127 lines
4.3 KiB
C++
127 lines
4.3 KiB
C++
#ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
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#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
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#include "fsfw/tasks/SemaphoreIF.h"
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#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw/osal/FreeRTOS/BinarySemaphore.h"
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#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
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#include "stm32h7xx_hal_spi.h"
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#include "stm32h743xx.h"
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#include <vector>
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#include <map>
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class SpiCookie;
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enum class TransferStates {
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IDLE,
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WAIT,
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SUCCESS,
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FAILURE
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};
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class SpiComIF:
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public SystemObject,
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public DeviceCommunicationIF {
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public:
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/**
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* Create a SPI communication interface for the given SPI peripheral (spiInstance)
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* @param objectId
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* @param spiInstance
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* @param spiHandle
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* @param transferMode
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*/
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SpiComIF(object_id_t objectId, spi::TransferModes transferMode);
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/**
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* Allows the user to disable cache maintenance on the TX buffer. This can be done if the
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* TX buffers are places and MPU protected properly like specified in this link:
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* https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
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* The cache maintenace is enabled by default.
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* @param enable
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*/
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void configureCacheMaintenanceOnTxBuffer(bool enable);
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void setDefaultPollingTimeout(dur_millis_t timeout);
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/**
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* Add the DMA handles. These need to be set in the DMA transfer mode is used
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* @param txHandle
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* @param rxHandle
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*/
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void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
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ReturnValue_t initialize() override;
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protected:
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// DeviceCommunicationIF overrides
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virtual ReturnValue_t initializeInterface(CookieIF * cookie) override;
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virtual ReturnValue_t sendMessage(CookieIF *cookie,
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const uint8_t * sendData, size_t sendLen) override;
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virtual ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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virtual ReturnValue_t requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) override;
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virtual ReturnValue_t readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t *size) override;
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private:
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struct SpiInstance {
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SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
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std::vector<uint8_t> replyBuffer;
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size_t currentTransferLen = 0;
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};
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uint32_t defaultPollingTimeout = 50;
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spi::TransferModes transferMode;
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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dur_millis_t timeoutMs = 20;
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BinarySemaphore* spiSemaphore = nullptr;
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MutexIF* spiMutex = nullptr;
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bool cacheMaintenanceOnTxBuffer = true;
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using SpiDeviceMap = std::map<address_t, SpiInstance>;
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using SpiDeviceMapIter = SpiDeviceMap::iterator;
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GPIO_TypeDef* currentGpioPort = nullptr;
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uint16_t currentGpioPin = 0;
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uint8_t* currentRecvPtr = nullptr;
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size_t currentRecvBuffSize = 0;
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volatile TransferStates transferState = TransferStates::IDLE;
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SpiDeviceMap spiDeviceMap;
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ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
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SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
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ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
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SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
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ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
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SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
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ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
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SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
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ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
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SpiCookie& spiCookie, const uint8_t * sendData, size_t sendLen);
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ReturnValue_t halErrorHandler(HAL_StatusTypeDef status);
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static void spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
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static void spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
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static void spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void* args);
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static void spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void* args);
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static void genericIrqHandler(SpiComIF* comIF, TransferStates targetState);
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};
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#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */
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