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cf8235cede
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895ba1b455
Author | SHA1 | Date | |
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895ba1b455 | |||
cf1d6bad19 |
@ -11,24 +11,34 @@
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#include "stm32h7xx_hal_spi.h"
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#include "stm32h7xx_hal_spi.h"
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#include "stm32h7xx_hal_rcc.h"
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#include "stm32h7xx_hal_rcc.h"
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#include <cstring>
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alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
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alignas(32) std::array<uint8_t, GyroL3GD20H::recvBufferSize> GyroL3GD20H::rxBuffer;
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alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
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alignas(32) std::array<uint8_t, GyroL3GD20H::txBufferSize>
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GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
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GyroL3GD20H::txBuffer __attribute__((section(".dma_buffer")));
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TransferStates transferState = TransferStates::IDLE;
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TransferStates transferState = TransferStates::IDLE;
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spi::TransferModes GyroL3GD20H::transferMode = spi::TransferModes::POLLING;
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DMA_HandleTypeDef txDmaHandle;
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DMA_HandleTypeDef txDmaHandle;
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DMA_HandleTypeDef rxDmaHandle;
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DMA_HandleTypeDef rxDmaHandle;
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GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode):
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GyroL3GD20H::GyroL3GD20H(SPI_HandleTypeDef *spiHandle, spi::TransferModes transferMode_):
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spiHandle(spiHandle), transferMode(transferMode) {
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spiHandle(spiHandle) {
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transferMode = transferMode_;
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if(transferMode == spi::TransferModes::DMA) {
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if(transferMode == spi::TransferModes::DMA) {
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set_dma_handles(&txDmaHandle, &rxDmaHandle);
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set_dma_handles(&txDmaHandle, &rxDmaHandle);
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set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
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set_spi_msp_functions(&hal_spi_msp_init_dma, spiHandle, &hal_spi_msp_deinit_dma, spiHandle);
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}
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}
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else if(transferMode == spi::TransferModes::INTERRUPT) {
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set_spi_msp_functions(&hal_spi_msp_init_interrupt, spiHandle,
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&hal_spi_msp_deinit_interrupt, spiHandle);
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}
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else if(transferMode == spi::TransferModes::POLLING) {
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else if(transferMode == spi::TransferModes::POLLING) {
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set_spi_msp_functions(&hal_spi_msp_init_polling, spiHandle,
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set_spi_msp_functions(&hal_spi_msp_init_polling, spiHandle,
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&hal_spi_msp_deinit_polling, spiHandle);
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&hal_spi_msp_deinit_polling, spiHandle);
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}
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}
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GPIO_InitTypeDef chipSelect = {};
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GPIO_InitTypeDef chipSelect = {};
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__HAL_RCC_GPIOD_CLK_ENABLE();
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__HAL_RCC_GPIOD_CLK_ENABLE();
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chipSelect.Pin = GPIO_PIN_14;
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chipSelect.Pin = GPIO_PIN_14;
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@ -58,10 +68,7 @@ ReturnValue_t GyroL3GD20H::initialize() {
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sif::printWarning("Error initializing SPI\n");
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sif::printWarning("Error initializing SPI\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroL3GD20H::performOperation() {
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transferState = TransferStates::WAIT;
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transferState = TransferStates::WAIT;
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sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
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sif::printInfo("GyroL3GD20H::performOperation: Reading WHO AM I register\n");
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@ -69,33 +76,85 @@ ReturnValue_t GyroL3GD20H::performOperation() {
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txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
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txBuffer[0] = WHO_AM_I_REG | STM_READ_MASK;
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txBuffer[1] = 0;
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txBuffer[1] = 0;
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// Start SPI transfer via DMA
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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switch(transferMode) {
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switch(transferMode) {
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case(spi::TransferModes::DMA): {
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case(spi::TransferModes::DMA): {
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return handleDmaTransfer();
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return handleDmaTransferInit();
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}
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case(spi::TransferModes::INTERRUPT): {
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return handleInterruptTransferInit();
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}
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}
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case(spi::TransferModes::POLLING): {
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case(spi::TransferModes::POLLING): {
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return handlePollingTransfer();
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return handlePollingTransferInit();
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}
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}
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default: {
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t GyroL3GD20H::performOperation() {
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switch(transferMode) {
