amiro-os / periphery-lld / aos_periphAL.c @ ded1ded7
History | View | Annotate | Download (14.856 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
#include <periphAL.h> |
| 20 |
#include <amiroos.h> |
| 21 |
|
| 22 |
/*============================================================================*/
|
| 23 |
/* DEBUG */
|
| 24 |
/*============================================================================*/
|
| 25 |
|
| 26 |
#if (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true) |
| 27 |
|
| 28 |
#include <chprintf.h> |
| 29 |
|
| 30 |
void apalDbgAssertMsg(const bool c, const char* fmt, ...) |
| 31 |
{
|
| 32 |
if (!c) {
|
| 33 |
va_list ap; |
| 34 |
|
| 35 |
va_start(ap, fmt); |
| 36 |
chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
| 37 |
va_end(ap); |
| 38 |
chThdExit(MSG_RESET); |
| 39 |
} |
| 40 |
|
| 41 |
return;
|
| 42 |
} |
| 43 |
|
| 44 |
int apalDbgPrintf(const char* fmt, ...) |
| 45 |
{
|
| 46 |
va_list ap; |
| 47 |
|
| 48 |
va_start(ap, fmt); |
| 49 |
const int chars = chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
| 50 |
va_end(ap); |
| 51 |
|
| 52 |
return chars;
|
| 53 |
} |
| 54 |
|
| 55 |
#endif /* (AMIROLLD_CFG_DBG == true) && (AMIROOS_CFG_DBG == true) */ |
| 56 |
|
| 57 |
/*============================================================================*/
|
| 58 |
/* TIMING */
|
| 59 |
/*============================================================================*/
|
| 60 |
|
| 61 |
#if (AMIROOS_CFG_DBG == true) |
| 62 |
|
| 63 |
void apalSleep(apalTime_t us)
|
| 64 |
{
|
| 65 |
// check if the specified time can be represented by the system
|
| 66 |
apalDbgAssert(us <= chTimeI2US(TIME_INFINITE)); |
| 67 |
|
| 68 |
const sysinterval_t interval = chTimeUS2I(us);
|
| 69 |
// TIME_IMMEDIATE makes no sense and would even cause system halt
|
| 70 |
if (interval != TIME_IMMEDIATE) {
|
| 71 |
chThdSleep(interval); |
| 72 |
} |
| 73 |
|
| 74 |
return;
|
| 75 |
} |
| 76 |
|
| 77 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
| 78 |
|
| 79 |
apalTime_t apalGetTime(void)
|
| 80 |
{
|
| 81 |
aos_timestamp_t uptime; |
| 82 |
aosSysGetUptime(&uptime); |
| 83 |
|
| 84 |
return uptime & ~((apalTime_t)0); |
| 85 |
} |
| 86 |
|
| 87 |
/*============================================================================*/
|
| 88 |
/* GPIO */
|
| 89 |
/*============================================================================*/
|
| 90 |
|
| 91 |
#if (HAL_USE_PAL == TRUE)
|
| 92 |
|
| 93 |
apalExitStatus_t apalGpioRead(apalGpio_t* gpio, apalGpioState_t* const val)
|
| 94 |
{
|
| 95 |
apalDbgAssert(gpio != NULL);
|
| 96 |
apalDbgAssert(val != NULL);
|
| 97 |
|
| 98 |
*val = (palReadLine(gpio->line) == PAL_HIGH) ? APAL_GPIO_HIGH : APAL_GPIO_LOW; |
| 99 |
|
| 100 |
return APAL_STATUS_OK;
|
| 101 |
} |
| 102 |
|
| 103 |
apalExitStatus_t apalGpioWrite(apalGpio_t* gpio, const apalGpioState_t val)
|
| 104 |
{
|
| 105 |
apalDbgAssert(gpio != NULL);
|
| 106 |
|
| 107 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 108 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 109 |
palWriteLine(gpio->line, (val == APAL_GPIO_HIGH) ? PAL_HIGH : PAL_LOW); |
| 110 |
chSysRestoreStatusX(sysstatus); |
| 111 |
|
| 112 |
return APAL_STATUS_OK;
|
| 113 |
} |
| 114 |
|
| 115 |
apalExitStatus_t apalGpioToggle(apalGpio_t* gpio) |
| 116 |
{
|
| 117 |
apalDbgAssert(gpio != NULL);
|
| 118 |
|
| 119 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 120 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 121 |
palWriteLine(gpio->line, (palReadLine(gpio->line) == PAL_HIGH) ? PAL_LOW : PAL_HIGH); |
