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continued stm32 spi code

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This commit is contained in:
Robin Müller
2021-06-03 14:00:50 +02:00
parent 4c546820fd
commit 22384aec6a
8 changed files with 152 additions and 17 deletions
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81
stm32h7/devicetest/GyroL3GD20H.cpp
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@ -1,22 +1,29 @@
#include "GyroL3GD20H.h"
#include "stm32h7xx_spi_dma_msp.h"
#include "spiConf.h"
#include "../spi/spiDefinitions.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "stm32h7xx_nucleo.h"
#include "stm32h7xx_hal_spi.h"
uint8_t ALIGN_32BYTES(GyroL3GD20H::recvBuffer[recvBufferSize]);
std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
TransferStates transferState = TransferStates::IDLE;
DMA_HandleTypeDef txDmaHandle;
DMA_HandleTypeDef rxDmaHandle;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle): spiHandle(spiHandle) {
setDmaHandles(&txDmaHandle, &rxDmaHandle);
}
ReturnValue_t GyroL3GD20H::performOperation() {
/*##-1- Configure the SPI peripheral #######################################*/
/* Set the SPI parameters */
ReturnValue_t GyroL3GD20H::initialize() {
// Configure the SPI peripheral
spiHandle->Instance = SPI1;
spiHandle->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_8;
spiHandle->Init.BaudRatePrescaler = SPI_GetPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
spi::assignSpiMode(spi::SpiModes::MODE_3, spiHandle);
spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
@ -25,11 +32,69 @@ ReturnValue_t GyroL3GD20H::performOperation() {
spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
spiHandle->Init.NSS = SPI_NSS_SOFT;
spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
/* Recommended setting to avoid glitches */
// Recommended setting to avoid glitches
spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
spiHandle->Init.Mode = SPI_MODE_MASTER;
if(HAL_SPI_Init(spiHandle) != HAL_OK) {
sif::printWarning("Error initializing SPI\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::performOperation() {
transferState = TransferStates::WAIT;
// Start SPI transfer via DMA
if(HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), 2) != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
// Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr ((uint32_t *)rxBuffer.data(), recvBufferSize);
switch(transferState) {
case(TransferStates::SUCCESS): {
sif::printInfo("Transfer success\n");
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("Transfer failure\n");
transferState = TransferStates::FAILURE;
break;
}
default: {
break;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
* @note This example shows a simple way to report end of DMA TxRx transfer, and
* you can add your own implementation.
* @retval None
*/
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
transferState = TransferStates::SUCCESS;
}
/**
* @brief SPI error callbacks.
* @param hspi: SPI handle
* @note This example shows a simple way to report transfer error, and you can
* add your own implementation.
* @retval None
*/
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
transferState = TransferStates::FAILURE;
}