diff options
Diffstat (limited to 'source/com_task.c')
| -rw-r--r-- | source/com_task.c | 279 |
1 files changed, 0 insertions, 279 deletions
diff --git a/source/com_task.c b/source/com_task.c deleted file mode 100644 index d6bc97d..0000000 --- a/source/com_task.c +++ /dev/null @@ -1,279 +0,0 @@ - -#include "com_task.h" -#include "can_task.h" -#include "gpio_ext.h" -#include "adc_task.h" - -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 */ -#ifndef TESTER_BUILD -const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_FW_VER; -#else -const uint32_t __attribute__((section(".FwVersion"), used)) fw_version = APALIS_TK1_K20_TESTER_FW_VER; -#endif - -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]; - -#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) { - 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) { - registers[APALIS_TK1_K20_IRQREG] &= ~irq; -} - -uint8_t get_control_reg() -{ - return registers[APALIS_TK1_K20_CTRREG]; - -} - -void set_control_reg(uint8_t value) -{ - registers[APALIS_TK1_K20_CTRREG] = value; -} - -uint8_t get_status_reg() -{ - return registers[APALIS_TK1_K20_STAREG]; - -} - -void set_status_reg(uint8_t value) -{ - registers[APALIS_TK1_K20_STAREG] = value; -} - -uint8_t get_mask_reg() -{ - return registers[APALIS_TK1_K20_MSQREG]; - -} - -void set_mask_reg(uint8_t value) -{ - registers[APALIS_TK1_K20_MSQREG] = value; -} - -uint8_t get_irq_reg() -{ - return registers[APALIS_TK1_K20_IRQREG]; - -} - -void set_irq_reg(uint8_t value) -{ - /* Clear IRQ flag on 1 */ - clear_irq_flag(value); - -} - -inline int general_registers(dspi_transfer_t * spi_transfer) -{ - uint8_t *rx_buf = spi_transfer->rxData; - - if (rx_buf[0] == APALIS_TK1_K20_WRITE_INST) { - switch (rx_buf[1]) { - case APALIS_TK1_K20_STAREG: - set_status_reg(rx_buf[2]); - return 1; - case APALIS_TK1_K20_REVREG: - return -ENOENT; - case APALIS_TK1_K20_IRQREG: - set_irq_reg(rx_buf[2]); - return 1; - case APALIS_TK1_K20_CTRREG: - set_control_reg(rx_buf[2]); - return 1; - case APALIS_TK1_K20_MSQREG: - set_mask_reg(rx_buf[2]); - return 1; - default: - return -ESRCH; - } - } - - - return -ENXIO; -} - - -inline void SPI_main_callback(status_t status, void *userData) -{ - callback_message_t * cb = (callback_message_t*) userData; - BaseType_t reschedule = pdFALSE; - - if (status == kStatus_Success) - { - 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() { - gpio_pin_config_t gpio_out_config = { - kGPIO_DigitalOutput, 0, - }; - GPIO_PinInit(GPIOD, 11u, &gpio_out_config); - /* Slave config */ - 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. */ - NVIC_SetPriority(SPI2_IRQn, 5U); - GPIO_ClearPinsOutput(GPIOA, 1u << 29u); /* INT2 active */ - PRINTF("SPI init done \r\n"); - -} - -void spi_task(void *pvParameters) { - 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 - - spi_msg.sem = xSemaphoreCreateBinary(); - spi_handle.userData = &spi_msg; - SPI_init(); -#ifdef SPI_DMA - slaveRxChannel = 0U; - slaveTxChannel = 1U; - - DMAMUX_Init(DMAMUX); - DMAMUX_SetSource(DMAMUX, slaveRxChannel, kDmaRequestMux0SPI2Rx); - DMAMUX_EnableChannel(DMAMUX, slaveRxChannel); - DMAMUX_SetSource(DMAMUX, slaveTxChannel, kDmaRequestMux0SPI2Tx); - DMAMUX_EnableChannel(DMAMUX, slaveTxChannel); - - EDMA_GetDefaultConfig(&userConfig); - EDMA_Init(DMA0, &userConfig); - - EDMA_CreateHandle(&dspiEdmaSlaveRxHandle, DMA0, slaveRxChannel); - EDMA_CreateHandle(&dspiEdmaSlaveTxHandle, DMA0, slaveTxChannel); - - g_dspi_edma_s_handle.userData = &spi_msg; - DSPI_SlaveTransferCreateHandleEDMA(SPI2, &g_dspi_edma_s_handle, SPI_EDMA_callback, - &spi_msg, &dspiEdmaSlaveRxHandle, &dspiEdmaSlaveTxHandle); -#endif - 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; - - 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(spi_msg.sem, portMAX_DELAY); - - 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 - } 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; -#endif -#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_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; - } - - if (ret < 0) { - 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) { - slaveXfer.dataSize = ret; - 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); - } - } -} |