fsfw/fsfw-hal
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refactored some components

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This commit is contained in:
Robin Müller
2021-06-11 10:37:48 +02:00
parent 543ee54cca
commit 3e8de10866
6 changed files with 120 additions and 68 deletions
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146
stm32h7/spi/SpiComIF.cpp
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@ -11,10 +11,11 @@
#include "stm32h7xx_hal_gpio.h"
SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, this);
spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, this);
spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, this);
spi::assignTransferErrorCallback(&spiTransferErrorCallback, this);
void* irqArgsVoided = reinterpret_cast<void*>(&irqArgs);
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
}
void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
@ -112,20 +113,20 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::DMA) {
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
if(typedCfg == nullptr) {
printCfgError("DMA MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
// Check DMA handles
DMA_HandleTypeDef* txHandle = nullptr;
DMA_HandleTypeDef* rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
if(typedCfg == nullptr) {
printCfgError("DMA MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
// Check DMA handles
DMA_HandleTypeDef* txHandle = nullptr;
DMA_HandleTypeDef* rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
}
gpio::initializeGpioClock(gpioPort);
@ -160,6 +161,17 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
iter->second.currentTransferLen = sendLen;
auto transferMode = spiCookie->getTransferMode();
switch(spiCookie->getTransferState()) {
case(spi::TransferStates::IDLE): {
break;
}
case(spi::TransferStates::WAIT):
case(spi::TransferStates::FAILURE):
case(spi::TransferStates::SUCCESS):
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
switch(transferMode) {
case(spi::TransferModes::POLLING): {
@ -191,12 +203,37 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
if(spiCookie == nullptr) {
return NULLPOINTER;
}
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) {
switch(spiCookie->getTransferState()) {
case(spi::TransferStates::SUCCESS): {
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if(iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
*size = iter->second.currentTransferLen;
spiCookie->setTransferState(spi::TransferStates::IDLE);
break;
}
case(spi::TransferStates::FAILURE): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
#else
sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
#endif
#endif
spiCookie->setTransferState(spi::TransferStates::IDLE);
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
*size = iter->second.currentTransferLen;
case(spi::TransferStates::WAIT):
case(spi::TransferStates::IDLE): {
break;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
@ -212,6 +249,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
if(returnval != HasReturnvaluesIF::RETURN_OK) {
return returnval;
}
spiCookie.setTransferState(spi::TransferStates::WAIT);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t*>(sendData),
recvPtr, sendLen, defaultPollingTimeout);
@ -219,6 +257,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
spiSemaphore->release();
switch(result) {
case(HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break;
}
case(HAL_TIMEOUT): {
@ -231,6 +270,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
spiCookie.getDeviceAddress());
#endif
#endif
spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_TIMEOUT_RETVAL;
}
case(HAL_ERROR):
@ -244,6 +284,7 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleT
spiCookie.getDeviceAddress());
#endif
#endif
spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_ERROR_RETVAL;
}
}
@ -323,9 +364,6 @@ ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferM
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef& spiHandle,
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;
@ -339,53 +377,53 @@ ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef&
}
// Cache the current SPI handle in any case
spi::setSpiHandle(&spiHandle);
// The SPI handle is passed to the default SPI callback as a void argument
// Assign the IRQ arguments for the user callbacks
irqArgs.comIF = this;
irqArgs.spiCookie = &spiCookie;
// The SPI handle is passed to the default SPI callback as a void argument. This callback
// is different from the user callbacks specified above!
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void*>(&spiHandle));
HAL_GPIO_WritePin(currentGpioPort, currentGpioPin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
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);
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
if(spiComIF == nullptr) {
return;
}
genericIrqHandler(spiComIF, TransferStates::FAILURE);
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
if(spiComIF == nullptr) {
return;
}
genericIrqHandler(spiComIF, TransferStates::FAILURE);
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
SpiComIF* spiComIF = reinterpret_cast<SpiComIF*>(args);
if(spiComIF == nullptr) {
return;
}
genericIrqHandler(spiComIF, TransferStates::FAILURE);
genericIrqHandler(args, spi::TransferStates::FAILURE);
}
void SpiComIF::genericIrqHandler(SpiComIF *spiComIF, TransferStates targetState) {
spiComIF->transferState = TransferStates::SUCCESS;
void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
IrqArgs* irqArgs = reinterpret_cast<IrqArgs*>(irqArgsVoid);
if(irqArgs == nullptr) {
return;
}
SpiCookie* spiCookie = irqArgs->spiCookie;
SpiComIF* comIF = irqArgs->comIF;
if(spiCookie == nullptr or comIF == nullptr) {
return;
}
spiCookie->setTransferState(targetState);
// Pull CS pin high again
HAL_GPIO_WritePin(spiComIF->currentGpioPort, spiComIF->currentGpioPin, GPIO_PIN_SET);
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
// Release the task semaphore
BaseType_t taskWoken = pdFALSE;
ReturnValue_t result = BinarySemaphore::releaseFromISR(spiComIF->spiSemaphore->getSemaphore(),
ReturnValue_t result = BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(),
&taskWoken);
if(result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
@ -393,10 +431,10 @@ void SpiComIF::genericIrqHandler(SpiComIF *spiComIF, TransferStates targetState)
}
// Perform cache maintenance operation for DMA transfers
if(spiComIF->currentTransferMode == spi::TransferModes::DMA) {
if(spiCookie->getTransferMode() == spi::TransferModes::DMA) {
// Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr ((uint32_t *) spiComIF->currentRecvPtr,
spiComIF->currentRecvBuffSize);
SCB_InvalidateDCache_by_Addr ((uint32_t *) comIF->currentRecvPtr,
comIF->currentRecvBuffSize);
}
/* Request a context switch if the SPI ComIF task was woken up and has a higher priority
than the currently running task */