIM_COUNT_RELOAD);
+	nrf_vpr_csr_vtim_simple_counter_top_set(0, counter_top);
+
+	/* Set number of shifts before OUTB needs to be updated.
+	 * First shift needs to be increased by 1.
+	 */
+	nrf_vpr_csr_vio_shift_cnt_out_set(word_size / 4);
+	nrf_vpr_csr_vio_shift_cnt_out_buffered_set(word_size / 4 - 1);
+
+	/* Enable CS */
+	out = nrf_vpr_csr_vio_out_get();
+	out &= ~PIN_OUT_HIGH_MASK(CS_PIN);
+	out |= ce_enable_state ? PIN_OUT_HIGH_MASK(CS_PIN) : PIN_OUT_LOW_MASK(CS_PIN);
+	nrf_vpr_csr_vio_out_set(out);
+
+	/* Start counter */
+	nrf_vpr_csr_vtim_simple_counter_set(0, 3 * counter_top);
+
+	/* Send data */
+	for (uint8_t i = 0; i < data_len; i++) {
+		nrf_vpr_csr_vio_out_buffered_reversed_byte_set(data[i]);
+	}
+
+	/* Clear all bits, wait until the last word is sent */
+	nrf_vpr_csr_vio_out_buffered_set(0);
+
+	/* Final configuration */
+	out_mode.mode = NRF_VPR_CSR_VIO_SHIFT_NONE;
+	nrf_vpr_csr_vio_mode_out_buffered_set(&out_mode);
+	nrf_vpr_csr_vio_mode_in_buffered_set(NRF_VPR_CSR_VIO_MODE_IN_CONTINUOUS);
+
+	/* Deselect slave */
+	if (!hold_ce) {
+		out = nrf_vpr_csr_vio_out_get();
+		out &= ~(PIN_OUT_HIGH_MASK(CS_PIN) | PIN_OUT_HIGH_MASK(SCLK_PIN));
+		out |= ce_enable_state ? PIN_OUT_LOW_MASK(CS_PIN) : PIN_OUT_HIGH_MASK(CS_PIN);
+		out |= PIN_OUT_LOW_MASK(SCLK_PIN);
+		nrf_vpr_csr_vio_out_set(out);
+	}
+
+	/* Stop counter */
+	nrf_vpr_csr_vtim_count_mode_set(0, NRF_VPR_CSR_VTIM_COUNT_STOP);
+}

applications/sdp/mspi/src/hrt/hrt.h

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2024 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
+ */
+
+#ifndef _HRT_H__
+#define _HRT_H__
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#define SCLK_PIN 0
+#define D0_PIN	 1
+#define D1_PIN	 2
+#define D2_PIN	 3
+#define D3_PIN	 4
+#define CS_PIN	 5
+
+/* Max word size. */
+#define MAX_WORD_SIZE NRF_VPR_CSR_VIO_SHIFT_CNT_OUT_BUFFERED_MAX
+
+/* Macro for getting direction mask for specified pin and direction. */
+#define PIN_DIR_MASK(PIN_NUM, DIR)                                                                 \
+	(VPRCSR_NORDIC_DIR_PIN##PIN_NUM##_##DIR << VPRCSR_NORDIC_DIR_PIN##PIN_NUM##_Pos)
+
+/* Macro for getting output mask for specified pin. */
+#define PIN_DIR_OUT_MASK(PIN_NUM) PIN_DIR_MASK(PIN_NUM, OUTPUT)
+
+/* Macro for getting input mask for specified pin. */
+#define PIN_DIR_IN_MASK(PIN_NUM) PIN_DIR_MASK(PIN_NUM, INPUT)
+
+/* Macro for getting state mask for specified pin and state. */
+#define PIN_OUT_MASK(PIN_NUM, STATE)                                                               \
+	(VPRCSR_NORDIC_OUT_PIN##PIN_NUM##_##STATE << VPRCSR_NORDIC_OUT_PIN##PIN_NUM##_Pos)
+
+/* Macro for getting high state mask for specified pin. */
+#define PIN_OUT_HIGH_MASK(PIN_NUM) PIN_OUT_MASK(PIN_NUM, HIGH)
+
+/* Macro for getting low state mask for specified pin. */
+#define PIN_OUT_LOW_MASK(PIN_NUM) PIN_OUT_MASK(PIN_NUM, LOW)
+
+/** @brief Write on single line.
+ *
+ *  Function to be used to write data on single data line (SPI).
+ *
+ *  @param[in] data Data to be sent.
+ *  @param[in] data_len Length of data in words.
+ *  @param[in] counter_top Top value of VTIM. This will determine clock frequency
+ *                         (SPI_CLOCK ~= CPU_CLOCK / (2 * TOP)).
+ *  @param[in] word_size Size of a word in bits.
+ *  @param[in] ce_enable_state Chip enable pin polarity in enabled state.
+ *  @param[in] hold_ce If true CE pin will be left enabled after transfer.
+ */
+void write_single_by_word(volatile uint32_t *data, uint8_t data_len, uint32_t counter_top,
+			  uint8_t word_size, bool ce_enable_state, bool hold_ce);
+
+/** @brief Write on four lines.
+ *
+ *  Function to be used to write data on quad data line (SPI).
+ *
+ *  @param[in] data Data to be sent.
+ *  @param[in] data_len Length of data in words.
+ *  @param[in] counter_top Top value of VTIM. This will determine clock frequency
+ *                         (SPI_CLOCK ~= CPU_CLOCK / (2 * TOP)).
+ *  @param[in] word_size Size of a word in bits.
+ *  @param[in] ce_enable_state Chip enable pin polarity in enabled state.
+ *  @param[in] hold_ce If true CE pin will be left enabled after transfer.
+ */
+void write_quad_by_word(volatile uint32_t *data, uint8_t data_len, uint32_t counter_top,
+			uint8_t word_size, bool ce_enable_state, bool hold_ce);
+
+#endif /* _HRT_H__ */