38 Commits

Author SHA1 Message Date
895ba1b455 IRQ and POlling now working as well 2021-06-04 15:50:02 +02:00
cf1d6bad19 performed sensor readout 2021-06-04 14:41:02 +02:00
cf8235cede solves issue with DMA 2021-06-04 12:58:30 +02:00
20815c1d6b polling transfer worked 2021-06-03 22:07:59 +02:00
ff7421e1dd added spi transfer modes 2021-06-03 21:53:52 +02:00
66a7a4dbbe added polling msp init 2021-06-03 21:49:16 +02:00
863dfa68a0 added msp init functions 2021-06-03 21:42:52 +02:00
a9390b145b stll some issues 2021-06-03 16:44:02 +02:00
abe62d807a refactored irq code 2021-06-03 16:11:49 +02:00
78a66e1b67 added IRS abstraction 2021-06-03 15:12:34 +02:00
21414c3594 extended spi core 2021-06-03 14:38:34 +02:00
dc6327b909 added spi hal functions 2021-06-03 14:03:38 +02:00
22384aec6a continued stm32 spi code 2021-06-03 14:00:50 +02:00
4c546820fd added gyrol3gd20h stm32 test file 2021-05-31 20:40:16 +02:00
4ba4e45789 added uart com if 2021-05-25 17:21:16 +02:00
9e5e6da6f8 include corrections 2021-05-25 15:35:53 +02:00
c69f314441 additional doc 2021-05-25 15:34:44 +02:00
3c19e0f9eb some doc added 2021-05-25 15:33:50 +02:00
836296b3af indentation 2021-05-25 15:18:05 +02:00
6487c88fc9 small bugfix 2021-05-25 15:16:00 +02:00
61d7c61852 resetting reply buffer for regular send 2021-05-25 14:01:42 +02:00
c2b4231802 default wiretapping off 2021-05-25 13:52:39 +02:00
2893da047b extracted wiretapping function 2021-05-25 12:45:11 +02:00
bf8f3db41c some tweaks to make callback usage more easy 2021-05-25 12:14:22 +02:00
73a427d7e0 function is public now 2021-05-24 20:33:43 +02:00
f363d0fbd5 com if passed to callback as well 2021-05-24 19:11:01 +02:00
d801319c12 small fixes 2021-05-24 01:20:16 +02:00
2fe1a66836 added callback function 2021-05-24 00:13:59 +02:00
9203a30bcf added callback functionality to spi 2021-05-23 21:34:59 +02:00
a0f698fffa Merge pull request 'wrapped mutex error printout in preprocessor defines' (#6) from meier/master into master
Reviewed-on: fsfw/fsfw_hal#6
2021-05-12 18:13:05 +02:00
6341da2212 Merge branch 'master' into meier/master 2021-05-12 18:12:42 +02:00
e5da8b194d wrapped mutex error printout in preprocessor defines 2021-05-12 18:06:03 +02:00
c601e1dff7 Merge pull request 'fixed mutex bug' (#5) from meier/master into master
Reviewed-on: fsfw/fsfw_hal#5
2021-05-12 17:57:40 +02:00
d929352417 Merge branch 'master' into meier/master 2021-05-12 17:55:34 +02:00
49da48dc0d fixed mutex bug 2021-05-12 17:40:14 +02:00
99ba9d9346 Merge pull request 'meier/master' (#3) from meier/master into master
Reviewed-on: fsfw/fsfw_hal#3
2021-05-12 10:57:03 +02:00
425cfd2aba Merge branch 'master' into meier/master 2021-05-12 10:39:53 +02:00
8a38c7958b spi mutex only blocked when gpio != NO_GPIO 2021-05-12 10:22:23 +02:00
30 changed files with 2194 additions and 51 deletions

17
common/spi/spiCommon.h Normal file
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@ -0,0 +1,17 @@
#ifndef FSFW_HAL_COMMON_SPI_SPICOMMON_H_
#define FSFW_HAL_COMMON_SPI_SPICOMMON_H_
#include <cstdint>
namespace spi {
enum SpiModes: uint8_t {
MODE_0,
MODE_1,
MODE_2,
MODE_3
};
}
#endif /* FSFW_HAL_COMMON_SPI_SPICOMMON_H_ */

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@ -10,3 +10,4 @@ target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
add_subdirectory(gpio)
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)

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@ -82,7 +82,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open chip "
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
@ -90,9 +90,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
lineNum = regularGpio->lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO" << std::endl;
sif::warning << "GPIO ID " << gpioId << "with line number " << lineNum <<
" and chipname " << chipname << std::endl;
sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", chipname: " << chipname << std::endl;
sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
@ -105,7 +106,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio->initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl;
gpiod_line_release(lineHandle);
return RETURN_FAILED;

