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spi com if finished

This commit is contained in:
Robin Müller 2021-06-05 14:31:49 +02:00
parent 01d3bc2568
commit 5ff344eee2
No known key found for this signature in database
GPG Key ID: BE6480244DFE612C
6 changed files with 199 additions and 16 deletions
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2
linux/spi/SpiComIF.cpp
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@ -47,7 +47,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxBufferSize();
SpiInstance spiInstance = {std::vector<uint8_t>(bufferSize)};
SpiInstance spiInstance(bufferSize);
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1

1
linux/spi/SpiComIF.h
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@ -67,6 +67,7 @@ public:
private:
struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
};

1
stm32h7/devicetest/GyroL3GD20H.h
View File

@ -50,7 +50,6 @@ private:
ReturnValue_t handlePollingSensorRead();
ReturnValue_t handleInterruptSensorRead();
friend void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);

172
stm32h7/spi/SpiComIF.cpp
View File

@ -2,6 +2,7 @@
#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"
@ -30,6 +31,11 @@ SpiComIF::SpiComIF(object_id_t objectId, SPI_TypeDef* spiInstance, SPI_HandleTyp
// 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) {
@ -69,7 +75,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
}
if(transferMode == spi::TransferModes::DMA or transferMode == spi::TransferModes::INTERRUPT) {
spiSemaphore = SemaphoreFactory::instance()->createBinarySemaphore();
spiSemaphore = dynamic_cast<BinarySemaphore*>(
SemaphoreFactory::instance()->createBinarySemaphore());
}
else {
spiMutex = MutexFactory::instance()->createMutex();
@ -80,8 +87,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
auto iter = spiDeviceMap.find(spiAddress);
if(iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxRecvSize();
SpiInstance spiInstance = {std::vector<uint8_t>(bufferSize)};
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -119,6 +125,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
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,
@ -144,12 +152,22 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
return HasReturnvaluesIF::RETURN_OK;
}
void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
this->defaultPollingTimeout = timeout;
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;
}
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
return HasReturnvaluesIF::RETURN_OK;
void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
this->defaultPollingTimeout = timeout;
}
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SpiCookie *spiCookie,
@ -197,14 +215,144 @@ ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t* recvPtr, SpiCookie *
ReturnValue_t SpiComIF::handleInterruptSendOperation(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);
return HasReturnvaluesIF::RETURN_OK;
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);
}
}

36
stm32h7/spi/SpiComIF.h
View File

@ -2,10 +2,12 @@
#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#include "fsfw/tasks/SemaphoreIF.h"
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/osal/FreeRTOS/BinarySemaphore.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h743xx.h"
@ -15,6 +17,13 @@
class SpiCookie;
enum class TransferStates {
IDLE,
WAIT,
SUCCESS,
FAILURE
};
class SpiComIF:
public SystemObject,
public DeviceCommunicationIF {
@ -60,10 +69,15 @@ protected:
virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t *size) override;
private:
struct SpiInstance {
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
size_t currentTransferLen = 0;
};
uint32_t defaultPollingTimeout = 50;
spi::TransferModes transferMode;
@ -72,13 +86,19 @@ private:
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t timeoutMs = 20;
SemaphoreIF* spiSemaphore = nullptr;
BinarySemaphore* spiSemaphore = nullptr;
MutexIF* spiMutex = nullptr;
bool cacheMaintenanceOnTxBuffer = true;
using SpiDeviceMap = std::map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;
GPIO_TypeDef* currentGpioPort = nullptr;
uint16_t currentGpioPin = 0;
uint8_t* currentRecvPtr = nullptr;
size_t currentRecvBuffSize = 0;
volatile TransferStates transferState = TransferStates::IDLE;
SpiDeviceMap spiDeviceMap;
ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SpiCookie* spiCookie,
@ -87,6 +107,20 @@ private:
const uint8_t * sendData, size_t sendLen);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SpiCookie* spiCookie,
const uint8_t * sendData, size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SpiCookie* spiCookie,
const uint8_t * sendData, size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SpiCookie* spiCookie,
const uint8_t * sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
static void genericIrqHandler(SpiComIF* comIF, TransferStates targetState);
};

3
stm32h7/spi/spiDefinitions.h
View File

@ -13,7 +13,8 @@ namespace spi {
static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);
enum SpiBus {
SPI_1,