| 122 |
chSysRestoreStatusX(sysstatus); |
| 123 |
|
| 124 |
return APAL_STATUS_OK;
|
| 125 |
} |
| 126 |
|
| 127 |
apalExitStatus_t apalGpioIsInterruptEnabled(apalGpio_t* gpio, bool* const enabled) |
| 128 |
{
|
| 129 |
apalDbgAssert(gpio != NULL);
|
| 130 |
apalDbgAssert(enabled != NULL);
|
| 131 |
|
| 132 |
*enabled = palIsLineEventEnabledX(gpio->line); |
| 133 |
|
| 134 |
return APAL_STATUS_OK;
|
| 135 |
} |
| 136 |
|
| 137 |
apalExitStatus_t apalControlGpioGet(const apalControlGpio_t* const cgpio, apalControlGpioState_t* const val) |
| 138 |
{
|
| 139 |
apalDbgAssert(cgpio != NULL);
|
| 140 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 141 |
apalDbgAssert(val != NULL);
|
| 142 |
|
| 143 |
*val = ((palReadLine(cgpio->gpio->line) == PAL_HIGH) ^ (cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH)) ? APAL_GPIO_OFF : APAL_GPIO_ON; |
| 144 |
|
| 145 |
return APAL_STATUS_OK;
|
| 146 |
} |
| 147 |
|
| 148 |
apalExitStatus_t apalControlGpioSet(const apalControlGpio_t* const cgpio, const apalControlGpioState_t val) |
| 149 |
{
|
| 150 |
apalDbgAssert(cgpio != NULL);
|
| 151 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 152 |
apalDbgAssert(cgpio->meta.direction == APAL_GPIO_DIRECTION_OUTPUT || cgpio->meta.direction == APAL_GPIO_DIRECTION_BIDIRECTIONAL); |
| 153 |
|
| 154 |
// palWriteLine() is not guaranteed to be atomic, thus the scheduler is locked.
|
| 155 |
syssts_t sysstatus = chSysGetStatusAndLockX(); |
| 156 |
palWriteLine(cgpio->gpio->line, ((cgpio->meta.active == APAL_GPIO_ACTIVE_HIGH) ^ (val == APAL_GPIO_ON)) ? PAL_LOW : PAL_HIGH); |
| 157 |
chSysRestoreStatusX(sysstatus); |
| 158 |
|
| 159 |
return APAL_STATUS_OK;
|
| 160 |
} |
| 161 |
|
| 162 |
apalExitStatus_t apalControlGpioSetInterrupt(const apalControlGpio_t* const cgpio, const bool enable) |
| 163 |
{
|
| 164 |
apalDbgAssert(cgpio != NULL);
|
| 165 |
apalDbgAssert(cgpio->gpio != NULL);
|
| 166 |
|
| 167 |
if (enable) {
|
| 168 |
apalDbgAssert(pal_lld_get_line_event(cgpio->gpio->line) != NULL);
|
| 169 |
palEnableLineEvent(cgpio->gpio->line, APAL2CH_EDGE(cgpio->meta.edge)); |
| 170 |
} else {
|
| 171 |
palDisableLineEvent(cgpio->gpio->line); |
| 172 |
} |
| 173 |
|
| 174 |
return APAL_STATUS_OK;
|
| 175 |
} |
| 176 |
|
| 177 |
#endif /* (HAL_USE_PAL == TRUE) */ |
| 178 |
|
| 179 |
/*============================================================================*/
|
| 180 |
/* PWM */
|
| 181 |
/*============================================================================*/
|
| 182 |
|
| 183 |
#if (HAL_USE_PWM == TRUE)
|
| 184 |
|
| 185 |
apalExitStatus_t apalPWMSet(apalPWMDriver_t* pwm, const apalPWMchannel_t channel, const apalPWMwidth_t width) |
| 186 |
{
|
| 187 |
apalDbgAssert(pwm != NULL);
|
| 188 |
|
| 189 |
pwmEnableChannel(pwm, (pwmchannel_t)channel, pwm->period * ((float)width / (float)APAL_PWM_WIDTH_MAX) + 0.5f); |
| 190 |
|
| 191 |
return APAL_STATUS_OK;
|
| 192 |
} |
| 193 |
|
| 194 |
apalExitStatus_t apalPWMGetFrequency(apalPWMDriver_t* pwm, apalPWMfrequency_t* const frequency)
|
| 195 |
{
|
| 196 |
apalDbgAssert(pwm != NULL);
|
| 197 |
apalDbgAssert(frequency != NULL);
|
| 198 |
|
| 199 |
*frequency = pwm->config->frequency; |
| 200 |
|
| 201 |
return APAL_STATUS_OK;
|
| 202 |
} |
| 203 |
|
| 204 |
apalExitStatus_t apalPWMGetPeriod(apalPWMDriver_t* pwm, apalPWMperiod_t* const period)
|
| 205 |
{
|
| 206 |
apalDbgAssert(pwm != NULL);
|
| 207 |
apalDbgAssert(period != NULL);
|
| 208 |
|
| 209 |
*period = pwm->period; |
| 210 |
|
| 211 |
return APAL_STATUS_OK;
|
| 212 |
} |
| 213 |
|
| 214 |