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@ -2,10 +2,9 @@
#include "SpiCookie.h"
#include "../utility.h"
#include "../UnixFileGuard.h"
#include <FSFWConfig.h>
#include "FSFWConfig.h"
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexGuard.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
@ -18,11 +17,11 @@
/* Can be used for low-level debugging of the SPI bus */
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 1
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#endif
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
gpioComIF(gpioComIF) {
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
SystemObject(objectId), gpioComIF(gpioComIF) {
if(gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -139,7 +138,6 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
if(spiCookie == nullptr) {
return NULLPOINTER;
@ -159,12 +157,34 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return DeviceCommunicationIF::TOO_MUCH_DATA;
}
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
result = performRegularSendOperation(spiCookie, sendData, sendLen);
}
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
}
}
return result;
}
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
size_t sendLen) {
address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress);
if(iter != spiDeviceMap.end()) {
spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::sendMessage: ");
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -178,11 +198,15 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
/* GPIO access is mutex protected */
MutexGuard(spiMutex, timeoutType, timeoutMs);
/* Pull SPI CS low. For now, no support for active high given */
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
@ -195,19 +219,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl;
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl;
#else
sif::printInfo("Sent SPI data: \n");
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
else {
@ -227,6 +239,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
#endif
return result;
}
}
return result;
}
@ -236,17 +255,21 @@ ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
}
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
return NULLPOINTER;
}
bool fullDuplex = spiCookie->isFullDuplex();
if(fullDuplex) {
if(spiCookie->isFullDuplex()) {
return HasReturnvaluesIF::RETURN_OK;
}
return performHalfDuplexReception(spiCookie);
}
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
@ -263,8 +286,14 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
}
gpioId_t gpioId = spiCookie->getChipSelectPin();
MutexGuard(spiMutex, timeoutType, timeoutMs);
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
@ -281,9 +310,16 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
#endif
return result;
}
}
return HasReturnvaluesIF::RETURN_OK;
return result;
}
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -302,6 +338,35 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
return HasReturnvaluesIF::RETURN_OK;
}
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if(timeoutType != nullptr) {
*timeoutType = this->timeoutType;
}
if(timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return spiMutex;
}
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if(spiCookie == nullptr) {
return;
}
size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl;
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl;
#else
sif::printInfo("Sent SPI data: \n");
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
}
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
if(buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
@ -316,6 +381,10 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK;
}
GpioIF* SpiComIF::getGpioInterface() {
return gpioComIF;
}
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {

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@ -2,8 +2,8 @@
#define LINUX_SPI_SPICOMIF_H_
#include "spiDefinitions.h"
#include <returnvalues/classIds.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include "returnvalues/classIds.h"
#include "../../common/gpio/GpioIF.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
@ -11,10 +11,13 @@
#include <vector>
#include <unordered_map>
class SpiCookie;
/**
* @brief Encapsulates access to linux SPI driver for FSFW objects
* @details
* Right now, only full-duplex SPI is supported.
* Right now, only full-duplex SPI is supported. Most device specific transfer properties
* are contained in the SPI cookie.
* @author R. Mueller
*/
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
@ -39,6 +42,28 @@ public:
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/**
* @brief This function returns the mutex which can be used to protect the spi bus when
* the chip select must be driven from outside of the com if.
*/
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
/**
* Perform a regular send operation using Linux iotcl. This is public so it can be used
* in functions like a user callback if special handling is only necessary for certain commands.
* @param spiCookie
* @param sendData
* @param sendLen
* @return
*/
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
size_t sendLen);
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void performSpiWiretapping(SpiCookie* spiCookie);
private:
struct SpiInstance {
@ -56,9 +81,9 @@ private:
SpiDeviceMap spiDeviceMap;
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
};
#endif /* LINUX_SPI_SPICOMIF_H_ */

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@ -1,14 +1,34 @@
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
spiSpeed(spiSpeed) {
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed, nullptr, nullptr) {
}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void *args):
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
spiMode, spiSpeed, callback, args) {
}
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args):
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
sendCallback(callback), callbackArgs(args) {
}
spi::SpiComIfModes SpiCookie::getComIfMode() const {
return this->comIfMode;
}
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
@ -78,6 +98,13 @@ void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
}
}
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
void *args) {
this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->sendCallback = callback;
this->callbackArgs = args;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
return &spiTransferStruct;
}
@ -105,3 +132,9 @@ void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
void **args) {
*callback = this->sendCallback;
*args = this->callbackArgs;
}

