fsfw/fsfw-hal
13
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity

refactored everything

Browse Source
This commit is contained in:
Robin Müller
2021-06-10 19:09:33 +02:00
parent 0e79b5f4ae
commit 8f61c23e62
18 changed files with 740 additions and 265 deletions
Download Patch File Download Diff File Expand all files Collapse all files

36
stm32h7/devicetest/GyroL3GD20H.cpp
View File

@ -3,6 +3,8 @@
#include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h"
#include "../spi/spiCore.h"
#include "../spi/spiInterrupts.h"
#include "../spi/stm32h743ziSpi.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
@ -20,24 +22,32 @@ GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
TransferStates transferState = TransferStates::IDLE;
spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
DMA_HandleTypeDef txDmaHandle;
DMA_HandleTypeDef rxDmaHandle;
GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
spiHandle(spiHandle) {
spiHandle(spiHandle) {
txDmaHandle = new DMA_HandleTypeDef();
rxDmaHandle = new DMA_HandleTypeDef();
spi::setSpiHandle(spiHandle);
transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) {
spi::setDmaHandles(&txDmaHandle, &rxDmaHandle);
spi::setSpiMspFunctions(&spi::halMspInitDma, spiHandle,
&spi::halMspDeinitDma, spiHandle);
mspCfg = new spi::MspDmaConfigStruct();
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct*>(mspCfg);
spi::setDmaHandles(txDmaHandle, rxDmaHandle);
spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
IrqPriorities::HIGHEST_FREERTOS, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiDmaMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
spi::setSpiMspFunctions(&spi::halMspInitInterrupt, spiHandle,
&spi::halMspDeinitInterrupt, spiHandle);
mspCfg = new spi::MspIrqConfigStruct();
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct*>(mspCfg);
spi::h743zi::standardInterruptCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS);
spi::setSpiIrqMspFunctions(typedCfg);
}
else if(transferMode == spi::TransferModes::POLLING) {
spi::setSpiMspFunctions(&spi::halMspInitPolling, spiHandle,
&spi::halMspDeinitPolling, spiHandle);
mspCfg = new spi::MspPollingConfigStruct();
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct*>(mspCfg);
spi::h743zi::standardPollingCfg(*typedCfg);
spi::setSpiPollingMspFunctions(typedCfg);
}
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, nullptr);
@ -51,6 +61,12 @@ GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transf
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
}
GyroL3GD20H::~GyroL3GD20H() {
delete txDmaHandle;
delete rxDmaHandle;
delete mspCfg;
}
ReturnValue_t GyroL3GD20H::initialize() {
// Configure the SPI peripheral
spiHandle->Instance = SPI1;