#endif /* (HAL_USE_PWM == TRUE) */ |
| 215 |
|
| 216 |
/*============================================================================*/
|
| 217 |
/* QEI */
|
| 218 |
/*============================================================================*/
|
| 219 |
|
| 220 |
#if (HAL_USE_QEI == TRUE)
|
| 221 |
|
| 222 |
apalExitStatus_t apalQEIGetDirection(apalQEIDriver_t* qei, apalQEIDirection_t* const direction)
|
| 223 |
{
|
| 224 |
apalDbgAssert(qei != NULL);
|
| 225 |
apalDbgAssert(direction != NULL);
|
| 226 |
|
| 227 |
*direction = (qei_lld_get_direction(qei)) ? APAL_QEI_DIRECTION_DOWN : APAL_QEI_DIRECTION_UP; |
| 228 |
|
| 229 |
return APAL_STATUS_OK;
|
| 230 |
} |
| 231 |
|
| 232 |
apalExitStatus_t apalQEIGetPosition(apalQEIDriver_t* qei, apalQEICount_t* const position)
|
| 233 |
{
|
| 234 |
apalDbgAssert(qei != NULL);
|
| 235 |
apalDbgAssert(position != NULL);
|
| 236 |
|
| 237 |
*position = qei_lld_get_position(qei); |
| 238 |
|
| 239 |
return APAL_STATUS_OK;
|
| 240 |
} |
| 241 |
|
| 242 |
apalExitStatus_t apalQEIGetRange(apalQEIDriver_t* qei, apalQEICount_t* const range)
|
| 243 |
{
|
| 244 |
apalDbgAssert(qei != NULL);
|
| 245 |
apalDbgAssert(range != NULL);
|
| 246 |
|
| 247 |
*range = qei_lld_get_range(qei); |
| 248 |
|
| 249 |
return APAL_STATUS_OK;
|
| 250 |
} |
| 251 |
|
| 252 |
#endif /* (HAL_USE_QEI == TRUE) */ |
| 253 |
|
| 254 |
/*============================================================================*/
|
| 255 |
/* I2C */
|
| 256 |
/*============================================================================*/
|
| 257 |
|
| 258 |
#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
|
| 259 |
|
| 260 |
apalExitStatus_t apalI2CMasterTransmit(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, const uint8_t* const txbuf, const size_t txbytes, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout) |
| 261 |
{
|
| 262 |
apalDbgAssert(i2cd != NULL);
|
| 263 |
|
| 264 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 265 |
// check whether the I2C driver was locked externally
|
| 266 |
const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
| 267 |
if (!i2cd_locked_external) {
|
| 268 |
i2cAcquireBus(i2cd); |
| 269 |
} |
| 270 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 271 |
|
| 272 |
#pragma GCC diagnostic push
|
| 273 |
#pragma GCC diagnostic ignored "-Wtype-limits" |
| 274 |
#if defined(STM32F1XX_I2C)
|
| 275 |
// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
|
| 276 |
msg_t status = MSG_OK; |
| 277 |
if (rxbytes == 1) { |
| 278 |
uint8_t buffer[2];
|
| 279 |
status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 280 |
rxbuf[0] = buffer[0]; |
| 281 |
} else {
|
| 282 |
status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
| 283 |
} |
| 284 |
#else /* defined(STM32F1XX_I2C) */ |
| 285 |
const msg_t status = i2cMasterTransmitTimeout(i2cd, addr, txbuf, txbytes, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 286 |
#endif /* defined(STM32F1XX_I2C) */ |
| 287 |
#pragma GCC diagnostic pop
|
| 288 |
|
| 289 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 290 |
if (!i2cd_locked_external) {
|
| 291 |
i2cReleaseBus(i2cd); |
| 292 |
} |
| 293 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 294 |
|
| 295 |
switch (status)
|
| 296 |
{
|
| 297 |
case MSG_OK:
|
| 298 |
#if defined(STM32F1XX_I2C)
|
| 299 |
return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
| 300 |
#else /* defined(STM32F1XX_I2C) */ |
| 301 |
return APAL_STATUS_OK;
|
| 302 |
#endif /* defined(STM32F1XX_I2C) */ |
| 303 |
case MSG_TIMEOUT:
|
| 304 |
return APAL_STATUS_TIMEOUT;
