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move HAL and tests folder

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This commit is contained in:
Robin Müller
2022-07-18 08:59:40 +02:00
parent 3686bbc486
commit 6f7be281ef
229 changed files with 494 additions and 559 deletions
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9
src/fsfw_hal/stm32h7/spi/CMakeLists.txt Normal file
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target_sources(${LIB_FSFW_NAME} PRIVATE
spiCore.cpp
spiDefinitions.cpp
spiInterrupts.cpp
mspInit.cpp
SpiCookie.cpp
SpiComIF.cpp
stm32h743zi.cpp
)

474
src/fsfw_hal/stm32h7/spi/SpiComIF.cpp Normal file
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#include "fsfw_hal/stm32h7/spi/SpiComIF.h"
#include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw_hal/stm32h7/gpio/gpio.h"
#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
// FreeRTOS required special Semaphore handling from an ISR. Therefore, we use the concrete
// instance here, because RTEMS and FreeRTOS are the only relevant OSALs currently
// and it is not trivial to add a releaseFromISR to the SemaphoreIF
#if defined FSFW_OSAL_RTEMS
#include "fsfw/osal/rtems/BinarySemaphore.h"
#elif defined FSFW_OSAL_FREERTOS
#include "fsfw/osal/freertos/BinarySemaphore.h"
#include "fsfw/osal/freertos/TaskManagement.h"
#endif
#include "stm32h7xx_hal_gpio.h"
SpiComIF::SpiComIF(object_id_t objectId) : SystemObject(objectId) {
void *irqArgsVoided = reinterpret_cast<void *>(&irqArgs);
spi::assignTransferRxTxCompleteCallback(&spiTransferCompleteCallback, irqArgsVoided);
spi::assignTransferRxCompleteCallback(&spiTransferRxCompleteCallback, irqArgsVoided);
spi::assignTransferTxCompleteCallback(&spiTransferTxCompleteCallback, irqArgsVoided);
spi::assignTransferErrorCallback(&spiTransferErrorCallback, irqArgsVoided);
}
void SpiComIF::configureCacheMaintenanceOnTxBuffer(bool enable) {
this->cacheMaintenanceOnTxBuffer = enable;
}
void SpiComIF::addDmaHandles(DMA_HandleTypeDef *txHandle, DMA_HandleTypeDef *rxHandle) {
spi::setDmaHandles(txHandle, rxHandle);
}
ReturnValue_t SpiComIF::initialize() { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error < "SpiComIF::initializeInterface: Invalid cookie" << std::endl;
#else
sif::printError("SpiComIF::initializeInterface: Invalid cookie\n");
#endif
return NULLPOINTER;
}
auto transferMode = spiCookie->getTransferMode();
if (transferMode == spi::TransferModes::DMA) {
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if (txHandle == nullptr or rxHandle == nullptr) {
sif::printError("SpiComIF::initialize: DMA handles not set!\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
}
// This semaphore ensures thread-safety for a given bus
spiSemaphore =
dynamic_cast<BinarySemaphore *>(SemaphoreFactory::instance()->createBinarySemaphore());
address_t spiAddress = spiCookie->getDeviceAddress();
auto iter = spiDeviceMap.find(spiAddress);
if (iter == spiDeviceMap.end()) {
size_t bufferSize = spiCookie->getMaxRecvSize();
auto statusPair = spiDeviceMap.emplace(spiAddress, SpiInstance(bufferSize));
if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
<< spiAddress << "to SPI device map" << std::endl;
#else
sif::printError(
"SpiComIF::initializeInterface: Failed to insert device with address "
"%lu to SPI device map\n",
static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
}
auto gpioPin = spiCookie->getChipSelectGpioPin();
auto gpioPort = spiCookie->getChipSelectGpioPort();
SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto spiIdx = spiCookie->getSpiIdx();
if (spiIdx == spi::SpiBus::SPI_1) {
#ifdef SPI1
spiHandle.Instance = SPI1;
#endif
} else if (spiIdx == spi::SpiBus::SPI_2) {
#ifdef SPI2
spiHandle.Instance = SPI2;
#endif
} else {
printCfgError("SPI Bus Index");
return HasReturnvaluesIF::RETURN_FAILED;
}
auto mspCfg = spiCookie->getMspCfg();
if (transferMode == spi::TransferModes::POLLING) {
auto typedCfg = dynamic_cast<spi::MspPollingConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("Polling MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiPollingMspFunctions(typedCfg);
} else if (transferMode == spi::TransferModes::INTERRUPT) {
auto typedCfg = dynamic_cast<spi::MspIrqConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("IRQ MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiIrqMspFunctions(typedCfg);
} else if (transferMode == spi::TransferModes::DMA) {
auto typedCfg = dynamic_cast<spi::MspDmaConfigStruct *>(mspCfg);
if (typedCfg == nullptr) {
printCfgError("DMA MSP");
return HasReturnvaluesIF::RETURN_FAILED;
}
// Check DMA handles
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
spi::getDmaHandles(&txHandle, &rxHandle);
if (txHandle == nullptr or rxHandle == nullptr) {
printCfgError("DMA Handle");
return HasReturnvaluesIF::RETURN_FAILED;
}
spi::setSpiDmaMspFunctions(typedCfg);
}
if (gpioPort != nullptr) {
gpio::initializeGpioClock(gpioPort);
GPIO_InitTypeDef chipSelect = {};
chipSelect.Pin = gpioPin;
chipSelect.Mode = GPIO_MODE_OUTPUT_PP;
HAL_GPIO_Init(gpioPort, &chipSelect);
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
if (HAL_SPI_Init(&spiHandle) != HAL_OK) {
sif::printWarning("SpiComIF::initialize: Error initializing SPI\n");
return HasReturnvaluesIF::RETURN_FAILED;
}
// The MSP configuration struct is not required anymore
spiCookie->deleteMspCfg();
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
return NULLPOINTER;
}
SPI_HandleTypeDef &spiHandle = spiCookie->getSpiHandle();
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
iter->second.currentTransferLen = sendLen;
auto transferMode = spiCookie->getTransferMode();
switch (spiCookie->getTransferState()) {
case (spi::TransferStates::IDLE): {
break;
}
case (spi::TransferStates::WAIT):
case (spi::TransferStates::FAILURE):
case (spi::TransferStates::SUCCESS):
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
