475 lines
17 KiB
C++
475 lines
17 KiB
C++
#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
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#include "fsfw/tasks/SemaphoreFactory.h"
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#include "fsfw_hal/stm32h7/gpio/gpio.h"
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#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
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#include "fsfw_hal/stm32h7/spi/mspInit.h"
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#include "fsfw_hal/stm32h7/spi/spiCore.h"
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#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
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// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
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// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
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// and it is not trivial to add a releaseFromISR to the SemaphoreIF
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#if defined FSFW_OSAL_RTEMS
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#include "fsfw/osal/rtems/BinarySemaphore.h"
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#elif defined FSFW_OSAL_FREERTOS
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#include "fsfw/osal/freertos/BinarySemaphore.h"
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#include "fsfw/osal/freertos/TaskManagement.h"
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#endif
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#include "stm32h7xx_hal_gpio.h"
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SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
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void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
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spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
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spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
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spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
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spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
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}
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void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
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this->cacheMaintenanceOnTxBuffer = enable;
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}
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void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
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spi::setDmaHandles(txHandle, rxHandle);
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}
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ReturnValue_t SpiComIF::initialize() { return returnvalue::OK; }
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ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
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SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
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if (spiCookie == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
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#else
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sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
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#endif
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return NULLPOINTER;
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}
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auto transferMode = spiCookie->getTransferMode();
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if (transferMode == spi::TransferModes::DMA) {
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DMA_HandleTypeDef *txHandle = nullptr;
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DMA_HandleTypeDef *rxHandle = nullptr;
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spi::getDmaHandles(&txHandle, &rxHandle);
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if (txHandle == nullptr or rxHandle == nullptr) {
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sif::printError("SpiComIF::initialize: DMA handles not set!\n");
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return returnvalue::FAILED;
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}
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}
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// This semaphore ensures thread-safety for a given bus
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spiSemaphore =
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dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
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address_t spiAddress = spiCookie->getDeviceAddress();
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auto iter = spiDeviceMap.find(spiAddress);
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if (iter == spiDeviceMap.end()) {
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size_t bufferSize = spiCookie->getMaxRecvSize();
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auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
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if (not statusPair.second) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
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<< spiAddress << "to SPI device map" << std::endl;
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#else
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sif::printError(
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"SpiComIF::initializeInterface: Failed to insert device with address "
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"%lu to SPI device map\n",
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static_cast<unsigned long>(spiAddress));
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#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
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#endif /* FSFW_VERBOSE_LEVEL >= 1 */
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return returnvalue::FAILED;
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}
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}
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auto gpioPin = spiCookie->getChipSelectGpioPin();
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auto gpioPort = spiCookie->getChipSelectGpioPort();
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SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
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auto spiIdx = spiCookie->getSpiIdx();
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if (spiIdx == spi::SpiBus::SPI_1) {
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#ifdef SPI1
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spiHandle.Instance = SPI1;
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#endif
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} else if (spiIdx == spi::SpiBus::SPI_2) {
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#ifdef SPI2
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spiHandle.Instance = SPI2;
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#endif
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} else {
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printCfgError("SPI Bus Index");
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return returnvalue::FAILED;
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}
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auto mspCfg = spiCookie->getMspCfg();
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if (transferMode == spi::TransferModes::POLLING) {
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auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
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if (typedCfg == nullptr) {
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printCfgError("Polling MSP");
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return returnvalue::FAILED;
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}
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spi::setSpiPollingMspFunctions(typedCfg);
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} else if (transferMode == spi::TransferModes::INTERRUPT) {
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auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
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if (typedCfg == nullptr) {
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printCfgError("IRQ MSP");
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return returnvalue::FAILED;
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}
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spi::setSpiIrqMspFunctions(typedCfg);
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} else if (transferMode == spi::TransferModes::DMA) {
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auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
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if (typedCfg == nullptr) {
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printCfgError("DMA MSP");
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return returnvalue::FAILED;
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}
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// Check DMA handles
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DMA_HandleTypeDef *txHandle = nullptr;
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DMA_HandleTypeDef *rxHandle = nullptr;
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spi::getDmaHandles(&txHandle, &rxHandle);
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if (txHandle == nullptr or rxHandle == nullptr) {
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printCfgError("DMA Handle");
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return returnvalue::FAILED;
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}
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spi::setSpiDmaMspFunctions(typedCfg);
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}
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if (gpioPort != nullptr) {
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gpio::initializeGpioClock(gpioPort);
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GPIO_InitTypeDef chipSelect = {};
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chipSelect.Pin = gpioPin;
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chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
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HAL_GPIO_Init(gpioPort, &chipSelect);
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HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
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}
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if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
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sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
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return returnvalue::FAILED;
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}
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// The MSP configuration struct is not required anymore
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spiCookie->deleteMspCfg();
