motor/Common/spi/SPIDevice.c

#include "SPIDevice.h"
#include <string.h>
#include <stdio.h>

static SPI_BUS_t *spi_bus_head = NULL;

void RegSpiBusIRQ(SPI_BUS_t *bus)
{
	if (spi_bus_head)
	{
      if (spi_bus_head != bus)
      {
		SPI_BUS_t *head = spi_bus_head;
		while (head->next_ptr && head->next_ptr != bus)//一个一个往下走，直到最后一个
		{
		  head = head->next_ptr;
		}
        if (head->next_ptr != bus)
        {
	      head->next_ptr = bus;
        }
      }
	}
	else
	{
	  spi_bus_head = bus;
	}
}

int SPI_DEV_open(SPI_DEV_t *spi_dev, char *name,
 SPI_BUS_t *bus, GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
{
    spi_dev->name = name;
    spi_dev->bus = bus;
    spi_dev->GPIOx = GPIOx;
    spi_dev->GPIO_Pin = GPIO_Pin;
	  spi_dev->_read_flag = 0x00;
	
	  HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_SET);

    RegSpiBusIRQ(bus);
    return 0;
}

void SPI_DEV_end(SPI_DEV_t *spi_dev)
{
   osMutexRelease(spi_dev->bus->mutex);
}

void SPI_DEV_unselect(SPI_DEV_t *spi_dev)
{
   HAL_GPIO_WritePin(spi_dev->GPIOx,spi_dev->GPIO_Pin, GPIO_PIN_SET);
}

void SPI_DEV_select(SPI_DEV_t *spi_dev)
{
   HAL_GPIO_WritePin(spi_dev->GPIOx,spi_dev->GPIO_Pin, GPIO_PIN_RESET);
}


bool SPI_DEV_begin(SPI_DEV_t *spi_dev, uint32_t millisec)
{
  if (!osMutexWait(spi_dev->bus->mutex, millisec))
  {
      return true;
  }

  return false;
}

void SPI_DEV_set_read_flag(SPI_DEV_t *spi_dev, uint8_t flag)
{
  spi_dev->_read_flag = flag;
}

bool SPI_DEV_read_registers(SPI_DEV_t *spi_dev, uint8_t id, uint8_t *buff_out, size_t len_out)
{
	id |= spi_dev->_read_flag;
  if (!HAL_SPI_Transmit(spi_dev->bus->hspi,&id,1,1))
  {
    if (len_out > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
    {
        spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
        spi_dev->bus->task_waitfor_ret = false;
        if (spi_dev->bus->mode == SPI_BUS_DMA)
        {
            if (!HAL_SPI_Receive_DMA(spi_dev->bus->hspi,buff_out,len_out))
            {
							if (ulTaskNotifyTake( pdTRUE, 10))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
						  }
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_DMAStop(spi_dev->bus->hspi);
							}
            }
        }
        else
        {
            if (!HAL_SPI_Receive_IT(spi_dev->bus->hspi,buff_out,len_out))
            {
							if (ulTaskNotifyTake( pdTRUE, 10))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
							}
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_Abort(spi_dev->bus->hspi);
							}
            }
        }
		}
    else
		if (!HAL_SPI_Receive(spi_dev->bus->hspi,buff_out,len_out,10))
    {
        return true;
    }
  }

  return false;
}

bool SPI_DEV_write_register(SPI_DEV_t *spi_dev, uint8_t id, uint8_t val)
{
	uint8_t buf[2];
	buf[0] = id;
	buf[1] = val;
  if (!HAL_SPI_Transmit(spi_dev->bus->hspi,buf,2,1))
  {
		return true;
	}
	return false;
}

bool SPI_DEV_transfer(SPI_DEV_t *spi_dev, uint8_t *buff_in, size_t len_in, uint8_t *buff_out, size_t len_out, uint32_t millisec)
{
	bool rslt = false;