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case(spi::TransferModes::DMA): {
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return handleDmaSensorRead();
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}
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case(spi::TransferModes::POLLING): {
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return handlePollingSensorRead();
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}
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case(spi::TransferModes::INTERRUPT): {
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return handleInterruptSensorRead();
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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ReturnValue_t GyroL3GD20H::handleDmaTransfer() {
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ReturnValue_t GyroL3GD20H::handleDmaTransferInit() {
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/* Clean D-cache */
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/* Clean D-cache */
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/* Make sure the address is 32-byte aligned and add 32-bytes to length,
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/* Make sure the address is 32-byte aligned and add 32-bytes to length,
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in case it overlaps cacheline */
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in case it overlaps cacheline */
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// See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
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// See https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
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#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
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HAL_StatusTypeDef result = performDmaTransfer(2);
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SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
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if(result != HAL_OK) {
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txBuffer.size()+32);
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// Transfer error in transmission process
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#endif
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sif::printWarning("GyroL3GD20H::initialize: Error transmitting SPI with DMA\n");
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}
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if(HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), 2) != HAL_OK) {
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// Wait for the transfer to complete
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while (transferState == TransferStates::WAIT) {
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TaskFactory::delayTask(1);
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}
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switch(transferState) {
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case(TransferStates::SUCCESS): {
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uint8_t whoAmIVal = rxBuffer[1];
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if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
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sif::printDebug("GyroL3GD20H::initialize: "
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"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
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}
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transferState = TransferStates::IDLE;
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break;
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}
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case(TransferStates::FAILURE): {
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sif::printWarning("Transfer failure\n");
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transferState = TransferStates::FAILURE;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
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// Configure the 5 configuration registers
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uint8_t configRegs[5];
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prepareConfigRegs(configRegs);
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result = performDmaTransfer(6);
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if(result != HAL_OK) {
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// Transfer error in transmission process
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// Transfer error in transmission process
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sif::printWarning("Error transmitting SPI with DMA\n");
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sif::printWarning("Error transmitting SPI with DMA\n");
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}
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}
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@ -105,24 +164,52 @@ ReturnValue_t GyroL3GD20H::handleDmaTransfer() {
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TaskFactory::delayTask(1);
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TaskFactory::delayTask(1);
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}
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}
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// Invalidate cache prior to access by CPU
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switch(transferState) {
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SCB_InvalidateDCache_by_Addr ((uint32_t *)rxBuffer.data(), recvBufferSize);
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case(TransferStates::SUCCESS): {
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sif::printInfo("GyroL3GD20H::initialize: Configuration transfer success\n");
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transferState = TransferStates::IDLE;
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break;
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}
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case(TransferStates::FAILURE): {
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sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
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transferState = TransferStates::FAILURE;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
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std::memset(txBuffer.data() + 1, 0 , 5);
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result = performDmaTransfer(6);
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if(result != HAL_OK) {
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// Transfer error in transmission process
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sif::printWarning("Error transmitting SPI with DMA\n");
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}
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// Wait for the transfer to complete
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while (transferState == TransferStates::WAIT) {
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TaskFactory::delayTask(1);
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}
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switch(transferState) {
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switch(transferState) {
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case(TransferStates::SUCCESS): {
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case(TransferStates::SUCCESS): {
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sif::printInfo("DMA transfer success\n");
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if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