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return returnvalue::OK;
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}
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ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
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SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
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if (spiCookie == nullptr) {
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return NULLPOINTER;
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}
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SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
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auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
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if (iter == spiDeviceMap.end()) {
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return returnvalue::FAILED;
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}
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iter->second.currentTransferLen = sendLen;
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auto transferMode = spiCookie->getTransferMode();
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switch (spiCookie->getTransferState()) {
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case (spi::TransferStates::IDLE): {
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break;
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}
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case (spi::TransferStates::WAIT):
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case (spi::TransferStates::FAILURE):
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case (spi::TransferStates::SUCCESS):
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default: {
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return returnvalue::FAILED;
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}
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}
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switch (transferMode) {
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case (spi::TransferModes::POLLING): {
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return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
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sendData, sendLen);
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}
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case (spi::TransferModes::INTERRUPT): {
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return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
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sendData, sendLen);
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}
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case (spi::TransferModes::DMA): {
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return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
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sendData, sendLen);
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return returnvalue::OK; }
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ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
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return returnvalue::OK;
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}
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ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
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SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
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if (spiCookie == nullptr) {
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return NULLPOINTER;
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}
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switch (spiCookie->getTransferState()) {
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case (spi::TransferStates::SUCCESS): {
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auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
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if (iter == spiDeviceMap.end()) {
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return returnvalue::FAILED;
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}
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*buffer = iter->second.replyBuffer.data();
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*size = iter->second.currentTransferLen;
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spiCookie->setTransferState(spi::TransferStates::IDLE);
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break;
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}
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case (spi::TransferStates::FAILURE): {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
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#else
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sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
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#endif
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#endif
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spiCookie->setTransferState(spi::TransferStates::IDLE);
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return returnvalue::FAILED;
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}
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case (spi::TransferStates::WAIT):
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case (spi::TransferStates::IDLE): {
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break;
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}
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default: {
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return returnvalue::FAILED;
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}
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}
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return returnvalue::OK;
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}
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void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
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this->defaultPollingTimeout = timeout;
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}
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ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
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SpiCookie &spiCookie, const uint8_t *sendData,
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size_t sendLen) {
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auto gpioPort = spiCookie.getChipSelectGpioPort();
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auto gpioPin = spiCookie.getChipSelectGpioPin();
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auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
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if (returnval != returnvalue::OK) {
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return returnval;
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}
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spiCookie.setTransferState(spi::TransferStates::WAIT);
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if (gpioPort != nullptr) {
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HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
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}
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auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
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sendLen, defaultPollingTimeout);
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if (gpioPort != nullptr) {
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HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
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}
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spiSemaphore->release();
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switch (result) {
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case (HAL_OK): {
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spiCookie.setTransferState(spi::TransferStates::SUCCESS);
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break;
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}
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case (HAL_TIMEOUT): {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
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<< spiCookie->getDeviceAddress() << std::endl;
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#else
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sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
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spiCookie.getDeviceAddress());
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#endif
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#endif
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spiCookie.setTransferState(spi::TransferStates::FAILURE);
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return spi::HAL_TIMEOUT_RETVAL;
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}
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case (HAL_ERROR):
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default: {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
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<< spiCookie->getDeviceAddress() << std::endl;
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#else
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sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
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spiCookie.getDeviceAddress());
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#endif
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#endif
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spiCookie.setTransferState(spi::TransferStates::FAILURE);
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return spi::HAL_ERROR_RETVAL;
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
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SpiCookie &spiCookie, const uint8_t *sendData,
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size_t sendLen) {
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return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
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}
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ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
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SpiCookie &spiCookie, const uint8_t *sendData,
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size_t sendLen) {
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return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
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}
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ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
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SpiCookie &spiCookie, const uint8_t *sendData,
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size_t sendLen) {
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ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
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if (result != returnvalue::OK) {
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return result;
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}
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// yet another HAL driver which is not const-correct..
