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refactored everything

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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
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1
stm32h7/spi/CMakeLists.txt
View File

@ -5,4 +5,5 @@ target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
mspInit.cpp
SpiCookie.cpp
SpiComIF.cpp
stm32h743ziSpi.cpp
)

12
stm32h7/spi/SpiComIF.cpp
View File

@ -83,8 +83,16 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
SPI_HandleTypeDef& spiHandle = spiCookie->getSpiHandle();
if(transferMode == spi::TransferModes::POLLING) {
spi::setSpiMspFunctions(&spi::halMspInitPolling, &spiHandle,
&spi::halMspDeinitPolling, &spiHandle);
// spi::setSpiMspFunctions(&spi::halMspInitPolling, &spiHandle,
// &spi::halMspDeinitPolling, &spiHandle);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
// spi::setSpiMspFunctions(&spi::halMspInitInterrupt, &spiHandle,
// &spi::halMspDeinitPolling, &spiHandle);
}
else if(transferMode == spi::TransferModes::DMA) {
// spi::setSpiMspFunctions(&spi::halMspInitDma, &spiHandle,
// &spi::halMspDeinitDma, &spiHandle);
}
gpio::initializeGpioClock(gpioPort);

365
stm32h7/spi/mspInit.cpp
View File

@ -1,4 +1,4 @@
#include <fsfw_hal/stm32h7/dmaInterrupts.h>
#include <fsfw_hal/stm32h7/dma.h>
#include "mspInit.h"
#include "spiConf.h"
#include "spiCore.h"
@ -10,6 +10,12 @@
#include <stdio.h>
spi::msp_func_t mspInitFunc = nullptr;
spi::MspCfgBase* mspInitArgs = nullptr;
spi::msp_func_t mspDeinitFunc = nullptr;
spi::MspCfgBase* mspDeinitArgs = nullptr;
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example:
@ -20,38 +26,44 @@
* @param hspi: SPI handle pointer
* @retval None
*/
void spi::halMspInitDma(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");
void spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) {
return;
}
setSpiHandle(hspi);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
DMA_HandleTypeDef* hdma_tx = nullptr;
DMA_HandleTypeDef* hdma_rx = nullptr;
spi::getDmaHandles(&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;
}
spi::halMspInitPolling(spi_handle);
if (hspi->Instance == SPI1) {
// DMA setup
DMAx_CLK_ENABLE();
spi::halMspInitInterrupt(hspi, cfg);
// Configure the DMA
/* Configure the DMA handler for Transmission process */
// DMA setup
if(cfg->dmaClkEnableWrapper == nullptr) {
mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
}
cfg->dmaClkEnableWrapper();
// Configure the DMA
/* Configure the DMA handler for Transmission process */
if(hdma_tx->Instance == nullptr) {
// Assume it was not configured properly
mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
}
hdma_tx->Instance = SPIx_TX_DMA_STREAM;
hdma_tx->Init.Request = SPIx_TX_DMA_REQUEST;
// offer function to configure this..
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;
@ -60,53 +72,204 @@ void spi::halMspInitDma(void *spi_handle) {
hdma_tx->Init.Mode = DMA_NORMAL;
hdma_tx->Init.Priority = DMA_PRIORITY_LOW;
HAL_DMA_Init(hdma_tx);
HAL_DMA_Init(hdma_tx);
/* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmatx, *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;
/* 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;
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);
HAL_DMA_Init(hdma_rx);
/* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmarx, *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
dma::assignDmaUserHandler(dma::DMAIndexes::DMA_2, dma::DMAStreams::STREAM_2,
&spi::dmaRxIrqHandler, hdma_rx);
HAL_NVIC_SetPriority(SPIx_DMA_RX_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_DMA_RX_IRQn);
/*##-4- Configure the NVIC for DMA #########################################*/
/* NVIC configuration for DMA transfer complete interrupt (SPI1_RX) */
// Assign the interrupt handler
dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx);
HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority);
HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber);
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler
dma::assignDmaUserHandler(dma::DMAIndexes::DMA_2, dma::DMAStreams::STREAM_3,
&spi::dmaTxIrqHandler, hdma_tx);
HAL_NVIC_SetPriority(SPIx_DMA_TX_IRQn, 1, 1);
HAL_NVIC_EnableIRQ(SPIx_DMA_TX_IRQn);
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream,
&spi::dmaTxIrqHandler, hdma_tx);
HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
/*##-5- Configure the NVIC for SPI #########################################*/
/* NVIC configuration for SPI transfer complete interrupt (SPI1) */
// Assign the interrupt handler
spi::assignSpiUserHandler(spi::SPI_1, &spi::spi1IrqHandler, hspi);
HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_IRQn);
/*##-5- Configure the NVIC for SPI #########################################*/
/* NVIC configuration for SPI transfer complete interrupt (SPI1) */
// Assign the interrupt handler
spi::assignSpiUserHandler(spi::SPI_1, &spi::spiIrqHandler, 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 spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if(hspi == nullptr or cfg == nullptr) {