switch (transferMode) {
case (spi::TransferModes::POLLING): {
return handlePollingSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
case (spi::TransferModes::INTERRUPT): {
return handleInterruptSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
case (spi::TransferModes::DMA): {
return handleDmaSendOperation(iter->second.replyBuffer.data(), spiHandle, *spiCookie,
sendData, sendLen);
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) { return HasReturnvaluesIF::RETURN_OK; }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
SpiCookie *spiCookie = dynamic_cast<SpiCookie *>(cookie);
if (spiCookie == nullptr) {
return NULLPOINTER;
}
switch (spiCookie->getTransferState()) {
case (spi::TransferStates::SUCCESS): {
auto iter = spiDeviceMap.find(spiCookie->getDeviceAddress());
if (iter == spiDeviceMap.end()) {
return HasReturnvaluesIF::RETURN_FAILED;
}
*buffer = iter->second.replyBuffer.data();
*size = iter->second.currentTransferLen;
spiCookie->setTransferState(spi::TransferStates::IDLE);
break;
}
case (spi::TransferStates::FAILURE): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::readReceivedMessage: Transfer failure" << std::endl;
#else
sif::printWarning("SpiComIF::readReceivedMessage: Transfer failure\n");
#endif
#endif
spiCookie->setTransferState(spi::TransferStates::IDLE);
return HasReturnvaluesIF::RETURN_FAILED;
}
case (spi::TransferStates::WAIT):
case (spi::TransferStates::IDLE): {
break;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void SpiComIF::setDefaultPollingTimeout(dur_millis_t timeout) {
this->defaultPollingTimeout = timeout;
}
ReturnValue_t SpiComIF::handlePollingSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
auto gpioPort = spiCookie.getChipSelectGpioPort();
auto gpioPin = spiCookie.getChipSelectGpioPin();
auto returnval = spiSemaphore->acquire(timeoutType, timeoutMs);
if (returnval != HasReturnvaluesIF::RETURN_OK) {
return returnval;
}
spiCookie.setTransferState(spi::TransferStates::WAIT);
if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_RESET);
}
auto result = HAL_SPI_TransmitReceive(&spiHandle, const_cast<uint8_t *>(sendData), recvPtr,
sendLen, defaultPollingTimeout);
if (gpioPort != nullptr) {
HAL_GPIO_WritePin(gpioPort, gpioPin, GPIO_PIN_SET);
}
spiSemaphore->release();
switch (result) {
case (HAL_OK): {
spiCookie.setTransferState(spi::TransferStates::SUCCESS);
break;
}
case (HAL_TIMEOUT): {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | Timeout for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | Timeout for SPI device %d\n",
spiCookie.getDeviceAddress());
#endif
#endif
spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_TIMEOUT_RETVAL;
}
case (HAL_ERROR):
default: {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Polling Mode | HAL error for SPI device"
<< spiCookie->getDeviceAddress() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Polling Mode | HAL error for SPI device %d\n",
spiCookie.getDeviceAddress());
#endif
#endif
spiCookie.setTransferState(spi::TransferStates::FAILURE);
return spi::HAL_ERROR_RETVAL;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::handleInterruptSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleDmaSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
return handleIrqSendOperation(recvPtr, spiHandle, spiCookie, sendData, sendLen);
}
ReturnValue_t SpiComIF::handleIrqSendOperation(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
ReturnValue_t result = genericIrqSendSetup(recvPtr, spiHandle, spiCookie, sendData, sendLen);
if (result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// yet another HAL driver which is not const-correct..
HAL_StatusTypeDef status = HAL_OK;
auto transferMode = spiCookie.getTransferMode();
if (transferMode == spi::TransferModes::DMA) {
if (cacheMaintenanceOnTxBuffer) {
/* Clean D-cache. Make sure the address is 32-byte aligned and add 32-bytes to length,
in case it overlaps cacheline */
SCB_CleanDCache_by_Addr((uint32_t *)(((uint32_t)sendData) & ~(uint32_t)0x1F), sendLen + 32);
}
status = HAL_SPI_TransmitReceive_DMA(&spiHandle, const_cast<uint8_t *>(sendData),
currentRecvPtr, sendLen);
} else {
status = HAL_SPI_TransmitReceive_IT(&spiHandle, const_cast<uint8_t *>(sendData), currentRecvPtr,
sendLen);
}
switch (status) {
case (HAL_OK): {
break;
}
default: {
return halErrorHandler(status, transferMode);
}
}
return result;
}
ReturnValue_t SpiComIF::halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode) {
char modeString[10];
if (transferMode == spi::TransferModes::DMA) {
std::snprintf(modeString, sizeof(modeString), "Dma");
} else {
std::snprintf(modeString, sizeof(modeString), "Interrupt");
}
sif::printWarning("SpiComIF::handle%sSendOperation: HAL error %d occured\n", modeString, status);
switch (status) {
case (HAL_BUSY): {
return spi::HAL_BUSY_RETVAL;
}
case (HAL_ERROR): {
return spi::HAL_ERROR_RETVAL;
}
case (HAL_TIMEOUT): {
return spi::HAL_TIMEOUT_RETVAL;
}
default: {
return HasReturnvaluesIF::RETURN_FAILED;
}
}
}
ReturnValue_t SpiComIF::genericIrqSendSetup(uint8_t *recvPtr, SPI_HandleTypeDef &spiHandle,
SpiCookie &spiCookie, const uint8_t *sendData,
size_t sendLen) {
currentRecvPtr = recvPtr;
currentRecvBuffSize = sendLen;
// Take the semaphore which will be released by a callback when the transfer is complete
ReturnValue_t result = spiSemaphore->acquire(SemaphoreIF::TimeoutType::WAITING, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
sif::printWarning(
"SpiComIF::handleInterruptSendOperation: Semaphore "
"could not be acquired after %d ms\n",
timeoutMs);
return result;
}
// Cache the current SPI handle in any case
spi::setSpiHandle(&spiHandle);
// Assign the IRQ arguments for the user callbacks
irqArgs.comIF = this;
irqArgs.spiCookie = &spiCookie;
// The SPI handle is passed to the default SPI callback as a void argument. This callback
// is different from the user callbacks specified above!
