diff options
Diffstat (limited to 'source/com_task.c')
| -rw-r--r-- | source/com_task.c | 65 |
1 files changed, 40 insertions, 25 deletions
diff --git a/source/com_task.c b/source/com_task.c index 56a4ce2..d6bc97d 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 a 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 */ #ifndef TESTER_BUILD const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER; #else @@ -18,17 +18,20 @@ static dspi_slave_handle_t spi_handle; static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER]; static uint8_t slaveTxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER]; -#define SPI_DMA - #ifdef SPI_DMA dspi_slave_edma_handle_t g_dspi_edma_s_handle; edma_handle_t dspiEdmaSlaveRxHandle; edma_handle_t dspiEdmaSlaveTxHandle; #endif + void generate_irq(uint8_t irq) { - registers[APALIS_TK1_K20_IRQREG] |= BIT(irq); - /* Toggle INT1 pin */ - GPIO_TogglePinsOutput(GPIOA, 1u << 16u); + if (!(registers[APALIS_TK1_K20_MSQREG] & BIT(irq))) { + taskENTER_CRITICAL(); + registers[APALIS_TK1_K20_IRQREG] |= BIT(irq); + /* Toggle INT1 pin */ + GPIO_TogglePinsOutput(GPIOA, 1u << 16u); + taskEXIT_CRITICAL(); + } } void clear_irq_flag(uint8_t irq) { @@ -110,7 +113,8 @@ inline int general_registers(dspi_transfer_t * spi_transfer) return -ENXIO; } -static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t status, void *userData) + +inline void SPI_main_callback(status_t status, void *userData) { callback_message_t * cb = (callback_message_t*) userData; BaseType_t reschedule = pdFALSE; @@ -119,14 +123,25 @@ static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t s { xSemaphoreGiveFromISR(cb->sem, &reschedule); } - +#if 0 if (status == kStatus_DSPI_Error) { __NOP(); } +#endif portYIELD_FROM_ISR(reschedule); } +static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t status, void *userData) +{ + SPI_main_callback(status, userData); +} + +static void SPI_EDMA_callback(SPI_Type *base, dspi_slave_edma_handle_t *handle, status_t status, void *userData) +{ + SPI_main_callback(status, userData); +} + static dspi_slave_config_t spi2_slaveConfig; static void SPI_init() { @@ -184,9 +199,10 @@ void spi_task(void *pvParameters) { EDMA_CreateHandle(&dspiEdmaSlaveTxHandle, DMA0, slaveTxChannel); g_dspi_edma_s_handle.userData = &spi_msg; - DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_callback, &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); + DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_EDMA_callback, + &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); #endif - memset(registers, 0x00, APALIS_TK1_K20_LAST_REG); + memset((uint8_t *)registers, 0x00, APALIS_TK1_K20_LAST_REG); registers[APALIS_TK1_K20_REVREG] = APALIS_TK1_K20_FW_VER; GPIO_SetPinsOutput(GPIOA, 1u << 29u); /* INT2 idle */ slaveXfer.configFlags = kDSPI_SlaveCtar0; @@ -198,12 +214,12 @@ void spi_task(void *pvParameters) { /* Wait for instructions from SoC */ ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); if ( ret == kStatus_Success) { - xSemaphoreTake(spi_msg.sem, portMAX_DELAY); - slaveXfer.txData = slaveTxData; - slaveXfer.rxData = slaveRxData; if (slaveRxData[0] != APALIS_TK1_K20_READ_INST) { + taskENTER_CRITICAL(); + slaveXfer.txData = slaveTxData; + slaveXfer.rxData = slaveRxData; if (slaveRxData[1] <= 0x05) { ret = general_registers(&slaveXfer); #ifndef TESTER_BUILD @@ -231,34 +247,33 @@ void spi_task(void *pvParameters) { ret = -EINVAL; } - if (ret < 0) { - slaveTxData[0] = TK1_K20_INVAL; - slaveTxData[1] = ret; - slaveTxData[2] = slaveRxData[0]; - slaveTxData[3] = slaveRxData[1]; - slaveTxData[4] = slaveRxData[2]; - slaveXfer.txData = slaveTxData; - ret = 5; + PRINTF("Invalid read/write ret = %d rx[0] = 0x%x, rx[1] = 0x%x, rx[2] = 0x%x\r\n", + ret, slaveRxData[0], slaveRxData[1], slaveRxData[2]); } - if (slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST) - { + if (slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST) { slaveXfer.dataSize = ret; - slaveXfer.rxData = NULL; /* We're not expecting any MOSI traffic, but NULL messes up stuff */ + slaveXfer.rxData = NULL; #ifdef SPI_DMA DSPI_SlaveTransferEDMA(SPI2, &g_dspi_edma_s_handle, &slaveXfer); #else DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer); #endif + taskEXIT_CRITICAL(); xSemaphoreTake(spi_msg.sem, portMAX_DELAY); + if (can_read >= 0) { can_spi_read_complete(can_read); can_read = -1; } + } else { + taskEXIT_CRITICAL(); } } - + } else { + /* Something went wrong, retry */ + DSPI_SlaveTransferAbort(SPI2, &spi_handle); } } } |