return;
}
spi::halMspDeinitInterrupt(hspi, cfgBase);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
spi::getDmaHandles(&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 {
// 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);
}
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
}
void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase);
GPIO_InitTypeDef GPIO_InitStruct = {};
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
cfg->setupMacroWrapper();
/*##-2- Configure peripheral GPIO ##########################################*/
/* SPI SCK GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->sckPin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = cfg->sckAlternateFunction;
HAL_GPIO_Init(SPIx_SCK_GPIO_PORT, &GPIO_InitStruct);
/* SPI MISO GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->misoPin;
GPIO_InitStruct.Alternate = cfg->misoAlternateFunction;
HAL_GPIO_Init(cfg->misoPort, &GPIO_InitStruct);
/* SPI MOSI GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->mosiPin;
GPIO_InitStruct.Alternate = cfg->mosiAlternateFunction;
HAL_GPIO_Init(cfg->mosiPort, &GPIO_InitStruct);
}
void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
// Reset peripherals
cfg->cleanUpMacroWrapper();
// Disable peripherals and GPIO Clocks
/* Configure SPI SCK as alternate function */
HAL_GPIO_DeInit(cfg->sckPort, cfg->sckPin);
/* Configure SPI MISO as alternate function */
HAL_GPIO_DeInit(cfg->misoPort, cfg->misoPin);
/* Configure SPI MOSI as alternate function */
HAL_GPIO_DeInit(cfg->mosiPort, cfg->mosiPin);
}
void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
if(cfg == nullptr or hspi == nullptr) {
return;
}
spi::halMspInitPolling(hspi, cfg);
// Configure the NVIC for SPI
spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs);
HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority);
HAL_NVIC_EnableIRQ(cfg->spiIrqNumber);
}
void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
spi::halMspDeinitPolling(hspi, cfg);
// Disable the NVIC for SPI
HAL_NVIC_DisableIRQ(cfg->spiIrqNumber);
}
void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) {
if(init_func != NULL && args != NULL) {
*init_func = mspInitFunc;
*args = mspInitArgs;
}
}
void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
if(deinit_func != NULL && args != NULL) {
*deinit_func = mspDeinitFunc;
*args = mspDeinitArgs;
}
}
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
msp_func_t initFunc, msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
void spi::setSpiIrqMspFunctions(MspIrqConfigStruct *cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
void spi::setSpiPollingMspFunctions(MspPollingConfigStruct *cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
/**
* @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
*/
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
if(mspInitFunc != NULL) {
mspInitFunc(hspi, mspInitArgs);
}
else {
printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
@ -118,91 +281,15 @@ void spi::halMspInitDma(void *spi_handle) {
* @param hspi: SPI handle pointer
* @retval None
*/
void spi::halMspDeinitDma(void *spi_handle)
{
SPI_HandleTypeDef* hspi = (SPI_HandleTypeDef*) spi_handle;
if(hspi == NULL) {
return;
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
if(mspDeinitFunc != NULL) {
mspDeinitFunc(hspi, mspDeinitArgs);
}
spi::halMspDeinitPolling(spi_handle);
if(hspi->Instance == SPIx) {
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
spi::getDmaHandles(&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);
else {
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
void spi::halMspInitPolling(void *hspi) {
GPIO_InitTypeDef GPIO_InitStruct = {};
/*##-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 SPI clock */
SPIx_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);
}
void spi::halMspDeinitPolling(void *hspi) {
/*##-1- Reset peripherals ##################################################*/
SPIx_FORCE_RESET();
SPIx_RELEASE_RESET();
/*##-2- Disable peripherals and GPIO Clocks ################################*/
/* Configure SPI SCK as alternate function */
HAL_GPIO_DeInit(SPIx_SCK_GPIO_PORT, SPIx_SCK_PIN);
/* Configure SPI MISO as alternate function */
HAL_GPIO_DeInit(SPIx_MISO_GPIO_PORT, SPIx_MISO_PIN);
/* Configure SPI MOSI as alternate function */
HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
}
void spi::halMspInitInterrupt(void *hspi) {
spi::halMspInitPolling(hspi);
// Configure the NVIC for SPI
spi::assignSpiUserHandler(spi::SPI_1, &spi::spi1IrqHandler, hspi);
HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_IRQn);
}
void spi::halMspDeinitInterrupt(void *hspi) {
spi::halMspDeinitPolling(hspi);
// Disable the NVIC for SPI
HAL_NVIC_DisableIRQ(SPIx_IRQn);
void spi::mspErrorHandler(const char* const function, const char *const message) {
printf("%s failure: %s\n", function, message);
}