spi::assignSpiUserArgs(spiCookie.getSpiIdx(), reinterpret_cast<void *>(&spiHandle));
if (spiCookie.getChipSelectGpioPort() != nullptr) {
HAL_GPIO_WritePin(spiCookie.getChipSelectGpioPort(), spiCookie.getChipSelectGpioPin(),
GPIO_PIN_RESET);
}
return HasReturnvaluesIF::RETURN_OK;
}
void SpiComIF::spiTransferTxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferRxCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferCompleteCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::SUCCESS);
}
void SpiComIF::spiTransferErrorCallback(SPI_HandleTypeDef *hspi, void *args) {
genericIrqHandler(args, spi::TransferStates::FAILURE);
}
void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetState) {
IrqArgs *irqArgs = reinterpret_cast<IrqArgs *>(irqArgsVoid);
if (irqArgs == nullptr) {
return;
}
SpiCookie *spiCookie = irqArgs->spiCookie;
SpiComIF *comIF = irqArgs->comIF;
if (spiCookie == nullptr or comIF == nullptr) {
return;
}
spiCookie->setTransferState(targetState);
if (spiCookie->getChipSelectGpioPort() != nullptr) {
// Pull CS pin high again
HAL_GPIO_WritePin(spiCookie->getChipSelectGpioPort(), spiCookie->getChipSelectGpioPin(),
GPIO_PIN_SET);
}
#if defined FSFW_OSAL_FREERTOS
// Release the task semaphore
BaseType_t taskWoken = pdFALSE;
ReturnValue_t result =
BinarySemaphore::releaseFromISR(comIF->spiSemaphore->getSemaphore(), &taskWoken);
#elif defined FSFW_OSAL_RTEMS
ReturnValue_t result = comIF->spiSemaphore->release();
#endif
if (result != HasReturnvaluesIF::RETURN_OK) {
// Configuration error
printf("SpiComIF::genericIrqHandler: Failure releasing Semaphore!\n");
}
// Perform cache maintenance operation for DMA transfers
if (spiCookie->getTransferMode() == spi::TransferModes::DMA) {
// Invalidate cache prior to access by CPU
SCB_InvalidateDCache_by_Addr((uint32_t *)comIF->currentRecvPtr, comIF->currentRecvBuffSize);
}
#if defined FSFW_OSAL_FREERTOS
/* Request a context switch if the SPI ComIF task was woken up and has a higher priority
than the currently running task */
if (taskWoken == pdTRUE) {
TaskManagement::requestContextSwitch(CallContext::ISR);
}
#endif
}
void SpiComIF::printCfgError(const char *const type) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::initializeInterface: Invalid " << type << " configuration"
<< std::endl;
#else
sif::printWarning("SpiComIF::initializeInterface: Invalid %s configuration\n", type);
#endif
}

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src/fsfw_hal/stm32h7/spi/SpiComIF.h Normal file
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#ifndef FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#define FSFW_HAL_STM32H7_SPI_SPICOMIF_H_
#include <map>
#include <vector>
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
#include "fsfw/objectmanager/SystemObject.h"
#include "fsfw/tasks/SemaphoreIF.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_spi.h"
class SpiCookie;
class BinarySemaphore;
/**
* @brief This communication interface allows using generic device handlers with using
* the STM32H7 SPI peripherals
* @details
* This communication interface supports all three major communcation modes:
* - Polling: Simple, but not recommended to real use-cases, blocks the CPU
* - Interrupt: Good for small data only arriving occasionally
* - DMA: Good for large data which also occur regularly. Please note that the number
* of DMA channels in limited
* The device specific information is usually kept in the SpiCookie class. The current
* implementation limits the transfer mode for a given SPI bus.
* @author R. Mueller
*/
class SpiComIF : public SystemObject, public DeviceCommunicationIF {
public:
/**
* Create a SPI communication interface for the given SPI peripheral (spiInstance)
* @param objectId
* @param spiInstance
* @param spiHandle
* @param transferMode
*/
SpiComIF(object_id_t objectId);
/**
* Allows the user to disable cache maintenance on the TX buffer. This can be done if the
* TX buffers are places and MPU protected properly like specified in this link:
* https://community.st.com/s/article/FAQ-DMA-is-not-working-on-STM32H7-devices
* The cache maintenace is enabled by default.
* @param enable
*/
void configureCacheMaintenanceOnTxBuffer(bool enable);
void setDefaultPollingTimeout(dur_millis_t timeout);
/**
* Add the DMA handles. These need to be set in the DMA transfer mode is used.
* @param txHandle
* @param rxHandle
*/
void addDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
ReturnValue_t initialize() override;
// DeviceCommunicationIF overrides
virtual ReturnValue_t initializeInterface(CookieIF* cookie) override;
virtual ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) override;
virtual ReturnValue_t getSendSuccess(CookieIF* cookie) override;
virtual ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
virtual ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) override;
protected:
struct SpiInstance {
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
std::vector<uint8_t> replyBuffer;
size_t currentTransferLen = 0;
};
struct IrqArgs {
SpiComIF* comIF = nullptr;
SpiCookie* spiCookie = nullptr;
};
IrqArgs irqArgs;
uint32_t defaultPollingTimeout = 50;
SemaphoreIF::TimeoutType timeoutType = SemaphoreIF::TimeoutType::WAITING;
dur_millis_t timeoutMs = 20;
BinarySemaphore* spiSemaphore = nullptr;
bool cacheMaintenanceOnTxBuffer = true;
using SpiDeviceMap = std::map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;
uint8_t* currentRecvPtr = nullptr;
size_t currentRecvBuffSize = 0;
SpiDeviceMap spiDeviceMap;
ReturnValue_t handlePollingSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleInterruptSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleDmaSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t handleIrqSendOperation(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData,
size_t sendLen);
ReturnValue_t genericIrqSendSetup(uint8_t* recvPtr, SPI_HandleTypeDef& spiHandle,
SpiCookie& spiCookie, const uint8_t* sendData, size_t sendLen);
ReturnValue_t halErrorHandler(HAL_StatusTypeDef status, spi::TransferModes transferMode);
static void spiTransferTxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferRxCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferCompleteCallback(SPI_HandleTypeDef* hspi, void* args);
static void spiTransferErrorCallback(SPI_HandleTypeDef* hspi, void* args);
static void genericIrqHandler(void* irqArgs, spi::TransferStates targetState);
void printCfgError(const char* const type);
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOMIF_H_ */

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src/fsfw_hal/stm32h7/spi/SpiCookie.cpp Normal file
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#include "fsfw_hal/stm32h7/spi/SpiCookie.h"
SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
size_t maxRecvSize, stm32h7::GpioCfg csGpio)
: deviceAddress(deviceAddress),
spiIdx(spiIdx),
spiSpeed(spiSpeed),
spiMode(spiMode),
transferMode(transferMode),
csGpio(csGpio),
mspCfg(mspCfg),
maxRecvSize(maxRecvSize) {
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;
spiHandle.Init.Direction = SPI_DIRECTION_2LINES;
// Recommended setting to avoid glitches
spiHandle.Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE;
spiHandle.Init.Mode = SPI_MODE_MASTER;
spi::assignSpiMode(spiMode, spiHandle);
spiHandle.Init.BaudRatePrescaler = spi::getPrescaler(HAL_RCC_GetHCLKFreq(), spiSpeed);
}
uint16_t SpiCookie::getChipSelectGpioPin() const { return csGpio.pin; }
GPIO_TypeDef* SpiCookie::getChipSelectGpioPort() { return csGpio.port; }
address_t SpiCookie::getDeviceAddress() const { return deviceAddress; }
spi::SpiBus SpiCookie::getSpiIdx() const { return spiIdx; }
spi::SpiModes SpiCookie::getSpiMode() const { return spiMode; }
uint32_t SpiCookie::getSpiSpeed() const { return spiSpeed; }
size_t SpiCookie::getMaxRecvSize() const { return maxRecvSize; }
SPI_HandleTypeDef& SpiCookie::getSpiHandle() { return spiHandle; }
spi::MspCfgBase* SpiCookie::getMspCfg() { return mspCfg; }
void SpiCookie::deleteMspCfg() {
if (mspCfg != nullptr) {
delete mspCfg;
}
}
spi::TransferModes SpiCookie::getTransferMode() const { return transferMode; }
void SpiCookie::setTransferState(spi::TransferStates transferState) {
this->transferState = transferState;
}
spi::TransferStates SpiCookie::getTransferState() const { return this->transferState; }

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#ifndef FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#define FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_
#include <utility>
#include "../definitions.h"
#include "fsfw/devicehandlers/CookieIF.h"
#include "mspInit.h"
#include "spiDefinitions.h"
#include "stm32h743xx.h"
/**
* @brief SPI cookie implementation for the STM32H7 device family
* @details
* This cookie contains and caches device specific information to be used by the
* SPI communication interface
* @author R. Mueller
*/
class SpiCookie : public CookieIF {
friend class SpiComIF;
public:
/**
* Allows construction of a SPI cookie for a connected SPI device
* @param deviceAddress
* @param spiIdx SPI bus, e.g. SPI1 or SPI2
* @param transferMode
* @param mspCfg This is the MSP configuration. The user is expected to supply
* a valid MSP configuration. See mspInit.h for functions
* to create one.
* @param spiSpeed
* @param spiMode
* @param chipSelectGpioPin GPIO port. Don't use a number here, use the 16 bit type
* definitions supplied in the MCU header file! (e.g. GPIO_PIN_X)
* @param chipSelectGpioPort GPIO port (e.g. GPIOA)
* @param maxRecvSize Maximum expected receive size. Chose as small as possible.
* @param csGpio Optional CS GPIO definition.
*/
SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode, size_t maxRecvSize,
stm32h7::GpioCfg csGpio = stm32h7::GpioCfg(nullptr, 0, 0));
uint16_t getChipSelectGpioPin() const;
GPIO_TypeDef* getChipSelectGpioPort();
address_t getDeviceAddress() const;
spi::SpiBus getSpiIdx() const;
spi::SpiModes getSpiMode() const;
spi::TransferModes getTransferMode() const;
uint32_t getSpiSpeed() const;
size_t getMaxRecvSize() const;
SPI_HandleTypeDef& getSpiHandle();
private:
address_t deviceAddress;
SPI_HandleTypeDef spiHandle = {};
spi::SpiBus spiIdx;
uint32_t spiSpeed;
spi::SpiModes spiMode;
spi::TransferModes transferMode;
volatile spi::TransferStates transferState = spi::TransferStates::IDLE;
stm32h7::GpioCfg csGpio;
// The MSP configuration is cached here. Be careful when using this, it is automatically
// deleted by the SPI communication interface if it is not required anymore!
spi::MspCfgBase* mspCfg = nullptr;
const size_t maxRecvSize;
// Only the SpiComIF is allowed to use this to prevent dangling pointers issues
spi::MspCfgBase* getMspCfg();
void deleteMspCfg();
void setTransferState(spi::TransferStates transferState);
spi::TransferStates getTransferState() const;
};
#endif /* FSFW_HAL_STM32H7_SPI_SPICOOKIE_H_ */

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#include "fsfw_hal/stm32h7/spi/mspInit.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h743xx.h"
#include "stm32h7xx_hal_def.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
spi::msp_func_t mspInitFunc = nullptr;
spi::MspCfgBase* mspInitArgs = nullptr;
spi::msp_func_t mspDeinitFunc = nullptr;
spi::MspCfgBase* mspDeinitArgs = nullptr;
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example:
* - 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 spi::halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if (hspi == nullptr or cfg == nullptr) {
return;
}
setSpiHandle(hspi);
DMA_HandleTypeDef* hdma_tx = nullptr;
DMA_HandleTypeDef* hdma_rx = nullptr;
spi::getDmaHandles(&hdma_tx, &hdma_rx);
if (hdma_tx == nullptr or hdma_rx == nullptr) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
return;
}
spi::halMspInitInterrupt(hspi, cfg);
// DMA setup
if (cfg->dmaClkEnableWrapper == nullptr) {
mspErrorHandler("spi::halMspInitDma", "DMA Clock init invalid");
}
cfg->dmaClkEnableWrapper();
// Configure the DMA
/* Configure the DMA handler for Transmission process */
if (hdma_tx->Instance == nullptr) {
// Assume it was not configured properly
mspErrorHandler("spi::halMspInitDma", "DMA TX handle invalid");
}
HAL_DMA_Init(hdma_tx);
/* Associate the initialized DMA handle to the the SPI handle */
__HAL_LINKDMA(hspi, hdmatx, *hdma_tx);
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
dma::assignDmaUserHandler(cfg->rxDmaIndex, cfg->rxDmaStream, &spi::dmaRxIrqHandler, hdma_rx);
HAL_NVIC_SetPriority(cfg->rxDmaIrqNumber, cfg->rxPreEmptPriority, cfg->rxSubpriority);
HAL_NVIC_EnableIRQ(cfg->rxDmaIrqNumber);
/* NVIC configuration for DMA transfer complete interrupt (SPI1_TX) */
// Assign the interrupt handler
dma::assignDmaUserHandler(cfg->txDmaIndex, cfg->txDmaStream, &spi::dmaTxIrqHandler, hdma_tx);
HAL_NVIC_SetPriority(cfg->txDmaIrqNumber, cfg->txPreEmptPriority, cfg->txSubpriority);
HAL_NVIC_EnableIRQ(cfg->txDmaIrqNumber);
}
/**
* @brief SPI MSP De-Initialization
* This function frees the hardware resources used in this example:
* - Disable the Peripheral's clock
* - Revert GPIO, DMA and NVIC configuration to their default state
* @param hspi: SPI handle pointer
* @retval None
*/
void spi::halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspDmaConfigStruct*>(cfgBase);
if (hspi == nullptr or cfg == nullptr) {
return;
}
spi::halMspDeinitInterrupt(hspi, cfgBase);
DMA_HandleTypeDef* hdma_tx = NULL;
DMA_HandleTypeDef* hdma_rx = NULL;
spi::getDmaHandles(&hdma_tx, &hdma_rx);
if (hdma_tx == NULL || hdma_rx == NULL) {
printf("HAL_SPI_MspInit: Invalid DMA handles. Make sure to call setDmaHandles!\n");
} else {
// Disable the DMA
/* De-Initialize the DMA associated to transmission process */
HAL_DMA_DeInit(hdma_tx);
/* De-Initialize the DMA associated to reception process */
HAL_DMA_DeInit(hdma_rx);
}