  if (buff_in && buff_out)
  {
		if (len_in == len_out)
		{
			if (len_in > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
			{
					spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
					spi_dev->bus->task_waitfor_ret = false;
					if (spi_dev->bus->mode == SPI_BUS_DMA)
					{
							if (!HAL_SPI_TransmitReceive_DMA(spi_dev->bus->hspi,buff_in, buff_out,len_in))
							{
								if (ulTaskNotifyTake( pdTRUE, millisec))
								{
									if (spi_dev->bus->task_waitfor_ret)
									{
										return true;
									}
								}
								else
								{
									spi_dev->bus->task_waitfor_cmpl = NULL;
									HAL_SPI_DMAStop(spi_dev->bus->hspi);
								}
							}
					}
					else
					{
							if (!HAL_SPI_TransmitReceive_IT(spi_dev->bus->hspi,buff_in, buff_out, len_in))
							{
								if (ulTaskNotifyTake( pdTRUE, millisec))
								{
									if (spi_dev->bus->task_waitfor_ret)
									{
										return true;
									}
								}
								else
								{
									spi_dev->bus->task_waitfor_cmpl = NULL;
									HAL_SPI_Abort(spi_dev->bus->hspi);
								}
							}
					}
			}
			else
			if (!HAL_SPI_TransmitReceive(spi_dev->bus->hspi,buff_in, buff_out, len_in, 100))
			{
				return true;
			}
		}
		else
		{
			if (len_in > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
			{
					spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
					spi_dev->bus->task_waitfor_ret = false;
					if (spi_dev->bus->mode == SPI_BUS_DMA)
					{
							if (!HAL_SPI_Transmit_DMA(spi_dev->bus->hspi,buff_in,len_in))
							{
								if (ulTaskNotifyTake( pdTRUE, 100))
								{
									if (spi_dev->bus->task_waitfor_ret)
									{
										rslt = true;
									}
								}
								else
								{
									spi_dev->bus->task_waitfor_cmpl = NULL;
									HAL_SPI_DMAStop(spi_dev->bus->hspi);
								}
							}
					}
					else
					{
							if (!HAL_SPI_Transmit_IT(spi_dev->bus->hspi,buff_in,len_in))
							{
								if (ulTaskNotifyTake( pdTRUE, 100))
								{
									if (spi_dev->bus->task_waitfor_ret)
									{
										rslt = true;
									}
								}
								else
								{
									spi_dev->bus->task_waitfor_cmpl = NULL;
									HAL_SPI_Abort(spi_dev->bus->hspi);
								}
							}
					}
			}
			else
			if (!HAL_SPI_Transmit(spi_dev->bus->hspi,buff_in,len_in,100))
			{
				rslt = true;
			}
			if (rslt)
			{
				rslt = false;
				if (len_out > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
				{
						spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
						spi_dev->bus->task_waitfor_ret = false;
						if (spi_dev->bus->mode == SPI_BUS_DMA)
						{
								if (!HAL_SPI_Receive_DMA(spi_dev->bus->hspi,buff_out,len_out))
								{
									if (ulTaskNotifyTake( pdTRUE, 100))
									{
										if (spi_dev->bus->task_waitfor_ret)
										{
											rslt = true;
										}
									}
									else
									{
										spi_dev->bus->task_waitfor_cmpl = NULL;
										HAL_SPI_DMAStop(spi_dev->bus->hspi);
									}
								}
						}
						else
						{
								if (!HAL_SPI_Receive_IT(spi_dev->bus->hspi,buff_out,len_out))
								{
									if (ulTaskNotifyTake( pdTRUE, 100))
									{
										if (spi_dev->bus->task_waitfor_ret)
										{
											rslt = true;
										}
									}
									else
									{
										spi_dev->bus->task_waitfor_cmpl = NULL;
										HAL_SPI_Abort(spi_dev->bus->hspi);
									}
								}
						}
				}
				else
				if (!HAL_SPI_Receive(spi_dev->bus->hspi,buff_out,len_out,10))
				{
						rslt = true;
				}
			}
		}
  }
  else if (buff_in)
  {
    if (len_in > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
    {
        spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
        spi_dev->bus->task_waitfor_ret = false;
        if (spi_dev->bus->mode == SPI_BUS_DMA)
        {
            if (!HAL_SPI_Transmit_DMA(spi_dev->bus->hspi,buff_in,len_in))
            {
							if (ulTaskNotifyTake( pdTRUE, 100))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
							}
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_DMAStop(spi_dev->bus->hspi);
							}
            }
        }
        else
        {
            if (!HAL_SPI_Transmit_IT(spi_dev->bus->hspi,buff_in,len_in))
            {
							if (ulTaskNotifyTake( pdTRUE, 100))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
							}
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_Abort(spi_dev->bus->hspi);
							}
            }
        }
    }
    else
    if (!HAL_SPI_Transmit(spi_dev->bus->hspi,buff_in,len_in,100))
    {
      return true;
    }
  }
  else if (buff_out)
  {
    if (len_out > 16 && spi_dev->bus->mode != SPI_BUS_BLOCK)
    {
        spi_dev->bus->task_waitfor_cmpl = xTaskGetCurrentTaskHandle();
        spi_dev->bus->task_waitfor_ret = false;
        if (spi_dev->bus->mode == SPI_BUS_DMA)
        {
            if (!HAL_SPI_Receive_DMA(spi_dev->bus->hspi,buff_out,len_out))
            {
							if (ulTaskNotifyTake( pdTRUE, 100))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
							}
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_DMAStop(spi_dev->bus->hspi);
							}
            }
        }
        else
        {
            if (!HAL_SPI_Receive_IT(spi_dev->bus->hspi,buff_out,len_out))
            {
							if (ulTaskNotifyTake( pdTRUE, 100))
							{
								if (spi_dev->bus->task_waitfor_ret)
								{
									return true;
								}
							}
							else
							{
							  spi_dev->bus->task_waitfor_cmpl = NULL;
								HAL_SPI_Abort(spi_dev->bus->hspi);
							}
            }
        }
    }
    else
    if (!HAL_SPI_Receive(spi_dev->bus->hspi,buff_out,len_out,10))
    {
        return true;
    }
  }
  return rslt;
}

void SPI_DEV_CpltCallback(SPI_HandleTypeDef *hspi, bool ret)
{
	BaseType_t xHigherPriorityTaskWoken = pdFALSE;

	SPI_BUS_t *bus = spi_bus_head;
	while (bus)
	{
		if (bus->hspi == hspi && bus->task_waitfor_cmpl)
		{
			vTaskNotifyGiveFromISR( bus->task_waitfor_cmpl, &xHigherPriorityTaskWoken );
			bus->task_waitfor_cmpl = NULL;
			bus->task_waitfor_ret = ret;
			portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
			break;
		}
		else
		{
		  bus = bus->next_ptr;
		}
	}
}

void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi)
{
    SPI_DEV_CpltCallback(hspi, true);
}

void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi)
{
    SPI_DEV_CpltCallback(hspi, true);
}

void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
    SPI_DEV_CpltCallback(hspi, true);
}

void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi)
{
    SPI_DEV_CpltCallback(hspi, false);
}

void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi)
{
    SPI_DEV_CpltCallback(hspi, false);
}