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not an ideal solution but works for now

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This commit is contained in:
Robin Müller
2021-07-16 12:22:14 +02:00
parent aafccd191e
commit a65a184083
9 changed files with 70 additions and 10 deletions
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1
hal/src/stm32h7/devicetest/GyroL3GD20H.cpp
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@ -9,7 +9,6 @@
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "stm32h7xx_nucleo.h"
#include "stm32h7xx_hal_spi.h"
#include "stm32h7xx_hal_rcc.h"

17
hal/src/stm32h7/spi/SpiComIF.cpp
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@ -2,12 +2,21 @@
#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
#include "fsfw/tasks/SemaphoreFactory.h"
#include "fsfw/osal/freertos/TaskManagement.h"
#include "fsfw/hal/stm32h7/spi/spiCore.h"
#include "fsfw/hal/stm32h7/spi/spiInterrupts.h"
#include "fsfw/hal/stm32h7/spi/mspInit.h"
#include "fsfw/hal/stm32h7/gpio/gpio.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/TaskManagement.h"
#include "fsfw/osal/freertos/BinarySemaphore.h"
#endif
#include "stm32h7xx_hal_gpio.h"
SpiComIF::SpiComIF(object_id_t objectId): SystemObject(objectId) {
@ -421,10 +430,14 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
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");
@ -436,11 +449,13 @@ void SpiComIF::genericIrqHandler(void *irqArgsVoid, spi::TransferStates targetSt
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) {