|
| 305 |
case MSG_RESET:
|
| 306 |
default:
|
| 307 |
return APAL_STATUS_ERROR;
|
| 308 |
} |
| 309 |
} |
| 310 |
|
| 311 |
apalExitStatus_t apalI2CMasterReceive(apalI2CDriver_t* i2cd, const apalI2Caddr_t addr, uint8_t* const rxbuf, const size_t rxbytes, const apalTime_t timeout) |
| 312 |
{
|
| 313 |
apalDbgAssert(i2cd != NULL);
|
| 314 |
|
| 315 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 316 |
// check whether the I2C driver was locked externally
|
| 317 |
const bool i2cd_locked_external = i2cd->mutex.owner == currp; |
| 318 |
if (!i2cd_locked_external) {
|
| 319 |
i2cAcquireBus(i2cd); |
| 320 |
} |
| 321 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 322 |
|
| 323 |
#pragma GCC diagnostic push
|
| 324 |
#pragma GCC diagnostic ignored "-Wtype-limits" |
| 325 |
#if defined(STM32F1XX_I2C)
|
| 326 |
// Due to a hardware limitation, for STM32F1 platform the minimum number of bytes that can be received is two.
|
| 327 |
msg_t status = MSG_OK; |
| 328 |
if (rxbytes == 1) { |
| 329 |
uint8_t buffer[2];
|
| 330 |
status = i2cMasterReceiveTimeout(i2cd, addr, buffer, 2, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 331 |
rxbuf[0] = buffer[0]; |
| 332 |
} else {
|
| 333 |
status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) ); |
| 334 |
} |
| 335 |
#else /* defined(STM32F1XX_I2C) */ |
| 336 |
const msg_t status = i2cMasterReceiveTimeout(i2cd, addr, rxbuf, rxbytes, ((timeout >= TIME_INFINITE) ? TIME_INFINITE : TIME_US2I(timeout)) );
|
| 337 |
#endif /* defined(STM32F1XX_I2C) */ |
| 338 |
#pragma GCC diagnostic pop
|
| 339 |
|
| 340 |
#if (I2C_USE_MUTUAL_EXCLUSION == TRUE)
|
| 341 |
if (!i2cd_locked_external) {
|
| 342 |
i2cReleaseBus(i2cd); |
| 343 |
} |
| 344 |
#endif /* (I2C_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 345 |
|
| 346 |
switch (status)
|
| 347 |
{
|
| 348 |
case MSG_OK:
|
| 349 |
#if defined(STM32F1XX_I2C)
|
| 350 |
return (rxbytes != 1) ? APAL_STATUS_OK : APAL_STATUS_WARNING; |
| 351 |
#else /* defined(STM32F1XX_I2C) */ |
| 352 |
return APAL_STATUS_OK;
|
| 353 |
#endif /* defined(STM32F1XX_I2C) */ |
| 354 |
case MSG_TIMEOUT:
|
| 355 |
return APAL_STATUS_TIMEOUT;
|
| 356 |
case MSG_RESET:
|
| 357 |
default:
|
| 358 |
return APAL_STATUS_ERROR;
|
| 359 |
} |
| 360 |
} |
| 361 |
|
| 362 |
#endif /* (HAL_USE_I2C == TRUE) */ |
| 363 |
|
| 364 |
/*============================================================================*/
|
| 365 |
/* SPI */
|
| 366 |
/*============================================================================*/
|
| 367 |
|
| 368 |
#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
|
| 369 |
|
| 370 |
apalExitStatus_t apalSPITransmit(apalSPIDriver_t* spid, const uint8_t* const data, const size_t length) |
| 371 |
{
|
| 372 |
apalDbgAssert(spid != NULL);
|
| 373 |
|
| 374 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 375 |
// check whether the SPI driver was locked externally
|
| 376 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 377 |
if (!spid_locked_external) {
|
| 378 |
spiAcquireBus(spid); |
| 379 |
} |
| 380 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 381 |
|
| 382 |
spiSelect(spid); |
| 383 |
spiSend(spid, length, data); |
| 384 |
spiUnselect(spid); |
| 385 |
|
| 386 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 387 |
if (!spid_locked_external) {
|
| 388 |
spiReleaseBus(spid); |
| 389 |
} |
| 390 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 391 |
|
| 392 |
return APAL_STATUS_OK;
|
| 393 |
} |
| 394 |
|
| 395 |
apalExitStatus_t apalSPIReceive(apalSPIDriver_t* spid, uint8_t* const data, const size_t length) |
