fsfw/fsfw-hal
fsfw/fsfw-hal
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added msp init functions

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This commit is contained in:
Robin Müller 2021-06-03 21:42:52 +02:00
parent a9390b145b
commit 863dfa68a0
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GPG Key ID: BE6480244DFE612C
6 changed files with 305 additions and 16 deletions
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18
stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -1,6 +1,6 @@
#include "GyroL3GD20H.h"
#include "stm32h7xx_spi_dma_msp.h"
#include "spiConf.h"
#include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h"
#include "../spi/spiCore.h"
@ -9,6 +9,7 @@
#include "stm32h7xx_nucleo.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_rcc.h"
std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
TransferStates transferState = TransferStates::IDLE;
@ -16,18 +17,19 @@ DMA_HandleTypeDef txDmaHandle;
DMA_HandleTypeDef rxDmaHandle;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle): spiHandle(spiHandle) {
setDmaHandles(&txDmaHandle, &rxDmaHandle);
set_dma_handles(&txDmaHandle, &rxDmaHandle);
set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
GPIO_InitTypeDef chipSelect = {};
__HAL_RCC_GPIOD_CLK_ENABLE();
chipSelect.Pin = GPIO_PIN_14;
chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(GPIOD, &chipSelect);
HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
}
ReturnValue_t GyroL3GD20H::initialize() {
// Configure the SPI peripheral
spiHandle->Instance = SPI1;
//uint32_t test = HAL_RCC_GetHCLKFreq();
spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
spi::assignSpiMode(spi::SpiModes::MODE_3, spiHandle);
@ -63,7 +65,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
txBuffer[1] = 0;
// Start SPI transfer via DMA
HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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");
@ -71,7 +73,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
//TaskFactory::delayTask(1);
}
// Invalidate cache prior to access by CPU
@ -83,7 +85,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::performOperation: "
"Read WHO AM I value not equal to expected value!\n");
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
}
transferState = TransferStates::IDLE;
break;
@ -109,7 +111,7 @@ ReturnValue_t GyroL3GD20H::performOperation() {
*/
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
transferState = TransferStates::SUCCESS;
HAL_GPIO_WritePin(GPIOD, 14, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
}
/**

1
stm32h7/spi/CMakeLists.txt
View File

@ -2,4 +2,5 @@ target_sources(${TARGET_NAME} PRIVATE
spiCore.c
spiDefinitions.cpp
interrupts.c
mspInit.c
)