95
stm32h7/spi/mspInit.h
View File

@ -1,20 +1,103 @@
#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#include "spiDefinitions.h"
#include "../dma.h"
#include "stm32h7xx_hal_spi.h"
#include <cstdint>
#ifdef __cplusplus
extern "C" {
#endif
namespace spi {
void halMspInitDma(void *hspi);
void halMspDeinitDma(void *hspi);
struct MspCfgBase {
virtual ~MspCfgBase() = default;
void halMspInitPolling(void *hspi);
void halMspDeinitPolling(void *hspi);
void (* cleanUpMacroWrapper) (void) = nullptr;
void (* setupMacroWrapper) (void) = nullptr;
void halMspInitInterrupt(void *hspi);
void halMspDeinitInterrupt(void *hspi);
GPIO_TypeDef* sckPort = nullptr;
uint32_t sckPin = 0;
uint8_t sckAlternateFunction = 0;
GPIO_TypeDef* mosiPort = nullptr;
uint32_t mosiPin = 0;
uint8_t mosiAlternateFunction = 0;
GPIO_TypeDef* misoPort = nullptr;
uint32_t misoPin = 0;
uint8_t misoAlternateFunction = 0;
};
struct MspPollingConfigStruct: public MspCfgBase {};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspIrqConfigStruct: public MspPollingConfigStruct {
SpiBus spiBus = SpiBus::SPI_1;
user_handler_t spiIrqHandler = nullptr;
user_args_t spiUserArgs = nullptr;
IRQn_Type spiIrqNumber = SPI1_IRQn;
// Priorities for NVIC
// Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed
IrqPriorities preEmptPriority = IrqPriorities::LOWEST;
IrqPriorities subpriority = IrqPriorities::LOWEST;
};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspDmaConfigStruct: public MspIrqConfigStruct {
void (* dmaClkEnableWrapper) (void) = nullptr;
dma::DMAIndexes txDmaIndex;
dma::DMAIndexes rxDmaIndex;
dma::DMAStreams txDmaStream;
dma::DMAStreams rxDmaStream;
IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
// Priorities for NVIC
IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities txSubpriority = IrqPriorities::LOWEST;
IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
};
using msp_func_t = void (*) (SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void getMspInitFunction(msp_func_t* init_func, MspCfgBase **args);
void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase **args);
void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
/**
* Assign MSP init functions. Important for SPI configuration
* @param init_func
* @param init_args
* @param deinit_func
* @param deinit_args
*/
void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitDma,
msp_func_t deinitFunc= &spi::halMspDeinitDma
);
void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitInterrupt,
msp_func_t deinitFunc= &spi::halMspDeinitInterrupt
);
void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitPolling,
msp_func_t deinitFunc= &spi::halMspDeinitPolling
);
void mspErrorHandler(const char* const function, const char *const message);
}