| 396 |
{
|
| 397 |
apalDbgAssert(spid != NULL);
|
| 398 |
|
| 399 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 400 |
// check whether the SPI driver was locked externally
|
| 401 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 402 |
if (!spid_locked_external) {
|
| 403 |
spiAcquireBus(spid); |
| 404 |
} |
| 405 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 406 |
|
| 407 |
spiSelect(spid); |
| 408 |
spiReceive(spid, length, data); |
| 409 |
spiUnselect(spid); |
| 410 |
|
| 411 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 412 |
if (!spid_locked_external) {
|
| 413 |
spiReleaseBus(spid); |
| 414 |
} |
| 415 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 416 |
|
| 417 |
return APAL_STATUS_OK;
|
| 418 |
} |
| 419 |
|
| 420 |
apalExitStatus_t apalSPITransmitAndReceive(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t txLength, const size_t rxLength) |
| 421 |
{
|
| 422 |
apalDbgAssert(spid != NULL);
|
| 423 |
|
| 424 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 425 |
// check whether the SPI driver was locked externally
|
| 426 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 427 |
if (!spid_locked_external) {
|
| 428 |
spiAcquireBus(spid); |
| 429 |
} |
| 430 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 431 |
|
| 432 |
spiSelect(spid); |
| 433 |
spiSend(spid, txLength, txData); |
| 434 |
spiReceive(spid, rxLength, rxData); |
| 435 |
spiUnselect(spid); |
| 436 |
|
| 437 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 438 |
if (!spid_locked_external) {
|
| 439 |
spiReleaseBus(spid); |
| 440 |
} |
| 441 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 442 |
|
| 443 |
return APAL_STATUS_OK;
|
| 444 |
} |
| 445 |
|
| 446 |
apalExitStatus_t apalSPIExchange(apalSPIDriver_t* spid, const uint8_t* const txData , uint8_t* const rxData, const size_t length) |
| 447 |
{
|
| 448 |
apalDbgAssert(spid != NULL);
|
| 449 |
|
| 450 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 451 |
// check whether the SPI driver was locked externally
|
| 452 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 453 |
if (!spid_locked_external) {
|
| 454 |
spiAcquireBus(spid); |
| 455 |
} |
| 456 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 457 |
|
| 458 |
spiSelect(spid); |
| 459 |
spiExchange(spid, length, txData, rxData); |
| 460 |
spiUnselect(spid); |
| 461 |
|
| 462 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 463 |
if (!spid_locked_external) {
|
| 464 |
spiReleaseBus(spid); |
| 465 |
} |
| 466 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 467 |
|
| 468 |
return APAL_STATUS_OK;
|
| 469 |
} |
| 470 |
|
| 471 |
apalExitStatus_t apalSPIReconfigure(apalSPIDriver_t* spid, const apalSPIConfig_t* config)
|
| 472 |
{
|
| 473 |
apalDbgAssert(spid != NULL);
|
| 474 |
apalDbgAssert(config != NULL);
|
| 475 |
|
| 476 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 477 |
// check whether the SPI driver was locked externally
|
| 478 |
const bool spid_locked_external = spid->mutex.owner == currp; |
| 479 |
if (!spid_locked_external) {
|
| 480 |
spiAcquireBus(spid); |
| 481 |
} |
| 482 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 483 |
|
| 484 |
spiStop(spid); |
| 485 |
spiStart(spid, config); |
| 486 |
|
| 487 |
#if (SPI_USE_MUTUAL_EXCLUSION == TRUE)
|
| 488 |
if (!spid_locked_external) {
|
| 489 |
spiReleaseBus(spid); |
| 490 |
} |
| 491 |
#endif /* (SPI_USE_MUTUAL_EXCLUSION == TRUE) */ |
| 492 |
|
| 493 |
return APAL_STATUS_OK;
|
| 494 |
} |
| 495 |
|
| 496 |
#endif /* (HAL_USE_SPI == TRUE) */ |