fsfw-hal/stm32h7/spi/SpiComIF.cpp

#include "SpiComIF.h"
#include "SpiCookie.h"

#include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw/osal/FreeRTOS/TaskManagement.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"

#include "stm32h7xx_hal_gpio.h"

SpiComIF::SpiComIF(object_id_t objectId, SPI_TypeDef* spiInstance, SPI_HandleTypeDef* spiHandle,
        spi::TransferModes transferMode): SystemObject(objectId), transferMode(transferMode),
        spiHandle(spiHandle) {
    if(spiHandle == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "SpiComIF::SpiComIF: Passed SPI handle invalid!" << std::endl;
#else
        sif::printError("SpiComIF::SpiComIF: Passed SPI handle invalid!\n");
#endif
        return;
    }
    spiHandle->Instance = spiInstance;
    spiHandle->Init.DataSize          = SPI_DATASIZE_8BIT;
    spiHandle->Init.FirstBit          = SPI_FIRSTBIT_MSB;
    spiHandle->Init.TIMode            = SPI_TIMODE_DISABLE;
    spiHandle->Init.CRCCalculation    = SPI_CRCCALCULATION_DISABLE;
    spiHandle->Init.CRCPolynomial     = 7;
    spiHandle->Init.CRCLength         = SPI_CRC_LENGTH_8BIT;
    spiHandle->Init.NSS               = SPI_NSS_SOFT;
    spiHandle->Init.NSSPMode          = SPI_NSS_PULSE_DISABLE;
    spiHandle->Init.Direction         = SPI_DIRECTION_2LINES;
    // Recommended setting to avoid glitches
    spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
    spiHandle->Init.Mode = SPI_MODE_MASTER;

    spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, this);
    spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, this);
    spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, this);
    spi::assignTransferErrorCallback(&spiTransferErrorCallback, this);
}

void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
    this->cacheMaintenanceOnTxBuffer = enable;
}

void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
    spi::setDmaHandles(txHandle, rxHandle);
}

ReturnValue_t SpiComIF::initialize() {
    if(transferMode == spi::TransferModes::DMA) {
        DMA_HandleTypeDef *txHandle = nullptr;
        DMA_HandleTypeDef *rxHandle = nullptr;
        spi::getDmaHandles(&txHandle, &rxHandle);
        if(txHandle == nullptr or rxHandle == nullptr) {
            sif::printError("SpiComIF::initialize: DMA handles not set!\n");
            return HasReturnvaluesIF::RETURN_FAILED;
        }
    }
    if(HAL_SPI_Init(spiHandle) != HAL_OK) {
        sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
#else
        sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
#endif
        return NULLPOINTER;
    }

    if(transferMode == spi::TransferModes::DMA or transferMode == spi::TransferModes::INTERRUPT) {
        spiSemaphore = dynamic_cast<BinarySemaphore*>(
                SemaphoreFactory::instance()->createBinarySemaphore());
    }
    else {
        spiMutex = MutexFactory::instance()->createMutex();
    }

    address_t spiAddress = spiCookie->getDeviceAddress();

    auto iter = spiDeviceMap.find(spiAddress);
    if(iter == spiDeviceMap.end()) {
        size_t bufferSize = spiCookie->getMaxRecvSize();
        auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
        if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
                    spiAddress << "to SPI device map" << std::endl;
#else
            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
            return HasReturnvaluesIF::RETURN_FAILED;
        }
    }
    auto gpioPin = spiCookie->getChipSelectGpioPin();
    auto gpioPort = spiCookie->getChipSelectGpioPort();

    GPIO_InitTypeDef chipSelect = {};
    chipSelect.Pin = gpioPin;
    chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
    HAL_GPIO_Init(gpioPort, &chipSelect);
    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }

    spi::assignSpiMode(spiCookie->getSpiMode(), spiHandle);
    spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(),
            spiCookie->getSpiSpeed());
    auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
    if(iter == spiDeviceMap.end()) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    iter->second.currentTransferLen = sendLen;

    switch(transferMode) {
    case(spi::TransferModes::POLLING): {
        return handlePollingSendOperation(iter->second.replyBuffer.data(), spiCookie, sendData,
                sendLen);
    }
    case(spi::TransferModes::INTERRUPT): {
        return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiCookie, sendData,
                sendLen);
    }
    case(spi::TransferModes::DMA): {
        return handleDmaSendOperation(iter->second.replyBuffer.data(), spiCookie, sendData,
                sendLen);
    }
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }
    auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
    if(iter == spiDeviceMap.end()) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    *buffer = iter->second.replyBuffer.data();
    *size = iter->second.currentTransferLen;
    return HasReturnvaluesIF::RETURN_OK;
}

void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
    this->defaultPollingTimeout = timeout;
}

ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SpiCookie *spiCookie,
        const uint8_t *sendData, size_t sendLen) {
    auto gpioPort = spiCookie->getChipSelectGpioPort();
    auto gpioPin = spiCookie->getChipSelectGpioPin();
    spiMutex->lockMutex(timeoutType, timeoutMs);
    HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
    auto result = HAL_SPI_TransmitReceive(spiHandle, const_cast<uint8_t*>(sendData),
            recvPtr, sendLen, defaultPollingTimeout);
    HAL_GPIO_WritePin(gpioPort, gpioPin,  GPIO_PIN_SET);
    spiMutex->unlockMutex();
    switch(result) {
    case(HAL_OK): {
        break;
    }
    case(HAL_TIMEOUT): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device" <<
                spiCookie->getDeviceAddress() << std::endl;
#else
        sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
                spiCookie->getDeviceAddress());
#endif
#endif
        return spi::HAL_TIMEOUT_RETVAL;
    }
    case(HAL_ERROR):
    default: {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device" <<
                spiCookie->getDeviceAddress() << std::endl;
#else
        sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
                spiCookie->getDeviceAddress());
#endif
#endif
        return spi::HAL_ERROR_RETVAL;
    }
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t* recvPtr, SpiCookie* spiCookie,
        const uint8_t * sendData, size_t sendLen) {
    return handleIrqSendOperation(recvPtr, spiCookie, sendData, sendLen);
}

ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t* recvPtr, SpiCookie* spiCookie,
        const uint8_t * sendData, size_t sendLen) {
    return handleIrqSendOperation(recvPtr, spiCookie, sendData, sendLen);
}

ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SpiCookie *spiCookie,
        const uint8_t *sendData, size_t sendLen) {
    ReturnValue_t result = genericIrqSendSetup(recvPtr, spiCookie, sendData, sendLen);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }
    // yet another HAL driver which is not const-correct..
    HAL_StatusTypeDef status = HAL_OK;
    if(transferMode == spi::TransferModes::DMA) {
        status = HAL_SPI_TransmitReceive_DMA(spiHandle, const_cast<uint8_t*>(sendData),
                currentRecvPtr, sendLen);
    }
    else {
        status = HAL_SPI_TransmitReceive_IT(spiHandle, const_cast<uint8_t*>(sendData),
                currentRecvPtr, sendLen);
    }
    switch(status) {
    case(HAL_OK): {
        break;
    }
    default: {
        return halErrorHandler(status);
    }
    }
    return result;
}

ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status) {
    char modeString[10];
    if(transferMode == spi::TransferModes::DMA) {
        std::snprintf(modeString, sizeof(modeString), "Dma");
    }
    else {
        std::snprintf(modeString, sizeof(modeString), "Interrupt");
    }
    sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString,
            status);
    switch(status) {
    case(HAL_BUSY): {
        return spi::HAL_BUSY_RETVAL;
    }
    case(HAL_ERROR): {
        return spi::HAL_ERROR_RETVAL;
    }
    case(HAL_TIMEOUT): {
        return spi::HAL_TIMEOUT_RETVAL;
    }
    default: {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    }
}


ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SpiCookie *spiCookie,
        const uint8_t *sendData, size_t sendLen) {
    // These are required by the callback
    currentGpioPort = spiCookie->getChipSelectGpioPort();
    currentGpioPin = spiCookie->getChipSelectGpioPin();
    currentRecvPtr = recvPtr;
    currentRecvBuffSize = sendLen;

    // Take the semaphore which will be released by a callback when the transfer is complete
    ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        // Configuration error
        sif::printWarning("SpiComIF::handleInterruptSendOperation: Semaphore"
                "could not be acquired after %d ms\n", timeoutMs);
        return result;
    }
    HAL_GPIO_WritePin(currentGpioPort, currentGpioPin, GPIO_PIN_RESET);
    return HasReturnvaluesIF::RETURN_OK;
}

void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
    SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
    if(spiComIF == nullptr) {
        return;
    }
    genericIrqHandler(spiComIF, TransferStates::FAILURE);
}

void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
    SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
    if(spiComIF == nullptr) {
        return;
    }
    genericIrqHandler(spiComIF, TransferStates::FAILURE);
}

void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
    SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
    if(spiComIF == nullptr) {
        return;
    }
    genericIrqHandler(spiComIF, TransferStates::FAILURE);
}

void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
    SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
    if(spiComIF == nullptr) {
        return;
    }
    genericIrqHandler(spiComIF, TransferStates::FAILURE);
}

void SpiComIF::genericIrqHandler(SpiComIF *spiComIF, TransferStates targetState) {
    spiComIF->transferState = TransferStates::SUCCESS;

    // Pull CS pin high again
    HAL_GPIO_WritePin(spiComIF->currentGpioPort, spiComIF->currentGpioPin, GPIO_PIN_SET);

    // Release the task semaphore
    BaseType_t taskWoken = pdFALSE;
    ReturnValue_t result = BinarySemaphore::releaseFromISR(spiComIF->spiSemaphore->getSemaphore(),
            &taskWoken);
    if(result != HasReturnvaluesIF::RETURN_FAILED) {
        // Configuration error
        printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
    }

    // Perform cache maintenance operation for DMA transfers
    if(spiComIF->transferMode == spi::TransferModes::DMA) {
        // Invalidate cache prior to access by CPU
        SCB_InvalidateDCache_by_Addr ((uint32_t *) spiComIF->currentRecvPtr,
                spiComIF->currentRecvBuffSize);
    }
    /* Request a context switch if the SPI ComIF task was woken up and has a higher priority
    than the currently running task */
    if(taskWoken == pdTRUE) {
        TaskManagement::requestContextSwitch(CallContext::ISR);
    }
}