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uint8_t whoAmIVal = rxBuffer[1];
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rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
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if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
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rxBuffer[5] != configRegs[4]) {
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sif::printDebug("GyroL3GD20H::performOperation: "
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sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
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"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
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}
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else {
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sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
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}
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}
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transferState = TransferStates::IDLE;
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transferState = TransferStates::IDLE;
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break;
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break;
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}
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}
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case(TransferStates::FAILURE): {
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case(TransferStates::FAILURE): {
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sif::printWarning("Transfer failure\n");
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sif::printWarning("GyroL3GD20H::initialize: Configuration transfer failure\n");
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transferState = TransferStates::FAILURE;
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transferState = TransferStates::FAILURE;
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break;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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default: {
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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return HasReturnvaluesIF::RETURN_FAILED;
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@ -131,6 +218,290 @@ ReturnValue_t GyroL3GD20H::handleDmaTransfer() {
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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ReturnValue_t GyroL3GD20H::handleDmaSensorRead() {
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txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
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std::memset(txBuffer.data() + 1, 0 , 14);
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HAL_StatusTypeDef result = performDmaTransfer(15);
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if(result != HAL_OK) {
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// Transfer error in transmission process
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sif::printDebug("GyroL3GD20H::handleDmaSensorRead: Error transmitting SPI with DMA\n");
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}
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// Wait for the transfer to complete
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while (transferState == TransferStates::WAIT) {
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TaskFactory::delayTask(1);
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}
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switch(transferState) {
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case(TransferStates::SUCCESS): {
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handleSensorReadout();
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break;
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}
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case(TransferStates::FAILURE): {
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sif::printWarning("GyroL3GD20H::handleDmaSensorRead: Sensor read failure\n");
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transferState = TransferStates::FAILURE;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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HAL_StatusTypeDef GyroL3GD20H::performDmaTransfer(size_t sendSize) {
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transferState = TransferStates::WAIT;
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#if STM_USE_PERIPHERAL_TX_BUFFER_MPU_PROTECTION == 0
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SCB_CleanDCache_by_Addr((uint32_t*)(((uint32_t)txBuffer.data()) & ~(uint32_t)0x1F),
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txBuffer.size()+32);
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#endif
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// Start SPI transfer via DMA
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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return HAL_SPI_TransmitReceive_DMA(spiHandle, txBuffer.data(), rxBuffer.data(), sendSize);
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}
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ReturnValue_t GyroL3GD20H::handlePollingTransferInit() {
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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auto result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
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switch(result) {
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case(HAL_OK): {
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sif::printInfo("GyroL3GD20H::initialize: Polling transfer success\n");
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uint8_t whoAmIVal = rxBuffer[1];
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if(whoAmIVal != EXPECTED_WHO_AM_I_VAL) {
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sif::printDebug("GyroL3GD20H::performOperation: "
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"Read WHO AM I value %d not equal to expected value!\n", whoAmIVal);
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}
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break;
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}
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case(HAL_TIMEOUT): {
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sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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case(HAL_ERROR): {
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sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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sif::printInfo("GyroL3GD20H::initialize: Configuring device\n");
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// Configure the 5 configuration registers
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uint8_t configRegs[5];
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prepareConfigRegs(configRegs);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
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switch(result) {
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case(HAL_OK): {
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break;
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}
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case(HAL_TIMEOUT): {
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sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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case(HAL_ERROR): {