257
stm32h7/spi/spiCore.cpp
View File

@ -5,12 +5,6 @@ SPI_HandleTypeDef* spiHandle = nullptr;
DMA_HandleTypeDef* hdmaTx = nullptr;
DMA_HandleTypeDef* hdmaRx = nullptr;
msp_func_t mspInitFunc = nullptr;
void* mspInitArgs = nullptr;
msp_func_t mspDeinitFunc = nullptr;
void* mspDeinitArgs = nullptr;
spi_transfer_cb_t rxTxCb = nullptr;
void* rxTxArgs = nullptr;
spi_transfer_cb_t txCb = nullptr;
@ -20,6 +14,200 @@ void* rxArgs = nullptr;
spi_transfer_cb_t errorCb = nullptr;
void* errorArgs = nullptr;
void spi::configureDmaHandle(DMA_HandleTypeDef *handle, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
uint32_t dmaMode, uint32_t dmaPriority) {
using namespace dma;
if(dmaIdx == DMAIndexes::DMA_1) {
#ifdef DMA1
switch(dmaStream) {
case(DMAStreams::STREAM_0): {
#ifdef DMA1_Stream0
handle->Instance = DMA1_Stream0;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream0_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_1): {
#ifdef DMA1_Stream1
handle->Instance = DMA1_Stream1;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream1_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_2): {
#ifdef DMA1_Stream2
handle->Instance = DMA1_Stream2;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream2_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_3): {
#ifdef DMA1_Stream3
handle->Instance = DMA1_Stream3;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream3_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_4): {
#ifdef DMA1_Stream4
handle->Instance = DMA1_Stream4;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream4_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_5): {
#ifdef DMA1_Stream5
handle->Instance = DMA1_Stream5;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream5_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_6): {
#ifdef DMA1_Stream6
handle->Instance = DMA1_Stream6;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream6_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_7): {
#ifdef DMA1_Stream7
handle->Instance = DMA1_Stream7;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream7_IRQn;
}
#endif
break;
}
}
if(dmaType == DMAType::TX) {
handle->Init.Request = DMA_REQUEST_SPI1_TX;
}
else {
handle->Init.Request = DMA_REQUEST_SPI1_RX;
}
#endif /* DMA1 */
}
if(dmaIdx == DMAIndexes::DMA_2) {
#ifdef DMA2
switch(dmaStream) {
case(DMAStreams::STREAM_0): {
#ifdef DMA1_Stream0
handle->Instance = DMA2_Stream0;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream0_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_1): {
#ifdef DMA1_Stream1
handle->Instance = DMA2_Stream1;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream1_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_2): {
#ifdef DMA1_Stream2
handle->Instance = DMA2_Stream2;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream2_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_3): {
#ifdef DMA1_Stream3
handle->Instance = DMA2_Stream3;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream3_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_4): {
#ifdef DMA1_Stream4
handle->Instance = DMA1_Stream4;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream4_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_5): {
#ifdef DMA1_Stream5
handle->Instance = DMA1_Stream5;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream5_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_6): {
#ifdef DMA1_Stream6
handle->Instance = DMA1_Stream6;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream6_IRQn;
}
#endif
break;
}
case(DMAStreams::STREAM_7): {
#ifdef DMA1_Stream7
handle->Instance = DMA1_Stream7;
if(dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream7_IRQn;
}
#endif
break;
}
}
if(dmaType == DMAType::TX) {
handle->Init.Request = DMA_REQUEST_SPI2_TX;
}
else {
handle->Init.Request = DMA_REQUEST_SPI2_RX;
}
#endif /* DMA2 */
}
if(dmaType == DMAType::TX) {
handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
}
else {
handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
}
handle->Init.Priority = dmaPriority;
handle->Init.Mode = dmaMode;
// Standard settings for the rest for now
handle->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
handle->Init.MemBurst = DMA_MBURST_INC4;
handle->Init.PeriphBurst = DMA_PBURST_INC4;
handle->Init.PeriphInc = DMA_PINC_DISABLE;
handle->Init.MemInc = DMA_MINC_ENABLE;
handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
handle->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
}
void spi::setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
hdmaTx = txHandle;
hdmaRx = rxHandle;
@ -61,63 +249,7 @@ SPI_HandleTypeDef* spi::getSpiHandle() {
return spiHandle;
}
void spi::setSpiMspFunctions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
void* deinit_args) {
mspInitFunc = init_func;
mspInitArgs = init_args;
mspDeinitFunc = deinit_func;
mspDeinitArgs = deinit_args;
}
void spi::getMspInitFunction(msp_func_t* init_func, void **args) {
if(init_func != NULL && args != NULL) {
*init_func = mspInitFunc;
*args = mspInitArgs;
}
}
void spi::getMspDeinitFunction(msp_func_t* deinit_func, void **args) {
if(deinit_func != NULL && args != NULL) {
*deinit_func = mspDeinitFunc;
*args = mspDeinitArgs;
}
}
/**
* @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
*/
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) {
if(mspInitFunc != NULL) {
mspInitFunc(mspInitArgs);
}
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
*/
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) {
if(mspDeinitFunc != NULL) {
mspDeinitFunc(mspDeinitArgs);
}
else {
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
/**
* @brief TxRx Transfer completed callback.
@ -173,4 +305,3 @@ extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
printf("HAL_SPI_ErrorCallback: No user callback specified\n");
}
}

