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-rw-r--r--source/com_task.c88
1 files changed, 56 insertions, 32 deletions
diff --git a/source/com_task.c b/source/com_task.c
index 01796d8..9edc906 100644
--- a/source/com_task.c
+++ b/source/com_task.c
@@ -5,7 +5,7 @@
#include "adc_task.h"
/* Put FW version at known address in binary. Make it 32-bit to have room for the future*/
-const uint32_t __attribute__((section(".FwVersion"))) fw_version = APALIS_TK1_K20_FW_VER;
+const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER;
static dspi_slave_handle_t spi_handle;
static uint8_t slaveRxData[APALIS_TK1_K20_MAX_BULK + APALIS_TK1_K20_HEADER] = {0U};
@@ -67,13 +67,13 @@ void set_irq_reg(uint8_t value)
}
-inline int general_registers(dspi_transfer_t *spi_transfer)
+inline int general_registers(dspi_transfer_t * spi_transfer)
{
uint8_t *rx_buf = spi_transfer->rxData;
uint8_t *tx_buf = &spi_transfer->txData[1];
if (rx_buf[0] == APALIS_TK1_K20_READ_INST) {
- switch (rx_buf[1]) {
+ switch (rx_buf[2]) {
case APALIS_TK1_K20_STAREG:
tx_buf[0] = get_status_reg();
return 1;
@@ -96,18 +96,18 @@ inline int general_registers(dspi_transfer_t *spi_transfer)
switch (rx_buf[1]) {
case APALIS_TK1_K20_STAREG:
set_status_reg(rx_buf[2]);
- return 0;
+ return 1;
case APALIS_TK1_K20_REVREG:
return -ENOENT;
case APALIS_TK1_K20_IRQREG:
set_irq_reg(rx_buf[2]);
- return 0;
+ return 1;
case APALIS_TK1_K20_CTRREG:
set_control_reg(rx_buf[2]);
- return 0;
+ return 1;
case APALIS_TK1_K20_MSQREG:
set_mask_reg(rx_buf[2]);
- return 0;
+ return 1;
default:
return -ENOENT;
}
@@ -134,19 +134,24 @@ static void SPI_callback(SPI_Type *base, dspi_slave_handle_t *handle, status_t s
portYIELD_FROM_ISR(reschedule);
}
+static dspi_slave_config_t spi2_slaveConfig;
+
static void SPI_init() {
- dspi_slave_config_t slaveConfig;
+ gpio_pin_config_t gpio_out_config = {
+ kGPIO_DigitalOutput, 0,
+ };
+ GPIO_PinInit(GPIOD, 11u, &gpio_out_config);
/* Slave config */
- slaveConfig.whichCtar = kDSPI_Ctar0;
- slaveConfig.ctarConfig.bitsPerFrame = 8;
- slaveConfig.ctarConfig.cpol = kDSPI_ClockPolarityActiveHigh;
- slaveConfig.ctarConfig.cpha = kDSPI_ClockPhaseSecondEdge;
- slaveConfig.enableContinuousSCK = true;
- slaveConfig.enableRxFifoOverWrite = false;
- slaveConfig.enableModifiedTimingFormat = false;
- slaveConfig.samplePoint = kDSPI_SckToSin0Clock;
-
- DSPI_SlaveInit(SPI2, &slaveConfig);
+ spi2_slaveConfig.whichCtar = kDSPI_Ctar0;
+ spi2_slaveConfig.ctarConfig.bitsPerFrame = 8;
+ spi2_slaveConfig.ctarConfig.cpol = kDSPI_ClockPolarityActiveHigh;
+ spi2_slaveConfig.ctarConfig.cpha = kDSPI_ClockPhaseSecondEdge;
+ spi2_slaveConfig.enableContinuousSCK = false;
+ spi2_slaveConfig.enableRxFifoOverWrite = true;
+ spi2_slaveConfig.enableModifiedTimingFormat = false;
+ spi2_slaveConfig.samplePoint = kDSPI_SckToSin0Clock;
+ PRINTF("SPI init \r\n");
+ DSPI_SlaveInit(SPI2, &spi2_slaveConfig);
DSPI_SlaveTransferCreateHandle(SPI2, &spi_handle, SPI_callback, spi_handle.userData);
/* Set dspi slave interrupt priority higher. */