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@ -2,13 +2,25 @@
#define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <linux/spi/spidev.h>
/**
* @brief This cookie class is passed to the SPI communication interface
* @details
* This cookie contains device specific properties like speed and SPI mode or the SPI transfer
* struct required by the Linux SPI driver. It also contains a handle to a GPIO interface
* to perform slave select switching when necessary.
*
* The user can specify gpio::NO_GPIO as the GPIO ID or use a custom send callback to meet
* special requirements like expander slave select switching (e.g. GPIO or I2C expander)
* or special timing related requirements.
*/
class SpiCookie: public CookieIF {
public:
/**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
* interface and contains device specific information like the largest expected size to be
@ -19,7 +31,7 @@ public:
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -28,16 +40,41 @@ public:
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Use the callback mode of the SPI communication interface. The user can pass the callback
* function here or by using the setter function #setCallbackMode
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
void *args);
/**
* Get the callback function
* @param callback
* @param args
*/
void getCallback(spi::send_callback_function_t* callback, void** args);
address_t getSpiAddress() const;
std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const;
spi::SpiComIfModes getComIfMode() const;
/** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode);
/**
* Set the SPI to callback mode and assigns the user supplied callback and an argument
* passed to the callback.
* @param callback
* @param args
*/
void setCallbackMode(spi::send_callback_function_t callback, void* args);
/**
* True if SPI transfers should be performed in full duplex mode
* @return
@ -99,17 +136,40 @@ public:
spi_ioc_transfer* getTransferStructHandle();
private:
/**
* Internal constructor which initializes every field
* @param spiAddress
* @param chipSelect
* @param spiDev
* @param maxSize
* @param spiMode
* @param spiSpeed
* @param callback
* @param args
*/
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args);
size_t currentTransferSize = 0;
address_t spiAddress;
gpioId_t chipSelectPin;
std::string spiDevice;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
};

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@ -1,17 +1,28 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_
#include "../../common/gpio/gpioDefinitions.h"
#include "../../common/spi/spiCommon.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <linux/spi/spidev.h>
#include <cstdint>
class SpiCookie;
class SpiComIF;
namespace spi {
enum SpiModes: uint8_t {
MODE_0,
MODE_1,
MODE_2,
MODE_3
enum SpiComIfModes {
REGULAR,
CALLBACK
};
using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
}
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */

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target_sources(${TARGET_NAME} PUBLIC
UartComIF.cpp
UartCookie.cpp
)

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linux/uart/UartComIF.cpp Normal file
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#include "UartComIF.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
}
UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) {
return NULLPOINTER;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
}
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
std::pair status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to Uart device map" << std::endl;
return RETURN_FAILED;
}
}
else {
sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in "
<< "use" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options;
std::string deviceFile = uartCookie->getDeviceFile();
int fd = open(deviceFile.c_str(), O_RDWR);
if (fd < 0) {
sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
<< " error code " << errno << strerror(errno) << std::endl;
return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
return fd;
}
setParityOptions(&options, uartCookie);
setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie);
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
return fd;
}
return fd;
}
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear parity bit */
options->c_cflag &= ~PARENB;
switch (uartCookie->getParity()) {
case Parity::EVEN:
options->c_cflag |= PARENB;
options->c_cflag &= ~PARODD;
break;
case Parity::ODD:
options->c_cflag |= PARENB;
options->c_cflag |= PARODD;
break;
default:
break;
}
}
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) {
case StopBits::TWO_STOP_BITS:
options->c_cflag |= CSTOPB;
break;
default:
break;
}
}
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear size bits */
options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) {
case 5:
options->c_cflag |= CS5;
break;
case 6:
options->c_cflag |= CS6;
break;
case 7:
options->c_cflag |= CS7;
break;
case 8:
options->c_cflag |= CS8;
break;
default:
sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
break;
}
}
void UartComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
options->c_lflag &= ~ECHOE;
/* Disable new-line echo */
options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR;
}
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) {
case 50:
cfsetispeed(options, B50);
cfsetospeed(options, B50);
break;
case 75:
cfsetispeed(options, B75);
cfsetospeed(options, B75);
break;
case 110:
cfsetispeed(options, B110);
cfsetospeed(options, B110);
break;
case 134:
cfsetispeed(options, B134);
cfsetospeed(options, B134);
break;
case 150:
cfsetispeed(options, B150);
cfsetospeed(options, B150);
break;
case 200:
cfsetispeed(options, B200);
cfsetospeed(options, B200);
break;
case 300:
cfsetispeed(options, B300);
cfsetospeed(options, B300);
break;
case 600:
cfsetispeed(options, B600);
cfsetospeed(options, B600);
break;
case 1200:
cfsetispeed(options, B1200);
cfsetospeed(options, B1200);
break;
case 1800:
cfsetispeed(options, B1800);
cfsetospeed(options, B1800);
break;
case 2400:
cfsetispeed(options, B2400);
cfsetospeed(options, B2400);
break;
case 4800:
cfsetispeed(options, B4800);
cfsetospeed(options, B4800);
break;
case 9600:
cfsetispeed(options, B9600);
cfsetospeed(options, B9600);
break;
case 19200:
cfsetispeed(options, B19200);
cfsetospeed(options, B19200);
break;
case 38400:
cfsetispeed(options, B38400);
cfsetospeed(options, B38400);
break;
case 57600:
cfsetispeed(options, B57600);
cfsetospeed(options, B57600);
break;
case 115200:
cfsetispeed(options, B115200);
cfsetospeed(options, B115200);
break;
case 230400:
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
case 460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
default:
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
break;
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendData == nullptr) {
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
return RETURN_FAILED;
}
if(sendLen == 0) {
return RETURN_OK;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
<< std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
uint8_t* bufferPtr;
if(requestLen == 0) {
return RETURN_OK;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead != static_cast<int>(requestLen)) {
sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
<< " of " << requestLen << " bytes" << std::endl;
return RETURN_FAILED;
}
else {
uartDeviceMapIter->second.replyLen = bytesRead;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
return RETURN_FAILED;
}
*buffer = uartDeviceMapIter->second.replyBuffer.data();
*size = uartDeviceMapIter->second.replyLen;
/* Length is reset to 0 to prevent reading the same data twice */
uartDeviceMapIter->second.replyLen = 0;
return RETURN_OK;
}