18
stm32h7/spi/spiCore.h
View File

@ -1,27 +1,22 @@
#ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
#define FSFW_HAL_STM32H7_SPI_SPICORE_H_
#include <fsfw_hal/stm32h7/dma.h>
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#ifdef __cplusplus
extern "C" {
#endif
using msp_func_t = void (*) (void* args);
using spi_transfer_cb_t = void (*) (SPI_HandleTypeDef *hspi, void* userArgs);
namespace spi {
/**
* Assign MSP init functions. Important for SPI configuration
* @param init_func
* @param init_args
* @param deinit_func
* @param deinit_args
*/
void setSpiMspFunctions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
void* deinit_args);
void configureDmaHandle(DMA_HandleTypeDef* Handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber, uint32_t dmaMode = DMA_NORMAL,
uint32_t dmaPriority = DMA_PRIORITY_LOW);
/**
* Assign DMA handles. Required to use DMA for SPI transfers.
@ -31,9 +26,6 @@ void setSpiMspFunctions(msp_func_t init_func, void* init_args, msp_func_t deinit
void setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
void getMspInitFunction(msp_func_t* init_func, void **args);
void getMspDeinitFunction(msp_func_t* deinit_func, void **args);
/**
* Assign SPI handle. Needs to be done before using the SPI
* @param spiHandle

36
stm32h7/spi/spiInterrupts.cpp
View File

@ -1,4 +1,5 @@
#include "spiInterrupts.h"
#include "spiCore.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
@ -6,10 +7,10 @@
#include <stddef.h>
user_handler_t spi1UserHandler = nullptr;
user_handler_t spi1UserHandler = &spi::spiIrqHandler;
user_args_t spi1UserArgs = nullptr;
user_handler_t spi2UserHandler = nullptr;
user_handler_t spi2UserHandler = &spi::spiIrqHandler;
user_args_t spi2UserArgs = nullptr;
/**
@ -35,9 +36,10 @@ void spi::dmaTxIrqHandler(void* dmaHandle) {
* @param None
* @retval None
*/
void spi::spi1IrqHandler(void* spiHandle)
void spi::spiIrqHandler(void* spiHandle)
{
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spiHandle);
auto currentSpiHandle = spi::getSpiHandle();
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) currentSpiHandle);
}
void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
@ -52,6 +54,30 @@ void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
}
}
void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
user_args_t *userArgs) {
if(userHandler == nullptr or userArgs == nullptr) {
return;
}
if(spiBus == spi::SpiBus::SPI_1) {
*userArgs = spi1UserArgs;
*userHandler = spi1UserHandler;
}
else {
*userArgs = spi2UserArgs;
*userHandler = spi2UserHandler;
}
}
void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
if(spiBus == spi::SpiBus::SPI_1) {
spi1UserArgs = userArgs;
}
else {
spi2UserArgs = userArgs;
}
}
/* Do not change these function names! They need to be exactly equal to the name of the functions
defined in the startup_stm32h743xx.s files! */
@ -70,5 +96,3 @@ extern "C" void SPI2_IRQHandler() {
}
Default_Handler();
}

6
stm32h7/spi/spiInterrupts.h
View File

@ -10,6 +10,8 @@ extern "C" {
namespace spi {
void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs);
/**
* Assign a user interrupt handler for SPI bus 1, allowing to pass an arbitrary argument as well.
* Generally, this argument will be the related SPI handle.
@ -18,6 +20,8 @@ namespace spi {
*/
void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler,
user_args_t user_args);
void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler,
user_args_t* user_args);
/**
* Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
@ -26,7 +30,7 @@ void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler,
*/
void dmaRxIrqHandler(void* dma_handle);
void dmaTxIrqHandler(void* dma_handle);
void spi1IrqHandler(void* spi_handle);
void spiIrqHandler(void* spi_handle);
}

81
stm32h7/spi/stm32h743ziSpi.cpp Normal file
View File

@ -0,0 +1,81 @@
#include "stm32h743ziSpi.h"
#include "spiCore.h"
#include "spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstdio>
void spiSetupWrapper() {
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE();
}
void spiCleanUpWrapper() {
__HAL_RCC_SPI1_FORCE_RESET();
__HAL_RCC_SPI1_RELEASE_RESET();
}
void spiDmaClockEnableWrapper() {
__HAL_RCC_SPI1_CLK_ENABLE();
}
void spi::h743zi::standardPollingCfg(MspPollingConfigStruct& cfg) {
cfg.setupMacroWrapper = &spiSetupWrapper;
cfg.cleanUpMacroWrapper = &spiCleanUpWrapper;
cfg.sckPort = GPIOA;
cfg.sckPin = GPIO_PIN_5;
cfg.misoPort = GPIOA;
cfg.misoPin = GPIO_PIN_6;
cfg.mosiPort = GPIOA;
cfg.mosiPin = GPIO_PIN_7;
cfg.sckAlternateFunction = GPIO_AF5_SPI1;
cfg.mosiAlternateFunction = GPIO_AF5_SPI1;
cfg.misoAlternateFunction = GPIO_AF5_SPI1;
}
void spi::h743zi::standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio) {
// High, but works on FreeRTOS as well (priorities range from 0 to 15)
cfg.preEmptPriority = spiIrqPrio;
cfg.subpriority = spiSubprio;
cfg.spiIrqNumber = SPI1_IRQn;
cfg.spiBus = SpiBus::SPI_1;
user_handler_t spiUserHandler = nullptr;
user_args_t spiUserArgs = nullptr;
getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
if(spiUserHandler == nullptr) {
printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
return;
}
cfg.spiUserArgs = spiUserArgs;
cfg.spiIrqHandler = spiUserHandler;
standardPollingCfg(cfg);
}
void spi::h743zi::standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio, IrqPriorities spiSubprio,
IrqPriorities txSubprio, IrqPriorities rxSubprio) {
cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
cfg.rxDmaIndex = dma::DMAIndexes::DMA_1;
cfg.txDmaIndex = dma::DMAIndexes::DMA_1;
cfg.txDmaStream = dma::DMAStreams::STREAM_3;
cfg.rxDmaStream = dma::DMAStreams::STREAM_2;
DMA_HandleTypeDef* txHandle;
DMA_HandleTypeDef* rxHandle;
spi::getDmaHandles(&txHandle, &rxHandle);
if(txHandle == nullptr or rxHandle == nullptr) {
printf("spi::h743zi::standardDmaCfg: Invalid DMA handles");
return;
}
spi::configureDmaHandle(txHandle, dma::DMAType::TX, cfg.txDmaIndex, cfg.txDmaStream,
&cfg.txDmaIrqNumber);
spi::configureDmaHandle(rxHandle, dma::DMAType::RX, cfg.rxDmaIndex, cfg.rxDmaStream,
&cfg.rxDmaIrqNumber);
cfg.txPreEmptPriority = txIrqPrio;
cfg.rxPreEmptPriority = txSubprio;
cfg.txSubpriority = rxIrqPrio;
cfg.rxSubpriority = rxSubprio;
standardInterruptCfg(cfg, spiIrqPrio, spiSubprio);
}

23
stm32h7/spi/stm32h743ziSpi.h Normal file
View File

@ -0,0 +1,23 @@
#ifndef FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_
#define FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_
#include "mspInit.h"
namespace spi {
namespace h743zi {
void standardPollingCfg(MspPollingConfigStruct& cfg);
void standardInterruptCfg(MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio = HIGHEST);
void standardDmaCfg(MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities spiSubprio = HIGHEST, IrqPriorities txSubPrio = HIGHEST,
IrqPriorities rxSubprio = HIGHEST);
}
}
#endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */