diff options
Diffstat (limited to 'source/com_task.c')
| -rw-r--r-- | source/com_task.c | 34 |
1 files changed, 15 insertions, 19 deletions
diff --git a/source/com_task.c b/source/com_task.c index a141c40..4b73209 100644 --- a/source/com_task.c +++ b/source/com_task.c @@ -7,7 +7,7 @@ volatile uint8_t registers[APALIS_TK1_K20_LAST_REG]; volatile uint8_t regRxHandled; -/* Put FW version at known address in binary. Make it 32-bit to have room for the future*/ +/* Put FW version at known address in a binary. Make it 32-bit to have room for the future*/ const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER; static dspi_slave_handle_t spi_handle; @@ -151,16 +151,17 @@ static void SPI_init() { } void spi_task(void *pvParameters) { - callback_message_t cb_msg; + callback_message_t spi_msg; dspi_transfer_t slaveXfer; int ret = 0; + int can_read = -1; #ifdef SPI_DMA uint32_t slaveRxChannel, slaveTxChannel; edma_config_t userConfig; #endif - cb_msg.sem = xSemaphoreCreateBinary(); - spi_handle.userData = &cb_msg; + spi_msg.sem = xSemaphoreCreateBinary(); + spi_handle.userData = &spi_msg; SPI_init(); #ifdef SPI_DMA slaveRxChannel = 0U; @@ -178,8 +179,8 @@ void spi_task(void *pvParameters) { EDMA_CreateHandle(&dspiEdmaSlaveRxHandle, DMA0, slaveRxChannel); EDMA_CreateHandle(&dspiEdmaSlaveTxHandle, DMA0, slaveTxChannel); - g_dspi_edma_s_handle.userData = &cb_msg; - DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_callback, &cb_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); + g_dspi_edma_s_handle.userData = &spi_msg; + DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_callback, &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); #endif memset(registers, 0x00, APALIS_TK1_K20_LAST_REG); registers[APALIS_TK1_K20_REVREG] = APALIS_TK1_K20_FW_VER; @@ -194,7 +195,7 @@ void spi_task(void *pvParameters) { ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); if ( ret == kStatus_Success) { - xSemaphoreTake(cb_msg.sem, portMAX_DELAY); + xSemaphoreTake(spi_msg.sem, portMAX_DELAY); slaveXfer.txData = slaveTxData; slaveXfer.rxData = slaveRxData; @@ -204,10 +205,12 @@ void spi_task(void *pvParameters) { } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0)) && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(0))) { ret = canx_registers(&slaveXfer, 0); + can_read = 0; } else if ((slaveRxData[1] >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1)) && (slaveRxData[1] <= APALIS_TK1_K20_CAN_OUT_BUF_END + APALIS_TK1_K20_CAN_DEV_OFFSET(1))) { ret = canx_registers(&slaveXfer, 1); + can_read = 1; #ifdef BOARD_USES_ADC } else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) { ret = adc_registers(&slaveXfer); @@ -223,7 +226,7 @@ void spi_task(void *pvParameters) { } - if (ret <= 0) { + if (ret < 0) { slaveTxData[0] = TK1_K20_INVAL; slaveTxData[1] = ret; slaveTxData[2] = slaveRxData[0]; @@ -242,17 +245,10 @@ void spi_task(void *pvParameters) { #else DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); #endif - xSemaphoreTake(cb_msg.sem, portMAX_DELAY); - if (resume_can != 0) { - if (resume_can == 1) { - vTaskResume(can0_task_handle); - can_calculate_available_data(0); - } - else { - vTaskResume(can1_task_handle); - can_calculate_available_data(1); - } - resume_can = 0; + xSemaphoreTake(spi_msg.sem, portMAX_DELAY); + if (can_read >= 0) { + can_spi_read_complete(can_read); + can_read = -1; } } } |