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#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <unordered_map>
#include <vector>
#include "UartCookie.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
*
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
*
* @author J. Meier
*/
class UartComIF: public DeviceCommunicationIF, public SystemObject {
public:
UartComIF(object_id_t objectId);
virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
using UartDeviceFile_t = std::string;
typedef struct UartElements {
int fileDescriptor;
std::vector<uint8_t> replyBuffer;
/** Number of bytes read will be written to this variable */
size_t replyLen;
} UartElements_t;
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements_t>;
using UartDeviceMapIter = UartDeviceMap::iterator;
/**
* The uart devie map stores informations of initialized uart ports.
*/
UartDeviceMap uartDeviceMap;
/**
* @brief This function opens and configures a uart device by using the information stored
* in the uart cookie.
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
* uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart.
*/
int configureUartPort(UartCookie* uartCookie);
/**
* @brief This function adds the parity settings to the termios options struct.
*
* @param options Pointer to termios options struct which will be modified to enable or disable
* parity checking.
* @param uartCookie Pointer to uart cookie containing the information about the desired
* parity settings.
*
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
/**
* @brief This function sets options which are not configurable by the uartCookie.
*/
void setFixedOptions(struct termios* options);
/**
* @brief With this function the datasize settings are added to the termios options struct.
*/
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
/**
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
* struct.
*/
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
};
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

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#include "UartCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const {
return baudrate;
}
size_t UartCookie::getMaxReplyLen() const {
return maxReplyLen;
}
std::string UartCookie::getDeviceFile() const {
return deviceFile;
}
void UartCookie::setParityOdd() {
parity = Parity::ODD;
}
void UartCookie::setParityEven() {
parity = Parity::EVEN;
}
Parity UartCookie::getParity() const {
return parity;
}
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch(bitsPerWord_) {
case 5:
case 6:
case 7:
case 8:
break;
default:
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
return;
}
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const {
return bitsPerWord;
}
StopBits UartCookie::getStopBits() const {
return stopBits;
}
void UartCookie::setTwoStopBits() {
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setOneStopBit() {
stopBits = StopBits::ONE_STOP_BIT;
}

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#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <string>
enum class Parity {
NONE,
EVEN,
ODD
};
enum class StopBits {
ONE_STOP_BIT,
TWO_STOP_BITS
};
/**
* @brief Cookie for the UartComIF. There are many options available to configure the uart driver.
* The constructor only requests for common options like the baudrate. Other options can
* be set by member functions.
*
* @author J. Meier
*/
class UartCookie: public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1".
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects.
*
* @details Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*
*
*/
UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
virtual ~UartCookie();
uint32_t getBaudrate() const;
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
Parity getParity() const;
uint8_t getBitsPerWord() const;
StopBits getStopBits() const;
/**
* Functions two enable parity checking.
*/
void setParityOdd();
void setParityEven();
/**
* Function two set number of bits per UART frame.
*/
void setBitsPerWord(uint8_t bitsPerWord_);
/**
* Function to specify the number of stopbits.
*/
void setTwoStopBits();
void setOneStopBit();
private:
std::string deviceFile;
uint32_t baudrate;
size_t maxReplyLen = 0;
Parity parity = Parity::NONE;
uint8_t bitsPerWord = 8;
StopBits stopBits = StopBits::ONE_STOP_BIT;
};
#endif

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add_subdirectory(spi)
add_subdirectory(devicetest)
target_sources(${TARGET_NAME} PRIVATE
interrupts.c
dma_interrupts.c
)