192
stm32h7/spi/mspInit.c Normal file
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@ -0,0 +1,192 @@
#include "mspInit.h"
#include "spiConf.h"
#include "spiCore.h"
#include "../dma_interrupts.h"
#include "interrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_def.h"
#include <stdio.h>
void dma_rx_irq_handler(void* dma_handle);
void dma_tx_irq_handler(void* dma_handle);
void spi1_irq_handler(void* spi_handle);
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* - NVIC configuration for DMA interrupt request enable
* @param hspi: SPI handle pointer
* @retval None
*/
void hal_spi_msp_init_dma(void *spi_handle) {
SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
if(hspi == NULL) {
return;
}
if(hspi == NULL) {
printf("HAL_SPI_MspInit: Invalid SPI handle!\n");
return;
}
assign_spi_handle(hspi);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
get_dma_handles(&hdma_tx, &hdma_rx);
if(hdma_tx == NULL || hdma_rx == NULL) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
return;
}
GPIO_InitTypeDef GPIO_InitStruct;
if (hspi->Instance == SPI1)
{
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
SPIx_SCK_GPIO_CLK_ENABLE();
SPIx_MISO_GPIO_CLK_ENABLE();
SPIx_MOSI_GPIO_CLK_ENABLE();
/* Enable SPI1 clock */
SPIx_CLK_ENABLE();
/* Enable DMA clock */
DMAx_CLK_ENABLE();
/*##-2- Configure peripheral GPIO ##########################################*/
/* SPI SCK GPIO pin configuration */
GPIO_InitStruct.Pin = SPIx_SCK_PIN;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = SPIx_SCK_AF;
HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
/* SPI MISO GPIO pin configuration */
GPIO_InitStruct.Pin = SPIx_MISO_PIN;
GPIO_InitStruct.Alternate = SPIx_MISO_AF;
HAL_GPIO_Init(SPIx_MISO_GPIO_PORT, &GPIO_InitStruct);
/* SPI MOSI GPIO pin configuration */
GPIO_InitStruct.Pin = SPIx_MOSI_PIN;
GPIO_InitStruct.Alternate = SPIx_MOSI_AF;
HAL_GPIO_Init(SPIx_MOSI_GPIO_PORT, &GPIO_InitStruct);
/*##-3- Configure the DMA ##################################################*/
/* Configure the DMA handler for Transmission process */
hdma_tx->Instance = SPIx_TX_DMA_STREAM;
hdma_tx->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_tx->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_tx->Init.MemBurst = DMA_MBURST_INC4;
hdma_tx->Init.PeriphBurst = DMA_PBURST_INC4;
hdma_tx->Init.Request = SPIx_TX_DMA_REQUEST;
hdma_tx->Init.Direction = DMA_MEMORY_TO_PERIPH;
hdma_tx->Init.PeriphInc = DMA_PINC_DISABLE;
hdma_tx->Init.MemInc = DMA_MINC_ENABLE;
hdma_tx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_tx->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_tx->Init.Mode = DMA_NORMAL;
hdma_tx->Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(hdma_tx);
/* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
/* Configure the DMA handler for Transmission process */
hdma_rx->Instance = SPIx_RX_DMA_STREAM;
hdma_rx->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
hdma_rx->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_rx->Init.MemBurst = DMA_MBURST_INC4;
hdma_rx->Init.PeriphBurst = DMA_PBURST_INC4;
hdma_rx->Init.Request = SPIx_RX_DMA_REQUEST;
hdma_rx->Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_rx->Init.PeriphInc = DMA_PINC_DISABLE;
hdma_rx->Init.MemInc = DMA_MINC_ENABLE;
hdma_rx->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
hdma_rx->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
hdma_rx->Init.Mode = DMA_NORMAL;
hdma_rx->Init.Priority = DMA_PRIORITY_HIGH;
HAL_DMA_Init(hdma_rx);
/* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmarx, *hdma_rx);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
// Assign the interrupt handler
assign_dma_user_handler(DMA_2, 2, &dma_rx_irq_handler, hdma_rx);
HAL_NVIC_SetPriority(SPIx_DMA_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_DMA_RX_IRQn);
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler
assign_dma_user_handler(DMA_2, 3, &dma_tx_irq_handler, hdma_tx);
HAL_NVIC_SetPriority(SPIx_DMA_TX_IRQn, 1, 1);
HAL_NVIC_EnableIRQ(SPIx_DMA_TX_IRQn);
/*##-5- Configure the NVIC for SPI #########################################*/
/* NVIC configuration for SPI transfer complete interrupt (SPI1) */
// Assign the interrupt handler
assign_spi_user_handler(SPI_1, &spi1_irq_handler, hspi);
HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_IRQn);
}
}
/**
* @brief SPI MSP De-Initialization
* This function frees the hardware resources used in this example:
* - Disable the Peripheral's clock
* - Revert GPIO, DMA and NVIC configuration to their default state
* @param hspi: SPI handle pointer
* @retval None
*/
void hal_spi_msp_deinit_dma(void *spi_handle)
{
SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
if(hspi == NULL) {
return;
}
if(hspi->Instance == SPIx)
{
/*##-1- Reset peripherals ##################################################*/
SPIx_FORCE_RESET();
SPIx_RELEASE_RESET();
/*##-2- Disable peripherals and GPIO Clocks ################################*/
/* Deconfigure SPI SCK */
HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
/* Deconfigure SPI MISO */
HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
/* Deconfigure SPI MOSI */
HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
get_dma_handles(&hdma_tx, &hdma_rx);
if(hdma_tx == NULL || hdma_rx == NULL) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
}
else {
/*##-3- Disable the DMA ####################################################*/
/* De-Initialize the DMA associated to transmission process */
HAL_DMA_DeInit(hdma_tx);
/* De-Initialize the DMA associated to reception process */
HAL_DMA_DeInit(hdma_rx);
}
/*##-4- Disable the NVIC for DMA ###########################################*/
HAL_NVIC_DisableIRQ(SPIx_DMA_TX_IRQn);
HAL_NVIC_DisableIRQ(SPIx_DMA_RX_IRQn);
/*##-5- Disable the NVIC for SPI ###########################################*/
HAL_NVIC_EnableIRQ(SPIx_IRQn);
}
}

15
stm32h7/spi/mspInit.h Normal file
View File

@ -0,0 +1,15 @@
#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#ifdef __cplusplus
extern "C" {
#endif
void hal_spi_msp_init_dma(void *hspi);
void hal_spi_msp_deinit_dma(void *hspi);
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_MSPINIT_H_ */

73
stm32h7/spi/spiCore.c
View File

@ -1,27 +1,34 @@
#include "spiCore.h"
#include <stdio.h>
SPI_HandleTypeDef* spiHandle = NULL;
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
void setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
msp_func_t msp_init_func = NULL;
void* msp_init_args = NULL;
msp_func_t msp_deinit_func = NULL;
void* msp_deinit_args = NULL;
void set_dma_handles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
hdma_tx = txHandle;
hdma_rx = rxHandle;
}
void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
void get_dma_handles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
*txHandle = hdma_tx;
*rxHandle = hdma_rx;
}
void assignSpiHandle(SPI_HandleTypeDef *spiHandle_) {
void assign_spi_handle(SPI_HandleTypeDef *spiHandle_) {
if(spiHandle_ == NULL) {
return;
}
spiHandle = spiHandle_;
}
SPI_HandleTypeDef* getSpiHandle() {
SPI_HandleTypeDef* get_spi_handle() {
return spiHandle;
}
@ -52,3 +59,61 @@ void spi1_irq_handler(void* spi_handle)
{
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spi_handle);
}
void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
void* deinit_args) {
msp_init_func = init_func;
msp_init_args = init_args;
msp_deinit_func = deinit_func;
msp_deinit_args = deinit_args;
}
void get_msp_init_function(msp_func_t* init_func, void **args) {
if(init_func != NULL && args != NULL) {
*init_func = msp_init_func;
*args = msp_init_args;
}
}
void get_msp_deinit_function(msp_func_t* deinit_func, void **args) {
if(deinit_func != NULL && args != NULL) {
*deinit_func = msp_deinit_func;
*args = msp_deinit_args;
}
}
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* - NVIC configuration for DMA interrupt request enable
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
if(msp_init_func != NULL) {
msp_init_func(msp_init_args);
}
else {
printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
/**
* @brief SPI MSP De-Initialization
* This function frees the hardware resources used in this example:
* - Disable the Peripheral's clock
* - Revert GPIO, DMA and NVIC configuration to their default state
* @param hspi: SPI handle pointer
* @retval None
*/
void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
if(msp_deinit_func != NULL) {
msp_deinit_func(msp_deinit_args);
}
else {
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}

22
stm32h7/spi/spiCore.h
View File

@ -8,26 +8,40 @@
extern "C" {
#endif
typedef void (*msp_func_t) (void* args);
/**
* Assign MSP init functions. Important for SPI configuration
* @param init_func
* @param init_args
* @param deinit_func
* @param deinit_args
*/
void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
void* deinit_args);
/**
* Assign DMA handles. Required to use DMA for SPI transfers.
* @param txHandle
* @param rxHandle
*/
void setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
void set_dma_handles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
void get_dma_handles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
void get_msp_init_function(msp_func_t* init_func, void **args);
void get_msp_deinit_function(msp_func_t* deinit_func, void **args);
/**
* Assign SPI handle. Needs to be done before using the SPI
* @param spiHandle
*/
void assignSpiHandle(SPI_HandleTypeDef *spiHandle);
void assign_spi_handle(SPI_HandleTypeDef *spiHandle);
/**
* Get the assigned SPI handle.
* @return
*/
SPI_HandleTypeDef* getSpiHandle();
SPI_HandleTypeDef* get_spi_handle();
#ifdef __cplusplus
}