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sif::printDebug("GyroL3GD20H::initialize: Polling transfer failure\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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default: {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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txBuffer[0] = CTRL_REG_1 | STM_AUTO_INCREMENT_MASK | STM_READ_MASK;
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std::memset(txBuffer.data() + 1, 0 , 5);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
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result = HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 6, 1000);
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HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
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switch(result) {
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case(HAL_OK): {
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if(rxBuffer[1] != configRegs[0] or rxBuffer[2] != configRegs[1] or
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rxBuffer[3] != configRegs[2] or rxBuffer[4] != configRegs[3] or
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rxBuffer[5] != configRegs[4]) {
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sif::printWarning("GyroL3GD20H::initialize: Configuration failure\n");
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}
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else {
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sif::printInfo("GyroL3GD20H::initialize: Configuration success\n");
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}
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break;
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}
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case(HAL_TIMEOUT): {
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sif::printDebug("GyroL3GD20H::initialize: Polling transfer timeout\n");
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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case(HAL_ERROR): {
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||||||
|
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.
|
* @brief TxRx Transfer completed callback.
|
||||||
* @param hspi: SPI handle
|
* @param hspi: SPI handle
|
||||||
@ -141,6 +512,11 @@ ReturnValue_t GyroL3GD20H::handleDmaTransfer() {
|
|||||||
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
|
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
|
||||||
transferState = TransferStates::SUCCESS;
|
transferState = TransferStates::SUCCESS;
|
||||||
HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
|
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);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@ -153,29 +529,3 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
|
|||||||
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
|
void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
|
||||||
transferState = TransferStates::FAILURE;
|
transferState = TransferStates::FAILURE;
|
||||||
}
|
}
|
||||||
|
|
||||||
ReturnValue_t GyroL3GD20H::handlePollingTransfer() {
|
|
||||||
switch(HAL_SPI_TransmitReceive(spiHandle, txBuffer.data(), rxBuffer.data(), 2, 1000)) {
|
|
||||||
case(HAL_OK): {
|
|
||||||
sif::printInfo("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("Polling transfer timeout\n");
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
case(HAL_ERROR): {
|
|
||||||
sif::printDebug("Polling transfer failure\n");
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
default: {
|
|
||||||
return HasReturnvaluesIF::RETURN_FAILED;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
|
||||||
}
|
|
||||||
|
@ -18,6 +18,7 @@ enum class TransferStates {
|
|||||||
};
|
};
|
||||||
|
|
||||||
class GyroL3GD20H {
|
class GyroL3GD20H {
|
||||||
|
friend void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi);
|
||||||
public:
|
public:
|
||||||
GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
|
GyroL3GD20H(SPI_HandleTypeDef* spiHandle, spi::TransferModes transferMode);
|
||||||
|
|
||||||
@ -28,18 +29,30 @@ private:
|
|||||||
|
|
||||||
const uint8_t WHO_AM_I_REG = 0b00001111;
|
const uint8_t WHO_AM_I_REG = 0b00001111;
|
||||||
const uint8_t STM_READ_MASK = 0b10000000;
|
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 EXPECTED_WHO_AM_I_VAL = 0b11010111;
|
||||||
|
const uint8_t CTRL_REG_1 = 0b00100000;
|
||||||
|
const uint32_t L3G_RANGE = 245;
|
||||||
|
|
||||||
SPI_HandleTypeDef* spiHandle;
|
SPI_HandleTypeDef* spiHandle;
|
||||||
spi::TransferModes transferMode;
|
|
||||||
static constexpr size_t recvBufferSize = 32 * 10;
|
|
||||||
|
|
||||||
|
static spi::TransferModes transferMode;
|
||||||
|
static constexpr size_t recvBufferSize = 32 * 10;
|
||||||
static std::array<uint8_t, recvBufferSize> rxBuffer;
|
static std::array<uint8_t, recvBufferSize> rxBuffer;
|
||||||
static constexpr size_t txBufferSize = 32;
|
static constexpr size_t txBufferSize = 32;
|
||||||
static std::array<uint8_t, txBufferSize> txBuffer;
|
static std::array<uint8_t, txBufferSize> txBuffer;
|
||||||
|
|
||||||
ReturnValue_t handleDmaTransfer();
|
ReturnValue_t handleDmaTransferInit();
|
||||||
ReturnValue_t handlePollingTransfer();
|
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_ */
|
#endif /* FSFW_HAL_STM32H7_DEVICETEST_GYRO_L3GD20H_H_ */
|
||||||
|
@ -1,7 +1,12 @@
|
|||||||
#include "interrupts.h"
|
#include "interrupts.h"
|
||||||
|
|
||||||
|
#include "stm32h7xx_hal.h"
|
||||||
|
#include "stm32h7xx_hal_dma.h"
|
||||||
|
#include "stm32h7xx_hal_spi.h"
|
||||||
|
|
||||||
#include <stddef.h>
|
#include <stddef.h>
|
||||||
|
|
||||||
|
|
||||||
void (*spi1_user_handler) (void* args) = NULL;
|
void (*spi1_user_handler) (void* args) = NULL;
|
||||||
void * spi1_user_args = NULL;
|
void * spi1_user_args = NULL;
|
||||||
|
|
||||||
@ -37,3 +42,32 @@ void SPI2_IRQHandler() {
|
|||||||
}
|
}
|
||||||
Default_Handler();
|
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);
|
||||||
|
}
|
||||||
|
|
||||||
|
@ -20,6 +20,15 @@ typedef enum {
|
|||||||
*/
|
*/
|
||||||
void assign_spi_user_handler(SpiBus spiBus, user_handler_t user_handler, user_args_t 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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
@ -11,10 +11,6 @@
|
|||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
void dma_rx_irq_handler(void* dma_handle);
|
|
||||||
void dma_tx_irq_handler(void* dma_handle);
|
|
||||||
void spi1_irq_handler(void* spi_handle);
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief SPI MSP Initialization
|
* @brief SPI MSP Initialization
|
||||||
* This function configures the hardware resources used in this example:
|
* This function configures the hardware resources used in this example:
|
||||||
@ -195,3 +191,17 @@ void hal_spi_msp_deinit_polling(void *hspi) {
|
|||||||
/* Configure SPI MOSI as alternate function */
|
/* Configure SPI MOSI as alternate function */
|
||||||
HAL_GPIO_DeInit(SPIx_MOSI_GPIO_PORT, SPIx_MOSI_PIN);
|
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);
|
||||||
|
}
|
||||||
|
@ -11,6 +11,9 @@ void hal_spi_msp_deinit_dma(void *hspi);
|
|||||||
void hal_spi_msp_init_polling(void *hspi);
|
void hal_spi_msp_init_polling(void *hspi);
|
||||||
void hal_spi_msp_deinit_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
|
#ifdef __cplusplus
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
@ -32,34 +32,6 @@ SPI_HandleTypeDef* get_spi_handle() {
|
|||||||
return spiHandle;
|
return spiHandle;
|
||||||
}
|
}
|
||||||
|
|
||||||
/**
|
|
||||||
* @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);
|
|
||||||
}
|
|
||||||
|
|
||||||
void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
|
void set_spi_msp_functions(msp_func_t init_func, void* init_args, msp_func_t deinit_func,
|
||||||
void* deinit_args) {
|
void* deinit_args) {
|
||||||
msp_init_func = init_func;
|
msp_init_func = init_func;
|
||||||
|
Reference in New Issue
Block a user