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HAL_StatusTypeDef status = HAL_OK;
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auto transferMode = spiCookie.getTransferMode();
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if (transferMode == spi::TransferModes::DMA) {
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if (cacheMaintenanceOnTxBuffer) {
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/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
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in case it overlaps cacheline */
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SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
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}
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status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
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currentRecvPtr, sendLen);
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} else {
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status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
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sendLen);
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}
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switch (status) {
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case (HAL_OK): {
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break;
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}
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default: {
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return halErrorHandler(status, transferMode);
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}
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}
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return result;
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}
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ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
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char modeString[10];
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if (transferMode == spi::TransferModes::DMA) {
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std::snprintf(modeString, sizeof(modeString), "Dma");
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} else {
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std::snprintf(modeString, sizeof(modeString), "Interrupt");
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}
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sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
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switch (status) {
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case (HAL_BUSY): {
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return spi::BUSY;
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}
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case (HAL_ERROR): {
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return spi::GENERIC_ERROR;
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}
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case (HAL_TIMEOUT): {
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return spi::TIMEOUT;
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}
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default: {
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return returnvalue::FAILED;
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}
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}
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}
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ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
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SpiCookie &spiCookie, const uint8_t *sendData,
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size_t sendLen) {
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currentRecvPtr = recvPtr;
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currentRecvBuffSize = sendLen;
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// Take the semaphore which will be released by a callback when the transfer is complete
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ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
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if (result != returnvalue::OK) {
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// Configuration error
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sif::printWarning(
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"SpiComIF::handleInterruptSendOperation: Semaphore "
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"could not be acquired after %d ms\n",
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timeoutMs);
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return result;
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}
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// Cache the current SPI handle in any case
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spi::setSpiHandle(&spiHandle);
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// Assign the IRQ arguments for the user callbacks
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irqArgs.comIF = this;
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irqArgs.spiCookie = &spiCookie;
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// The SPI handle is passed to the default SPI callback as a void argument. This callback
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// is different from the user callbacks specified above!
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spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
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if (spiCookie.getChipSelectGpioPort() != nullptr) {
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HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
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GPIO_PIN_RESET);
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}
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return returnvalue::OK;
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}
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void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
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genericIrqHandler(args, spi::TransferStates::SUCCESS);
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}
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void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
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genericIrqHandler(args, spi::TransferStates::SUCCESS);
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}
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void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
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genericIrqHandler(args, spi::TransferStates::SUCCESS);
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}
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void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
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genericIrqHandler(args, spi::TransferStates::FAILURE);
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}
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void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
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IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
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if (irqArgs == nullptr) {
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return;
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}
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SpiCookie *spiCookie = irqArgs->spiCookie;
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SpiComIF *comIF = irqArgs->comIF;
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if (spiCookie == nullptr or comIF == nullptr) {
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return;
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}
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spiCookie->setTransferState(targetState);
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if (spiCookie->getChipSelectGpioPort() != nullptr) {
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// Pull CS pin high again
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HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
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GPIO_PIN_SET);
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}
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#if defined FSFW_OSAL_FREERTOS
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// Release the task semaphore
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BaseType_t taskWoken = pdFALSE;
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ReturnValue_t result =
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BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
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#elif defined FSFW_OSAL_RTEMS
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ReturnValue_t result = comIF->spiSemaphore->release();
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#endif
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if (result != returnvalue::OK) {
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// Configuration error
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printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
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}
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// Perform cache maintenance operation for DMA transfers
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if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
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// Invalidate cache prior to access by CPU
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SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
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}
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#if defined FSFW_OSAL_FREERTOS
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/* Request a context switch if the SPI ComIF task was woken up and has a higher priority
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than the currently running task */
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|
if (taskWoken == pdTRUE) {
|
|
TaskManagement::requestContextSwitch(CallContext::ISR);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void SpiComIF::printCfgError(const char *const type) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
|
|
<< std::endl;
|
|
#else
|
|
sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
|
|
#endif
|
|
}
|