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-rw-r--r--source/com_task.c131
1 files changed, 61 insertions, 70 deletions
diff --git a/source/com_task.c b/source/com_task.c
index 1c814df..a141c40 100644
--- a/source/com_task.c
+++ b/source/com_task.c
@@ -4,7 +4,8 @@
#include "gpio_ext.h"
#include "adc_task.h"
-uint8_t registers[APALIS_TK1_K20_LAST_REG];
+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*/
const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER;
@@ -180,92 +181,82 @@ void spi_task(void *pvParameters) {
g_dspi_edma_s_handle.userData = &cb_msg;
DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_callback, &cb_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle);
#endif
+ memset(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;
-while(1){
- slaveXfer.txData = NULL;/* no MISO traffic*/
- slaveXfer.rxData = slaveRxData;
- slaveXfer.dataSize = 3;
- /* Wait for instructions from SoC */
- ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
- if ( ret == kStatus_Success) {
-
- xSemaphoreTake(cb_msg.sem, portMAX_DELAY);
- slaveXfer.txData = slaveTxData;
+ while(1){
+ slaveXfer.txData = NULL;/* no MISO traffic*/
slaveXfer.rxData = slaveRxData;
-
- if (slaveRxData[0] == APALIS_TK1_K20_READ_INST)
- {
- /* clear interrupt flags on read; */
- if ( slaveRxData[1] == APALIS_TK1_K20_IRQREG)
- {
- registers[APALIS_TK1_K20_IRQREG] = 0;
- }
- }
- else
- {
- if (slaveRxData[1] <= 0x05) {
- ret = general_registers(&slaveXfer);
- } 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);
-
- } 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);
+ slaveXfer.dataSize = 3;
+ /* Wait for instructions from SoC */
+ ret = DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
+ if ( ret == kStatus_Success) {
+
+ xSemaphoreTake(cb_msg.sem, portMAX_DELAY);
+
+ slaveXfer.txData = slaveTxData;
+ slaveXfer.rxData = slaveRxData;
+ if (slaveRxData[0] != APALIS_TK1_K20_READ_INST) {
+ if (slaveRxData[1] <= 0x05) {
+ ret = general_registers(&slaveXfer);
+ } 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);
+
+ } 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);
#ifdef BOARD_USES_ADC
- } else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) {
- ret = adc_registers(&slaveXfer);
+ } else if ((slaveRxData[1] >= APALIS_TK1_K20_ADCREG) && (slaveRxData[1] <= APALIS_TK1_K20_ADC_CH3H)) {
+ ret = adc_registers(&slaveXfer);
- } else if ((slaveRxData[1] >= APALIS_TK1_K20_TSCREG) && (slaveRxData[1] <= APALIS_TK1_K20_TSC_YPH)) {
- ret = tsc_registers(&slaveXfer);
+ } else if ((slaveRxData[1] >= APALIS_TK1_K20_TSCREG) && (slaveRxData[1] <= APALIS_TK1_K20_TSC_YPH)) {
+ ret = tsc_registers(&slaveXfer);
#endif
- } else if ((slaveRxData[1] >= APALIS_TK1_K20_GPIOREG) && (slaveRxData[1] <= APALIS_TK1_K20_GPIO_STA)) {
- ret = gpio_registers(&slaveXfer);
- } else {
- /* Register not defined */
- ret = -EINVAL;
- }
+ } else if ((slaveRxData[1] >= APALIS_TK1_K20_GPIOREG) && (slaveRxData[1] <= APALIS_TK1_K20_GPIO_STA)) {
+ ret = gpio_registers(&slaveXfer);
+ } else {
+ /* Register not defined */
+ 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;
- }
+ 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;
+ }
- if (slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST)
- {
- slaveXfer.dataSize = ret;
- //retry_size = slaveXfer.dataSize;
- slaveXfer.rxData = slaveRxData; /* We're not expecting any MOSI traffic, but NULL messes up stuff */
+ 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 */
#ifdef SPI_DMA
- __disable_irq(); // just to make sure that high can irq rate will not interfere
- DSPI_SlaveTransferEDMA(SPI2, &g_dspi_edma_s_handle, &slaveXfer);
- __enable_irq();
+ DSPI_SlaveTransferEDMA(SPI2, &g_dspi_edma_s_handle, &slaveXfer);
#else
- DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
+ 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);
+ 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;
}
- resume_can = 0;
}
}
+
}
}
}
-}
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