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target_sources(${TARGET_NAME} PRIVATE
GyroL3GD20H.cpp
)

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#include "GyroL3GD20H.h"
#include "spiConf.h"
#include "../spi/mspInit.h"
#include "../spi/spiDefinitions.h"
#include "../spi/spiCore.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "stm32h7xx_nucleo.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_rcc.h"
#include <cstring>
alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
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) {
transferMode = transferMode_;
if(transferMode == spi::TransferModes::DMA) {
set_dma_handles(&txDmaHandle, &rxDmaHandle);
set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
}
else if(transferMode == spi::TransferModes::INTERRUPT) {
set_spi_msp_functions(&hal_spi_msp_init_interrupt, spiHandle,
&hal_spi_msp_deinit_interrupt, spiHandle);
}
else if(transferMode == spi::TransferModes::POLLING) {
set_spi_msp_functions(&hal_spi_msp_init_polling, spiHandle,
&hal_spi_msp_deinit_polling, 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, GPIO_PIN_14, GPIO_PIN_SET);
}
ReturnValue_t GyroL3GD20H::initialize() {
// Configure the SPI peripheral
spiHandle->Instance = SPI1;
spiHandle->Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), 3900000);
spiHandle->Init.Direction = SPI_DIRECTION_2LINES;
spi::assignSpiMode(spi::SpiModes::MODE_3, spiHandle);
spiHandle->Init.DataSize = SPI_DATASIZE_8BIT;
spiHandle->Init.FirstBit = SPI_FIRSTBIT_MSB;
spiHandle->Init.TIMode = SPI_TIMODE_DISABLE;
spiHandle->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
spiHandle->Init.CRCPolynomial = 7;
spiHandle->Init.CRCLength = SPI_CRC_LENGTH_8BIT;
spiHandle->Init.NSS = SPI_NSS_SOFT;
spiHandle->Init.NSSPMode = SPI_NSS_PULSE_DISABLE;
// Recommended setting to avoid glitches
spiHandle->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
spiHandle->Init.Mode = SPI_MODE_MASTER;
if(HAL_SPI_Init(spiHandle) != HAL_OK) {
sif::printWarning("Error initializing SPI\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
transferState = TransferStates::WAIT;
sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
txBuffer[1] = 0;
switch(transferMode) {
case(spi::TransferModes::DMA): {
return handleDmaTransferInit();
}
case(spi::TransferModes::INTERRUPT): {
return handleInterruptTransferInit();
}
case(spi::TransferModes::POLLING): {
return handlePollingTransferInit();
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::performOperation() {
switch(transferMode) {
case(spi::TransferModes::DMA): {
return handleDmaSensorRead();
}
case(spi::TransferModes::POLLING): {
return handlePollingSensorRead();
}
case(spi::TransferModes::INTERRUPT): {
return handleInterruptSensorRead();
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
/* Clean D-cache */
/* Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
// See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
HAL_StatusTypeDef result = performDmaTransfer(2);
if(result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
}
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("Transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
// Configure the 5 configuration registers
uint8_t configRegs[5];
prepareConfigRegs(configRegs);
result = performDmaTransfer(6);
if(result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5);
result = performDmaTransfer(6);
if(result != HAL_OK) {
// Transfer error in transmission process
sif::printWarning("Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
transferState = TransferStates::IDLE;
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14);
HAL_StatusTypeDef result = performDmaTransfer(15);
if(result != HAL_OK) {
// Transfer error in transmission process
sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
}
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
switch(transferState) {
case(TransferStates::SUCCESS): {
handleSensorReadout();
break;
}
case(TransferStates::FAILURE): {
sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
transferState = TransferStates::FAILURE;
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
transferState = TransferStates::WAIT;
#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
txBuffer.size()+32);
#endif
// Start SPI transfer via DMA
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
}
ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::performOperation: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
}
break;
}
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
// Configure the 5 configuration registers
uint8_t configRegs[5];
prepareConfigRegs(configRegs);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
break;
}
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
}
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::handlePollingSensorRead() {
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 15, 1000);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
switch(result) {
case(HAL_OK): {
handleSensorReadout();
break;
}
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
case(HAL_ERROR): {
sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::handleInterruptTransferInit() {
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 2)) {
case(HAL_OK): {
sif::printInfo("GyroL3GD20H::initialize: Interrupt transfer success\n");
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
uint8_t whoAmIVal = rxBuffer[1];
if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
sif::printDebug("GyroL3GD20H::initialize: "
"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
transferState = TransferStates::WAIT;
// Configure the 5 configuration registers
uint8_t configRegs[5];
prepareConfigRegs(configRegs);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 5);
transferState = TransferStates::WAIT;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 6)) {
case(HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
rxBuffer[5] != configRegs[4]) {
sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
}
else {
sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
}
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Initialization failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroL3GD20H::handleInterruptSensorRead() {
transferState = TransferStates::WAIT;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
std::memset(txBuffer.data() + 1, 0 , 14);
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
switch(HAL_SPI_TransmitReceive_IT(spiHandle, txBuffer.data(), rxBuffer.data(), 15)) {
case(HAL_OK): {
// Wait for the transfer to complete
while (transferState == TransferStates::WAIT) {
TaskFactory::delayTask(1);
}
handleSensorReadout();
break;
}
case(HAL_BUSY):
case(HAL_ERROR):
case(HAL_TIMEOUT): {
sif::printDebug("GyroL3GD20H::initialize: Sensor read failure using interrupts\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void GyroL3GD20H::prepareConfigRegs(uint8_t* configRegs) {
// Enable sensor
configRegs[0] = 0b00001111;
configRegs[1] = 0b00000000;
configRegs[2] = 0b00000000;
configRegs[3] = 0b01000000;
// Big endian select
configRegs[4] = 0b00000000;
txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK;
std::memcpy(txBuffer.data() + 1, configRegs, 5);
}
void GyroL3GD20H::handleSensorReadout() {
uint8_t statusReg = rxBuffer[8];
int16_t gyroXRaw = rxBuffer[9] << 8 | rxBuffer[10];
float gyroX = static_cast<float>(gyroXRaw) / INT16_MAX * L3G_RANGE;
int16_t gyroYRaw = rxBuffer[11] << 8 | rxBuffer[12];
float gyroY = static_cast<float>(gyroYRaw) / INT16_MAX * L3G_RANGE;
int16_t gyroZRaw = rxBuffer[13] << 8 | rxBuffer[14];
float gyroZ = static_cast<float>(gyroZRaw) / INT16_MAX * L3G_RANGE;
sif::printInfo("Status register: 0b" BYTE_TO_BINARY_PATTERN "\n", BYTE_TO_BINARY(statusReg));
sif::printInfo("Gyro X: %f\n", gyroX);
sif::printInfo("Gyro Y: %f\n", gyroY);
sif::printInfo("Gyro Z: %f\n", gyroZ);
}
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
* @note This example shows a simple way to report end of DMA TxRx transfer, and
* you can add your own implementation.
* @retval None
*/
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
transferState = TransferStates::SUCCESS;
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
if(GyroL3GD20H::transferMode == spi::TransferModes::DMA) {
// Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr ((uint32_t *)GyroL3GD20H::rxBuffer.data(),
GyroL3GD20H::recvBufferSize);
}
}
/**
* @brief SPI error callbacks.
* @param hspi: SPI handle
* @note This example shows a simple way to report transfer error, and you can
* add your own implementation.
* @retval None
*/
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
transferState = TransferStates::FAILURE;
}