// Disable the NVIC for DMA
HAL_NVIC_DisableIRQ(cfg->txDmaIrqNumber);
HAL_NVIC_DisableIRQ(cfg->rxDmaIrqNumber);
}
void spi::halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspPollingConfigStruct*>(cfgBase);
GPIO_InitTypeDef GPIO_InitStruct = {};
/*##-1- Enable peripherals and GPIO Clocks #################################*/
/* Enable GPIO TX/RX clock */
cfg->setupCb();
/*##-2- Configure peripheral GPIO ##########################################*/
/* SPI SCK GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->sck.pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
GPIO_InitStruct.Alternate = cfg->sck.altFnc;
HAL_GPIO_Init(cfg->sck.port, &GPIO_InitStruct);
/* SPI MISO GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->miso.pin;
GPIO_InitStruct.Alternate = cfg->miso.altFnc;
HAL_GPIO_Init(cfg->miso.port, &GPIO_InitStruct);
/* SPI MOSI GPIO pin configuration */
GPIO_InitStruct.Pin = cfg->mosi.pin;
GPIO_InitStruct.Alternate = cfg->mosi.altFnc;
HAL_GPIO_Init(cfg->mosi.port, &GPIO_InitStruct);
}
void spi::halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = reinterpret_cast<MspPollingConfigStruct*>(cfgBase);
// Reset peripherals
cfg->cleanupCb();
// Disable peripherals and GPIO Clocks
/* Configure SPI SCK as alternate function */
HAL_GPIO_DeInit(cfg->sck.port, cfg->sck.pin);
/* Configure SPI MISO as alternate function */
HAL_GPIO_DeInit(cfg->miso.port, cfg->miso.pin);
/* Configure SPI MOSI as alternate function */
HAL_GPIO_DeInit(cfg->mosi.port, cfg->mosi.pin);
}
void spi::halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
if (cfg == nullptr or hspi == nullptr) {
return;
}
spi::halMspInitPolling(hspi, cfg);
// Configure the NVIC for SPI
spi::assignSpiUserHandler(cfg->spiBus, cfg->spiIrqHandler, cfg->spiUserArgs);
HAL_NVIC_SetPriority(cfg->spiIrqNumber, cfg->preEmptPriority, cfg->subpriority);
HAL_NVIC_EnableIRQ(cfg->spiIrqNumber);
}
void spi::halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfgBase) {
auto cfg = dynamic_cast<MspIrqConfigStruct*>(cfgBase);
spi::halMspDeinitPolling(hspi, cfg);
// Disable the NVIC for SPI
HAL_NVIC_DisableIRQ(cfg->spiIrqNumber);
}
void spi::getMspInitFunction(msp_func_t* init_func, MspCfgBase** args) {
if (init_func != NULL && args != NULL) {
*init_func = mspInitFunc;
*args = mspInitArgs;
}
}
void spi::getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args) {
if (deinit_func != NULL && args != NULL) {
*deinit_func = mspDeinitFunc;
*args = mspDeinitArgs;
}
}
void spi::setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
void spi::setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
void spi::setSpiPollingMspFunctions(MspPollingConfigStruct* cfg, msp_func_t initFunc,
msp_func_t deinitFunc) {
mspInitFunc = initFunc;
mspDeinitFunc = deinitFunc;
mspInitArgs = cfg;
mspDeinitArgs = cfg;
}
/**
* @brief SPI MSP Initialization
* This function configures the hardware resources used in this example:
* - Peripheral's clock enable
* - Peripheral's GPIO Configuration
* - DMA configuration for transmission request by peripheral
* - NVIC configuration for DMA interrupt request enable
* @param hspi: SPI handle pointer
* @retval None
*/
extern "C" void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
if (mspInitFunc != NULL) {
mspInitFunc(hspi, mspInitArgs);
} else {
printf("HAL_SPI_MspInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
/**
* @brief SPI MSP De-Initialization
* This function frees the hardware resources used in this example:
* - Disable the Peripheral's clock
* - Revert GPIO, DMA and NVIC configuration to their default state
* @param hspi: SPI handle pointer
* @retval None
*/
extern "C" void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) {
if (mspDeinitFunc != NULL) {
mspDeinitFunc(hspi, mspDeinitArgs);
} else {
printf("HAL_SPI_MspDeInit: Please call set_msp_functions to assign SPI MSP functions\n");
}
}
void spi::mspErrorHandler(const char* const function, const char* const message) {
printf("%s failure: %s\n", function, message);
}

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#ifndef FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#define FSFW_HAL_STM32H7_SPI_MSPINIT_H_
#include <cstdint>
#include "../definitions.h"
#include "../dma.h"
#include "spiDefinitions.h"
#include "stm32h7xx_hal_spi.h"
#ifdef __cplusplus
extern "C" {
#endif
using mspCb = void (*)(void);
/**
* @brief This file provides MSP implementation for DMA, IRQ and Polling mode for the
* SPI peripheral. This configuration is required for the SPI communication to work.
*/
namespace spi {
struct MspCfgBase {
MspCfgBase() {}
MspCfgBase(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: sck(sck), mosi(mosi), miso(miso), cleanupCb(cleanupCb), setupCb(setupCb) {}
virtual ~MspCfgBase() = default;
stm32h7::GpioCfg sck;
stm32h7::GpioCfg mosi;
stm32h7::GpioCfg miso;
mspCb cleanupCb = nullptr;
mspCb setupCb = nullptr;
};
struct MspPollingConfigStruct : public MspCfgBase {
MspPollingConfigStruct() : MspCfgBase(){};
MspPollingConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspCfgBase(sck, mosi, miso, cleanupCb, setupCb) {}
};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspIrqConfigStruct : public MspPollingConfigStruct {
MspIrqConfigStruct() : MspPollingConfigStruct(){};
MspIrqConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspPollingConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
SpiBus spiBus = SpiBus::SPI_1;
user_handler_t spiIrqHandler = nullptr;
user_args_t spiUserArgs = nullptr;
IRQn_Type spiIrqNumber = SPI1_IRQn;
// Priorities for NVIC
// Pre-Empt priority ranging from 0 to 15. If FreeRTOS calls are used, only 5-15 are allowed
IrqPriorities preEmptPriority = IrqPriorities::LOWEST;
IrqPriorities subpriority = IrqPriorities::LOWEST;
};
/* A valid instance of this struct must be passed to the MSP initialization function as a void*
argument */
struct MspDmaConfigStruct : public MspIrqConfigStruct {
MspDmaConfigStruct() : MspIrqConfigStruct(){};
MspDmaConfigStruct(stm32h7::GpioCfg sck, stm32h7::GpioCfg mosi, stm32h7::GpioCfg miso,
mspCb cleanupCb = nullptr, mspCb setupCb = nullptr)
: MspIrqConfigStruct(sck, mosi, miso, cleanupCb, setupCb) {}
void (*dmaClkEnableWrapper)(void) = nullptr;
dma::DMAIndexes txDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAIndexes rxDmaIndex = dma::DMAIndexes::DMA_1;
dma::DMAStreams txDmaStream = dma::DMAStreams::STREAM_0;
dma::DMAStreams rxDmaStream = dma::DMAStreams::STREAM_0;
IRQn_Type txDmaIrqNumber = DMA1_Stream0_IRQn;
IRQn_Type rxDmaIrqNumber = DMA1_Stream1_IRQn;
// Priorities for NVIC
IrqPriorities txPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities rxPreEmptPriority = IrqPriorities::LOWEST;
IrqPriorities txSubpriority = IrqPriorities::LOWEST;
IrqPriorities rxSubpriority = IrqPriorities::LOWEST;
};
using msp_func_t = void (*)(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void getMspInitFunction(msp_func_t* init_func, MspCfgBase** args);
void getMspDeinitFunction(msp_func_t* deinit_func, MspCfgBase** args);
void halMspInitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitDma(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspInitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitInterrupt(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspInitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
void halMspDeinitPolling(SPI_HandleTypeDef* hspi, MspCfgBase* cfg);
/**
* Assign MSP init functions. Important for SPI configuration
* @param init_func
* @param init_args
* @param deinit_func
* @param deinit_args
*/
void setSpiDmaMspFunctions(MspDmaConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitDma,
msp_func_t deinitFunc = &spi::halMspDeinitDma);
void setSpiIrqMspFunctions(MspIrqConfigStruct* cfg, msp_func_t initFunc = &spi::halMspInitInterrupt,
msp_func_t deinitFunc = &spi::halMspDeinitInterrupt);
void setSpiPollingMspFunctions(MspPollingConfigStruct* cfg,
msp_func_t initFunc = &spi::halMspInitPolling,
msp_func_t deinitFunc = &spi::halMspDeinitPolling);
void mspErrorHandler(const char* const function, const char* const message);
} // namespace spi
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_MSPINIT_H_ */

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#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
SPI_HandleTypeDef* spiHandle = nullptr;
DMA_HandleTypeDef* hdmaTx = nullptr;
DMA_HandleTypeDef* hdmaRx = nullptr;
spi_transfer_cb_t rxTxCb = nullptr;
void* rxTxArgs = nullptr;
spi_transfer_cb_t txCb = nullptr;
void* txArgs = nullptr;
spi_transfer_cb_t rxCb = nullptr;
void* rxArgs = nullptr;
spi_transfer_cb_t errorCb = nullptr;
void* errorArgs = nullptr;
void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber);
void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus);
void spi::configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream,
IRQn_Type* dmaIrqNumber, uint32_t dmaMode, uint32_t dmaPriority) {
using namespace dma;
mapIndexAndStream(handle, dmaType, dmaIdx, dmaStream, dmaIrqNumber);
mapSpiBus(handle, dmaType, spiBus);
if (dmaType == DMAType::TX) {
handle->Init.Direction = DMA_MEMORY_TO_PERIPH;
} else {
handle->Init.Direction = DMA_PERIPH_TO_MEMORY;
}
handle->Init.Priority = dmaPriority;
handle->Init.Mode = dmaMode;
// Standard settings for the rest for now
handle->Init.FIFOMode = DMA_FIFOMODE_DISABLE;
handle->Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
handle->Init.MemBurst = DMA_MBURST_INC4;
handle->Init.PeriphBurst = DMA_PBURST_INC4;
handle->Init.PeriphInc = DMA_PINC_DISABLE;
handle->Init.MemInc = DMA_MINC_ENABLE;
handle->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
handle->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
}
void spi::setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle) {
hdmaTx = txHandle;
hdmaRx = rxHandle;
}
void spi::getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle) {
*txHandle = hdmaTx;
*rxHandle = hdmaRx;
}
void spi::setSpiHandle(SPI_HandleTypeDef* spiHandle_) {
if (spiHandle_ == NULL) {
return;
}
spiHandle = spiHandle_;
}
void spi::assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxTxCb = callback;
rxTxArgs = userArgs;
}
void spi::assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
rxCb = callback;
rxArgs = userArgs;
}
void spi::assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs) {
txCb = callback;
txArgs = userArgs;
}
void spi::assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs) {
errorCb = callback;
errorArgs = userArgs;
}
SPI_HandleTypeDef* spi::getSpiHandle() { return spiHandle; }
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi) {
if (rxTxCb != NULL) {
rxTxCb(hspi, rxTxArgs);
} else {
printf("HAL_SPI_TxRxCpltCallback: No user callback specified\n");
}
}
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef* hspi) {
if (txCb != NULL) {
txCb(hspi, txArgs);
} else {
printf("HAL_SPI_TxCpltCallback: No user callback specified\n");
}
}
/**
* @brief TxRx Transfer completed callback.
* @param hspi: SPI handle
*/
extern "C" void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef* hspi) {
if (rxCb != nullptr) {
rxCb(hspi, rxArgs);
} else {
printf("HAL_SPI_RxCpltCallback: No user callback specified\n");
}
}
/**
* @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
*/
extern "C" void HAL_SPI_ErrorCallback(SPI_HandleTypeDef* hspi) {
if (errorCb != nullptr) {
errorCb(hspi, rxArgs);
} else {
printf("HAL_SPI_ErrorCallback: No user callback specified\n");
}
}
void mapIndexAndStream(DMA_HandleTypeDef* handle, dma::DMAType dmaType, dma::DMAIndexes dmaIdx,
dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber) {
using namespace dma;
if (dmaIdx == DMAIndexes::DMA_1) {
#ifdef DMA1
switch (dmaStream) {
case (DMAStreams::STREAM_0): {
#ifdef DMA1_Stream0
handle->Instance = DMA1_Stream0;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream0_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_1): {
#ifdef DMA1_Stream1
handle->Instance = DMA1_Stream1;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream1_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_2): {
#ifdef DMA1_Stream2
handle->Instance = DMA1_Stream2;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream2_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_3): {
#ifdef DMA1_Stream3
handle->Instance = DMA1_Stream3;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream3_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_4): {
#ifdef DMA1_Stream4
handle->Instance = DMA1_Stream4;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream4_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_5): {
#ifdef DMA1_Stream5
handle->Instance = DMA1_Stream5;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream5_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_6): {
#ifdef DMA1_Stream6
handle->Instance = DMA1_Stream6;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream6_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_7): {
#ifdef DMA1_Stream7
handle->Instance = DMA1_Stream7;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA1_Stream7_IRQn;
}
#endif
break;
}
}
if (dmaType == DMAType::TX) {
handle->Init.Request = DMA_REQUEST_SPI1_TX;
} else {
handle->Init.Request = DMA_REQUEST_SPI1_RX;
}
#endif /* DMA1 */
}
if (dmaIdx == DMAIndexes::DMA_2) {
#ifdef DMA2
switch (dmaStream) {
case (DMAStreams::STREAM_0): {
#ifdef DMA2_Stream0
handle->Instance = DMA2_Stream0;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream0_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_1): {
#ifdef DMA2_Stream1
handle->Instance = DMA2_Stream1;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream1_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_2): {
#ifdef DMA2_Stream2
handle->Instance = DMA2_Stream2;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream2_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_3): {
#ifdef DMA2_Stream3
handle->Instance = DMA2_Stream3;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream3_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_4): {
#ifdef DMA2_Stream4
handle->Instance = DMA2_Stream4;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream4_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_5): {
#ifdef DMA2_Stream5
handle->Instance = DMA2_Stream5;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream5_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_6): {
#ifdef DMA2_Stream6
handle->Instance = DMA2_Stream6;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream6_IRQn;
}
#endif
break;
}
case (DMAStreams::STREAM_7): {
#ifdef DMA2_Stream7
handle->Instance = DMA2_Stream7;
if (dmaIrqNumber != nullptr) {
*dmaIrqNumber = DMA2_Stream7_IRQn;
}
#endif
break;
}
}
#endif /* DMA2 */
}
}
void mapSpiBus(DMA_HandleTypeDef* handle, dma::DMAType dmaType, spi::SpiBus spiBus) {
if (dmaType == dma::DMAType::TX) {
if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_TX
handle->Init.Request = DMA_REQUEST_SPI1_TX;
#endif
} else if (spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_TX
handle->Init.Request = DMA_REQUEST_SPI2_TX;
#endif
}
} else {
if (spiBus == spi::SpiBus::SPI_1) {
#ifdef DMA_REQUEST_SPI1_RX
handle->Init.Request = DMA_REQUEST_SPI1_RX;
#endif
} else if (spiBus == spi::SpiBus::SPI_2) {
#ifdef DMA_REQUEST_SPI2_RX
handle->Init.Request = DMA_REQUEST_SPI2_RX;
#endif
}
}
}

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#ifndef FSFW_HAL_STM32H7_SPI_SPICORE_H_
#define FSFW_HAL_STM32H7_SPI_SPICORE_H_
#include "fsfw_hal/stm32h7/dma.h"
#include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#ifdef __cplusplus
extern "C" {
#endif
using spi_transfer_cb_t = void (*)(SPI_HandleTypeDef* hspi, void* userArgs);
namespace spi {
void configureDmaHandle(DMA_HandleTypeDef* handle, spi::SpiBus spiBus, dma::DMAType dmaType,
dma::DMAIndexes dmaIdx, dma::DMAStreams dmaStream, IRQn_Type* dmaIrqNumber,
uint32_t dmaMode = DMA_NORMAL, uint32_t dmaPriority = DMA_PRIORITY_LOW);
/**
* Assign DMA handles. Required to use DMA for SPI transfers.
* @param txHandle
* @param rxHandle
*/
void setDmaHandles(DMA_HandleTypeDef* txHandle, DMA_HandleTypeDef* rxHandle);
void getDmaHandles(DMA_HandleTypeDef** txHandle, DMA_HandleTypeDef** rxHandle);
/**
* Assign SPI handle. Needs to be done before using the SPI
* @param spiHandle
*/
void setSpiHandle(SPI_HandleTypeDef* spiHandle);
void assignTransferRxTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
void assignTransferRxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
void assignTransferTxCompleteCallback(spi_transfer_cb_t callback, void* userArgs);
void assignTransferErrorCallback(spi_transfer_cb_t callback, void* userArgs);
/**
* Get the assigned SPI handle.
* @return
*/
SPI_HandleTypeDef* getSpiHandle();
} // namespace spi
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_SPICORE_H_ */

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#include "fsfw_hal/stm32h7/spi/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 "fsfw/returnvalues/FwClassIds.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_spi.h"
namespace spi {
static constexpr uint8_t HAL_SPI_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t HAL_TIMEOUT_RETVAL =
HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 0);
static constexpr ReturnValue_t HAL_BUSY_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 1);
static constexpr ReturnValue_t HAL_ERROR_RETVAL = HasReturnvaluesIF::makeReturnCode(HAL_SPI_ID, 2);
enum class TransferStates { IDLE, WAIT, SUCCESS, FAILURE };
enum SpiBus { SPI_1, SPI_2 };
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);
} // namespace spi
#endif /* FSFW_HAL_STM32H7_SPI_SPIDEFINITIONS_H_ */

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#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include <stddef.h>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_dma.h"
#include "stm32h7xx_hal_spi.h"
user_handler_t spi1UserHandler = &spi::spiIrqHandler;
user_args_t spi1UserArgs = nullptr;
user_handler_t spi2UserHandler = &spi::spiIrqHandler;
user_args_t spi2UserArgs = nullptr;
/**
* @brief This function handles DMA Rx interrupt request.
* @param None
* @retval None
*/
void spi::dmaRxIrqHandler(void *dmaHandle) {
if (dmaHandle == nullptr) {
return;
}
HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
}
/**
* @brief This function handles DMA Rx interrupt request.
* @param None
* @retval None
*/
void spi::dmaTxIrqHandler(void *dmaHandle) {
if (dmaHandle == nullptr) {
return;
}
HAL_DMA_IRQHandler((DMA_HandleTypeDef *)dmaHandle);
}
/**
* @brief This function handles SPIx interrupt request.
* @param None
* @retval None
*/
void spi::spiIrqHandler(void *spiHandle) {
if (spiHandle == nullptr) {
return;
}
// auto currentSpiHandle = spi::getSpiHandle();
HAL_SPI_IRQHandler((SPI_HandleTypeDef *)spiHandle);
}
void spi::assignSpiUserHandler(spi::SpiBus spiIdx, user_handler_t userHandler,
user_args_t userArgs) {
if (spiIdx == spi::SpiBus::SPI_1) {
spi1UserHandler = userHandler;
spi1UserArgs = userArgs;
} else {
spi2UserHandler = userHandler;
spi2UserArgs = userArgs;
}
}
void spi::getSpiUserHandler(spi::SpiBus spiBus, user_handler_t *userHandler,
user_args_t *userArgs) {
if (userHandler == nullptr or userArgs == nullptr) {
return;
}
if (spiBus == spi::SpiBus::SPI_1) {
*userArgs = spi1UserArgs;
*userHandler = spi1UserHandler;
} else {
*userArgs = spi2UserArgs;
*userHandler = spi2UserHandler;
}
}
void spi::assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs) {
if (spiBus == spi::SpiBus::SPI_1) {
spi1UserArgs = userArgs;
} else {
spi2UserArgs = userArgs;
}
}
/* Do not change these function names! They need to be exactly equal to the name of the functions
defined in the startup_stm32h743xx.s files! */
extern "C" void SPI1_IRQHandler() {
if (spi1UserHandler != NULL) {
spi1UserHandler(spi1UserArgs);
return;
}
Default_Handler();
}
extern "C" void SPI2_IRQHandler() {
if (spi2UserHandler != nullptr) {
spi2UserHandler(spi2UserArgs);
return;
}
Default_Handler();
}

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src/fsfw_hal/stm32h7/spi/spiInterrupts.h Normal file
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#ifndef FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
#define FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_
#include "../interrupts.h"
#include "spiDefinitions.h"
#ifdef __cplusplus
extern "C" {
#endif
namespace spi {
void assignSpiUserArgs(spi::SpiBus spiBus, user_args_t userArgs);
/**
* Assign a user interrupt handler for SPI bus 1, allowing to pass an arbitrary argument as well.
* Generally, this argument will be the related SPI handle.
* @param user_handler
* @param user_args
*/
void assignSpiUserHandler(spi::SpiBus spiBus, user_handler_t user_handler, user_args_t user_args);
void getSpiUserHandler(spi::SpiBus spiBus, user_handler_t* user_handler, user_args_t* user_args);
/**
* Generic interrupt handlers supplied for convenience. Do not call these directly! Set them
* instead with assign_dma_user_handler and assign_spi_user_handler functions.
* @param dma_handle
*/
void dmaRxIrqHandler(void* dma_handle);
void dmaTxIrqHandler(void* dma_handle);
void spiIrqHandler(void* spi_handle);
} // namespace spi
#ifdef __cplusplus
}
#endif
#endif /* FSFW_HAL_STM32H7_SPI_INTERRUPTS_H_ */

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#include "fsfw_hal/stm32h7/spi/stm32h743zi.h"
#include <cstdio>
#include "fsfw_hal/stm32h7/spi/spiCore.h"
#include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
#include "stm32h7xx_hal.h"
#include "stm32h7xx_hal_rcc.h"
void spiSetupWrapper() {
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_SPI1_CLK_ENABLE();
}
void spiCleanUpWrapper() {
__HAL_RCC_SPI1_FORCE_RESET();
__HAL_RCC_SPI1_RELEASE_RESET();
}
void spiDmaClockEnableWrapper() { __HAL_RCC_DMA2_CLK_ENABLE(); }
void stm32h7::h743zi::standardPollingCfg(spi::MspPollingConfigStruct& cfg) {
cfg.setupCb = &spiSetupWrapper;
cfg.cleanupCb = &spiCleanUpWrapper;
cfg.sck.port = GPIOA;
cfg.sck.pin = GPIO_PIN_5;
cfg.miso.port = GPIOA;
cfg.miso.pin = GPIO_PIN_6;
cfg.mosi.port = GPIOA;
cfg.mosi.pin = GPIO_PIN_7;
cfg.sck.altFnc = GPIO_AF5_SPI1;
cfg.mosi.altFnc = GPIO_AF5_SPI1;
cfg.miso.altFnc = GPIO_AF5_SPI1;
}
void stm32h7::h743zi::standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio) {
// High, but works on FreeRTOS as well (priorities range from 0 to 15)
cfg.preEmptPriority = spiIrqPrio;
cfg.subpriority = spiSubprio;
cfg.spiIrqNumber = SPI1_IRQn;
cfg.spiBus = spi::SpiBus::SPI_1;
user_handler_t spiUserHandler = nullptr;
user_args_t spiUserArgs = nullptr;
getSpiUserHandler(spi::SpiBus::SPI_1, &spiUserHandler, &spiUserArgs);
if (spiUserHandler == nullptr) {
printf("spi::h743zi::standardInterruptCfg: Invalid SPI user handlers\n");
return;
}
cfg.spiUserArgs = spiUserArgs;
cfg.spiIrqHandler = spiUserHandler;
standardPollingCfg(cfg);
}
void stm32h7::h743zi::standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities txIrqPrio, IrqPriorities rxIrqPrio,
IrqPriorities spiSubprio, IrqPriorities txSubprio,
IrqPriorities rxSubprio) {
cfg.dmaClkEnableWrapper = &spiDmaClockEnableWrapper;
cfg.rxDmaIndex = dma::DMAIndexes::DMA_2;
cfg.txDmaIndex = dma::DMAIndexes::DMA_2;
cfg.txDmaStream = dma::DMAStreams::STREAM_3;
cfg.rxDmaStream = dma::DMAStreams::STREAM_2;
DMA_HandleTypeDef* txHandle;
DMA_HandleTypeDef* rxHandle;
spi::getDmaHandles(&txHandle, &rxHandle);
if (txHandle == nullptr or rxHandle == nullptr) {
printf("spi::h743zi::standardDmaCfg: Invalid DMA handles\n");
return;
}
spi::configureDmaHandle(txHandle, spi::SpiBus::SPI_1, dma::DMAType::TX, cfg.txDmaIndex,
cfg.txDmaStream, &cfg.txDmaIrqNumber);
spi::configureDmaHandle(rxHandle, spi::SpiBus::SPI_1, dma::DMAType::RX, cfg.rxDmaIndex,
cfg.rxDmaStream, &cfg.rxDmaIrqNumber, DMA_NORMAL, DMA_PRIORITY_HIGH);
cfg.txPreEmptPriority = txIrqPrio;
cfg.rxPreEmptPriority = txSubprio;
cfg.txSubpriority = rxIrqPrio;
cfg.rxSubpriority = rxSubprio;
standardInterruptCfg(cfg, spiIrqPrio, spiSubprio);
}

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src/fsfw_hal/stm32h7/spi/stm32h743zi.h Normal file
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#ifndef FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_
#define FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_
#include "mspInit.h"
namespace stm32h7 {
namespace h743zi {
void standardPollingCfg(spi::MspPollingConfigStruct& cfg);
void standardInterruptCfg(spi::MspIrqConfigStruct& cfg, IrqPriorities spiIrqPrio,
IrqPriorities spiSubprio = HIGHEST);
void standardDmaCfg(spi::MspDmaConfigStruct& cfg, IrqPriorities spiIrqPrio, IrqPriorities txIrqPrio,
IrqPriorities rxIrqPrio, IrqPriorities spiSubprio = HIGHEST,
IrqPriorities txSubPrio = HIGHEST, IrqPriorities rxSubprio = HIGHEST);
} // namespace h743zi
} // namespace stm32h7
#endif /* FSFW_HAL_STM32H7_SPI_STM32H743ZISPI_H_ */