@@ -159,7 +164,8 @@ static void SPI_init() {
void spi_task(void *pvParameters) {
callback_message_t cb_msg;
dspi_transfer_t slaveXfer;
- int ret;
+ int ret, retry_size = 0;
+ uint8_t req_register = 0xFF;
cb_msg.sem = xSemaphoreCreateBinary();
spi_handle.userData = &cb_msg;
@@ -167,38 +173,53 @@ void spi_task(void *pvParameters) {
GPIO_SetPinsOutput(GPIOA, 1u << 29u); /* INT2 idle */
while(1){
- slaveXfer.txData = slaveTxData;
+ slaveXfer.txData = NULL;/* We're not expecting any MISO traffic */
slaveXfer.rxData = slaveRxData;
slaveXfer.dataSize = 3;
slaveXfer.configFlags = kDSPI_SlaveCtar0;
/* Wait for instructions from SoC */
DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
xSemaphoreTake(cb_msg.sem, portMAX_DELAY);
- if (slaveRxData[1] <= 0x05) {
+ GPIO_ClearPinsOutput(GPIOD, 1u << 11u);
+ slaveXfer.txData = slaveTxData;
+ slaveXfer.rxData = slaveRxData;
+
+ if (slaveRxData[0] == APALIS_TK1_K20_WRITE_INST)
+ req_register = slaveRxData[1];
+ else
+ req_register = slaveRxData[2];
+
+ if (req_register <= 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 = can0_registers(&slaveXfer);
+ } else if ((req_register >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(0))
+ && (req_register <= 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 = can1_registers(&slaveXfer);
+ } else if ((req_register >= APALIS_TK1_K20_CANREG + APALIS_TK1_K20_CAN_DEV_OFFSET(1))
+ && (req_register <= 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)) {
+ } else if ((req_register >= APALIS_TK1_K20_ADCREG) && (req_register <= APALIS_TK1_K20_ADC_CH3H)) {
ret = adc_registers(&slaveXfer);
- } else if ((slaveRxData[1] >= APALIS_TK1_K20_TSCREG) && (slaveRxData[1] <= APALIS_TK1_K20_TSC_YPH)) {
+ } else if ((req_register >= APALIS_TK1_K20_TSCREG) && (req_register <= 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)) {
+ } else if ((req_register >= APALIS_TK1_K20_GPIOREG) && (req_register <= APALIS_TK1_K20_GPIO_STA)) {
ret = gpio_registers(&slaveXfer);
+ } else if (req_register == APALIS_TK1_K20_RET_REQ) {
+ /* something wrong with the SPI peripheral, try resetting it */
+ DSPI_StopTransfer(SPI2);
+ DSPI_Enable(SPI2, false);
+ DSPI_SlaveInit(SPI2, &spi2_slaveConfig);
+ ret = retry_size - 1;
} else {
/* Register not defined */
ret = -EINVAL;
}
- if (ret < 0) {
+ if (ret <= 0) {
slaveTxData[0] = TK1_K20_INVAL;
slaveTxData[1] = TK1_K20_INVAL;
} else {
@@ -207,8 +228,11 @@ void spi_task(void *pvParameters) {
if (slaveRxData[0] == APALIS_TK1_K20_READ_INST || slaveRxData[0] == APALIS_TK1_K20_BULK_READ_INST)
{
- slaveXfer.dataSize = (ret >= 0) ? (ret + 1):2; /* Extra byte is for sentinel */
+ slaveXfer.dataSize = (ret > 0) ? (ret + 1):2; /* Extra byte is for sentinel*/
+ retry_size = slaveXfer.dataSize;
+ slaveXfer.rxData = NULL; /* We're not expecting any MOSI traffic */
DSPI_SlaveTransferNonBlocking(SPI2, &spi_handle, &slaveXfer);
+ GPIO_SetPinsOutput(GPIOD, 1u << 11u);
xSemaphoreTake(cb_msg.sem, portMAX_DELAY);
}
}
generated by cgit v1.2.3 (git 2.0.4) at 2024-04-29 08:08:22 +0000