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#ifndef FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#define FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
#include "../spi/spiDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
#include <array>
enum class TransferStates {
IDLE,
WAIT,
SUCCESS,
FAILURE
};
class GyroL3GD20H {
friend void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
public:
GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
ReturnValue_t initialize();
ReturnValue_t performOperation();
private:
const uint8_t WHO_AM_I_REG = 0b00001111;
const uint8_t STM_READ_MASK = 0b10000000;
const uint8_t STM_AUTO_INCREMENT_MASK = 0b01000000;
const uint8_t EXPECTED_WHO_AM_I_VAL = 0b11010111;
const uint8_t CTRL_REG_1 = 0b00100000;
const uint32_t L3G_RANGE = 245;
SPI_HandleTypeDef* spiHandle;
static spi::TransferModes transferMode;
static constexpr size_t recvBufferSize = 32 * 10;
static std::array<uint8_t, recvBufferSize> rxBuffer;
static constexpr size_t txBufferSize = 32;
static std::array<uint8_t, txBufferSize> txBuffer;
ReturnValue_t handleDmaTransferInit();
ReturnValue_t handlePollingTransferInit();
ReturnValue_t handleInterruptTransferInit();
ReturnValue_t handleDmaSensorRead();
HAL_StatusTypeDef performDmaTransfer(size_t sendSize);
ReturnValue_t handlePollingSensorRead();
ReturnValue_t handleInterruptSensorRead();
void prepareConfigRegs(uint8_t* configRegs);
void handleSensorReadout();
};
#endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */

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#include "dma_interrupts.h"
#include <stdint.h>
#include <stddef.h>
user_handler_t DMA_1_USER_HANDLERS[8];
user_args_t DMA_1_USER_ARGS[8];
user_handler_t DMA_2_USER_HANDLERS[8];
user_args_t DMA_2_USER_ARGS[8];
void assign_dma_user_handler(DMAIndexes dma_idx, DMAStreams stream_idx,
user_handler_t user_handler, user_args_t user_args) {
if(dma_idx == DMA_1) {
DMA_1_USER_HANDLERS[stream_idx] = user_handler;
DMA_1_USER_ARGS[stream_idx] = user_args;
}
else if(dma_idx == DMA_2) {
DMA_2_USER_HANDLERS[stream_idx] = user_handler;
DMA_2_USER_ARGS[stream_idx] = user_args;
}
}
// The interrupt handlers in the format required for the IRQ vector table
/* 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! */
#define GENERIC_DMA_IRQ_HANDLER(DMA_IDX, STREAM_IDX) \
if(DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX] != NULL) { \
DMA_##DMA_IDX##_USER_HANDLERS[STREAM_IDX](DMA_##DMA_IDX##_USER_ARGS[STREAM_IDX]); \
return; \
} \
Default_Handler() \
void DMA1_Stream0_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 0);
}
void DMA1_Stream1_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 1);
}
void DMA1_Stream2_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 2);
}
void DMA1_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 3);
}
void DMA1_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 4);
}
void DMA1_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 5);
}
void DMA1_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 6);
}
void DMA1_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(1, 7);
}
void DMA2_Stream0_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 0);
}
void DMA2_Stream1_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 1);
}
void DMA2_Stream2_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 2);
}
void DMA2_Stream3_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 3);
}
void DMA2_Stream4_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 4);
}
void DMA2_Stream5_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 5);
}
void DMA2_Stream6_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 6);
}
void DMA2_Stream7_IRQHandler() {
GENERIC_DMA_IRQ_HANDLER(2, 7);
}

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#ifndef FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_
#define FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_
#include "interrupts.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
DMA_1 = 0,
DMA_2 = 1
} DMAIndexes;
typedef enum {
STREAM_0 = 0,
STREAM_1 = 1,
STREAM_2 = 2,
STREAM_3 = 3,
STREAM_4 = 4,
STREAM_5 = 5,
STREAM_6 = 6,
STREAM_7 = 7,
} DMAStreams;
/**
* Assign user interrupt handlers for DMA streams, allowing to pass an
* arbitrary argument as well. Generally, this argument will be the related DMA handle.
* @param user_handler
* @param user_args
*/
void assign_dma_user_handler(DMAIndexes dma_idx, DMAStreams stream_idx,
user_handler_t user_handler, user_args_t user_args);
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_DMA_INTERRUPTS_H_ */

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#include "interrupts.h"
#include <stddef.h>

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stm32h7/interrupts.h Normal file
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#ifndef FSFW_HAL_STM32H7_INTERRUPTS_H_
#define FSFW_HAL_STM32H7_INTERRUPTS_H_
#ifdef __cplusplus
extern "C" {
#endif
/**
* Default handler which is defined in startup file as assembly code.
*/
extern void Default_Handler();
typedef void (*user_handler_t) (void*);
typedef void* user_args_t;
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_INTERRUPTS_H_ */

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target_sources(${TARGET_NAME} PRIVATE
spiCore.c
spiDefinitions.cpp
interrupts.c
mspInit.c
)

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#include "interrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
#include <stddef.h>
void (*spi1_user_handler) (void* args) = NULL;
void * spi1_user_args = NULL;
void (*spi2_user_handler) (void* args) = NULL;
void * spi2_user_args = NULL;
void assign_spi_user_handler(SpiBus spi_idx, user_handler_t user_handler, user_args_t user_args) {
if(spi_idx == SPI_1) {
spi1_user_handler = user_handler;
spi1_user_args = user_args;
}
else {
spi2_user_handler = user_handler;
spi2_user_args = user_args;
}
}
/* 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! */
void SPI1_IRQHandler() {
if(spi1_user_handler != NULL) {
spi1_user_handler(spi1_user_args);
return;
}
Default_Handler();
}
void SPI2_IRQHandler() {
if(spi2_user_handler != NULL) {
spi2_user_handler(spi2_user_args);
return;
}
Default_Handler();
}
/**
* @brief This function handles DMA Rx interrupt request.
* @param None
* @retval None
*/
void dma_rx_irq_handler(void* dma_handle) {
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dma_handle);
}
/**
* @brief This function handles DMA Rx interrupt request.
* @param None
* @retval None
*/
void dma_tx_irq_handler(void* dma_handle) {
HAL_DMA_IRQHandler((DMA_HandleTypeDef *) dma_handle);
}
/**
* @brief This function handles SPIx interrupt request.
* @param None
* @retval None
*/
void spi1_irq_handler(void* spi_handle)
{
HAL_SPI_IRQHandler((SPI_HandleTypeDef *) spi_handle);
}

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#ifndef FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
#define FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
#include "../interrupts.h"
#ifdef __cplusplus
extern "C" {
#endif
typedef enum {
SPI_1,
SPI_2
} SpiBus;
/**
* 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.
* @param user_handler
* @param user_args
*/
void assign_spi_user_handler(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
* instead with assign_dma_user_handler and assign_spi_user_handler functions.
* @param dma_handle
*/
void dma_rx_irq_handler(void* dma_handle);
void dma_tx_irq_handler(void* dma_handle);
void spi1_irq_handler(void* spi_handle);
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_ */

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#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>
/**
* @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;
}
hal_spi_msp_init_polling(spi_handle);
if (hspi->Instance == SPI1) {
// DMA setup
DMAx_CLK_ENABLE();
// 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;
}
hal_spi_msp_deinit_polling(spi_handle);
if(hspi->Instance == SPIx) {
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);
}
}
void hal_spi_msp_init_polling(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 hal_spi_msp_deinit_polling(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 hal_spi_msp_init_interrupt(void *hspi) {
hal_spi_msp_init_polling(hspi);
// Configure the NVIC for SPI
assign_spi_user_handler(SPI_1, &spi1_irq_handler, hspi);
HAL_NVIC_SetPriority(SPIx_IRQn, 1, 0);
HAL_NVIC_EnableIRQ(SPIx_IRQn);
}
void hal_spi_msp_deinit_interrupt(void *hspi) {
hal_spi_msp_deinit_polling(hspi);
// Disable the NVIC for SPI
HAL_NVIC_DisableIRQ(SPIx_IRQn);
}

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#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);
void hal_spi_msp_init_polling(void *hspi);
void hal_spi_msp_deinit_polling(void *hspi);
void hal_spi_msp_init_interrupt(void *hspi);
void hal_spi_msp_deinit_interrupt(void *hspi);
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_MSPINIT_H_ */

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#include "spiCore.h"
#include <stdio.h>
SPI_HandleTypeDef* spiHandle = NULL;
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
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 get_dma_handles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
*txHandle = hdma_tx;
*rxHandle = hdma_rx;
}
void assign_spi_handle(SPI_HandleTypeDef *spiHandle_) {
if(spiHandle_ == NULL) {
return;
}
spiHandle = spiHandle_;
}
SPI_HandleTypeDef* get_spi_handle() {
return spiHandle;
}
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");
}
}

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#ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
#define FSFW_HAL_STM32H7_SPI_SPICORE_H_
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#ifdef __cplusplus
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 set_dma_handles(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 assign_spi_handle(SPI_HandleTypeDef *spiHandle);
/**
* Get the assigned SPI handle.
* @return
*/
SPI_HandleTypeDef* get_spi_handle();
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_SPICORE_H_ */

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#include "spiDefinitions.h"
void spi::assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef *spiHandle) {
switch(spiMode) {
case(SpiModes::MODE_0): {
spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
break;
}
case(SpiModes::MODE_1): {
spiHandle->Init.CLKPolarity = SPI_POLARITY_LOW;
spiHandle->Init.CLKPhase = SPI_PHASE_2EDGE;
break;
}
case(SpiModes::MODE_2): {
spiHandle->Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle->Init.CLKPhase = SPI_PHASE_1EDGE;
break;
}
case(SpiModes::MODE_3): {
spiHandle->Init.CLKPolarity = SPI_POLARITY_HIGH;
spiHandle->Init.CLKPhase = SPI_PHASE_2EDGE;
break;
}
}
}
uint32_t spi::getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps) {
uint32_t divisor = 0;
uint32_t spi_clk = clock_src_freq;
uint32_t presc = 0;
static const uint32_t baudrate[] = {
SPI_BAUDRATEPRESCALER_2,
SPI_BAUDRATEPRESCALER_4,
SPI_BAUDRATEPRESCALER_8,
SPI_BAUDRATEPRESCALER_16,
SPI_BAUDRATEPRESCALER_32,
SPI_BAUDRATEPRESCALER_64,
SPI_BAUDRATEPRESCALER_128,
SPI_BAUDRATEPRESCALER_256,
};
while( spi_clk > baudrate_mbps) {
presc = baudrate[divisor];
if (++divisor > 7)
break;
spi_clk = ( spi_clk >> 1);
}
return presc;
}

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#ifndef FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
#define FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_
#include "../../common/spi/spiCommon.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
namespace spi {
enum TransferModes {
POLLING,
INTERRUPT,
DMA
};
void assignSpiMode(SpiModes spiMode, SPI_HandleTypeDef* spiHandle);
/**
* @brief Set SPI frequency to calculate correspondent baud-rate prescaler.
* @param clock_src_freq Frequency of clock source
* @param baudrate_mbps Baudrate to set to set
* @retval Baudrate prescaler
*/
uint32_t getPrescaler(uint32_t clock_src_freq, uint32_t baudrate_mbps);
}
#endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */