From 48cb90c64bb760f763bfd501a5c5f5c108f33f4e Mon Sep 17 00:00:00 2001 From: dario Date: Sat, 20 Apr 2024 16:05:39 +0200 Subject: [PATCH 01/18] Added address scan and verification for STM32 I2C --- include/sta/devices/stm32/bus/i2c.hpp | 2 ++ src/devices/stm32/bus/i2c.cpp | 24 +++++++++++++++++++++++- 2 files changed, 25 insertions(+), 1 deletion(-) diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index c195709..8656917 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -25,6 +25,8 @@ namespace sta void transfer16(uint16_t value) override; void transfer(const uint8_t * buffer, size_t size) override; void receive(uint8_t * buffer, size_t size) override; + bool hasAddress(int address); + void addressScan(); void fill(uint8_t value, size_t count) override; private: diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index 29ba02d..41c4496 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -1,8 +1,12 @@ #include #include +#include + #include +#include + #ifdef STA_STM32_I2C_ENABLED namespace sta @@ -116,11 +120,29 @@ namespace sta delete [] buffer; } + bool STM32I2C::hasAddress(int address) + { + return HAL_I2C_IsDeviceReady(handle_, (uint16_t)(address << 1), 3, 5) == HAL_OK; + } + + void STM32I2C::addressScan() + { + for(uint8_t i = 1; i < 128; i++) + { + if (hasAddress(i)) + { + STA_DEBUG_PRINTF("Address %d exists", i); + } + } + } + STM32I2CDevice::STM32I2CDevice(STM32I2C * intf, int address, bool master, bool blocking) /* The address is bit-shifted by one to work properly for the STM32 HAL. */ : I2CDevice(intf, address << 1, master, blocking) { - + intf->acquire(); + STA_ASSERT(intf->hasAddress(address)); + intf->release(); } } // namespace sta From 957848511752c6382002c009e61e409364f8f90e Mon Sep 17 00:00:00 2001 From: dario Date: Mon, 1 Jul 2024 11:06:45 +0200 Subject: [PATCH 02/18] Added I2C address scan --- include/sta/bus/i2c/i2c.hpp | 5 +++++ include/sta/devices/stm32/bus/i2c.hpp | 1 + src/devices/stm32/bus/i2c.cpp | 14 ++++++++++++++ 3 files changed, 20 insertions(+) diff --git a/include/sta/bus/i2c/i2c.hpp b/include/sta/bus/i2c/i2c.hpp index e9896fc..e4f7c19 100644 --- a/include/sta/bus/i2c/i2c.hpp +++ b/include/sta/bus/i2c/i2c.hpp @@ -35,6 +35,11 @@ namespace sta */ void setSettings(uint16_t address, bool master, bool blocking); + /** + * @brief Prints all available addresses via the debug printable. + * + */ + virtual void scanAddresses() = 0; protected: /// @brief The peripheral's address to communicate with. uint16_t address_; diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index c195709..ff81833 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -27,6 +27,7 @@ namespace sta void receive(uint8_t * buffer, size_t size) override; void fill(uint8_t value, size_t count) override; + void scanAddresses() override; private: I2C_HandleTypeDef * handle_; const uint32_t timeout_ = 1000; diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index 29ba02d..7b79a4c 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -1,5 +1,6 @@ #include +#include #include #include @@ -116,6 +117,19 @@ namespace sta delete [] buffer; } + void STM32I2C::scanAddresses() + { + for (uint8_t i = 0; i < 128; ++i) + { + uint8_t ret = HAL_I2C_IsDeviceReady(handle_, (uint16_t)(i << 1), 3, 5); + + if (ret != HAL_OK) + STA_DEBUG_PRINTF("Address %d is available", i); + else + STA_DEBUG_PRINTF("Address %d is unavailable", i); + } + } + STM32I2CDevice::STM32I2CDevice(STM32I2C * intf, int address, bool master, bool blocking) /* The address is bit-shifted by one to work properly for the STM32 HAL. */ : I2CDevice(intf, address << 1, master, blocking) From fc35796e45d5c19d1a650bcf5dce41018f1226d1 Mon Sep 17 00:00:00 2001 From: dario Date: Mon, 1 Jul 2024 11:10:19 +0200 Subject: [PATCH 03/18] Added address scan and verification for STM32 I2C --- include/sta/devices/stm32/bus/i2c.hpp | 2 ++ src/devices/stm32/bus/i2c.cpp | 27 ++++++++++++++++++--------- 2 files changed, 20 insertions(+), 9 deletions(-) diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index ff81833..3bad044 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -25,6 +25,8 @@ namespace sta void transfer16(uint16_t value) override; void transfer(const uint8_t * buffer, size_t size) override; void receive(uint8_t * buffer, size_t size) override; + bool hasAddress(int address); + void addressScan(); void fill(uint8_t value, size_t count) override; void scanAddresses() override; diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index 7b79a4c..982ae82 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -2,8 +2,12 @@ #include #include +#include + #include +#include + #ifdef STA_STM32_I2C_ENABLED namespace sta @@ -117,16 +121,19 @@ namespace sta delete [] buffer; } - void STM32I2C::scanAddresses() + bool STM32I2C::hasAddress(int address) { - for (uint8_t i = 0; i < 128; ++i) - { - uint8_t ret = HAL_I2C_IsDeviceReady(handle_, (uint16_t)(i << 1), 3, 5); + return HAL_I2C_IsDeviceReady(handle_, (uint16_t)(address << 1), 3, 5) == HAL_OK; + } - if (ret != HAL_OK) - STA_DEBUG_PRINTF("Address %d is available", i); - else - STA_DEBUG_PRINTF("Address %d is unavailable", i); + void STM32I2C::addressScan() + { + for(uint8_t i = 1; i < 128; i++) + { + if (hasAddress(i)) + { + STA_DEBUG_PRINTF("Address %d exists", i); + } } } @@ -134,7 +141,9 @@ namespace sta /* The address is bit-shifted by one to work properly for the STM32 HAL. */ : I2CDevice(intf, address << 1, master, blocking) { - + intf->acquire(); + STA_ASSERT(intf->hasAddress(address)); + intf->release(); } } // namespace sta From 1c2eea17a9cff09adb6ae7a032a017bc1b102655 Mon Sep 17 00:00:00 2001 From: dario Date: Mon, 1 Jul 2024 11:28:31 +0200 Subject: [PATCH 04/18] Updated address scanning --- include/sta/bus/i2c/i2c.hpp | 2 +- include/sta/devices/stm32/bus/i2c.hpp | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/include/sta/bus/i2c/i2c.hpp b/include/sta/bus/i2c/i2c.hpp index e4f7c19..f29cff6 100644 --- a/include/sta/bus/i2c/i2c.hpp +++ b/include/sta/bus/i2c/i2c.hpp @@ -39,7 +39,7 @@ namespace sta * @brief Prints all available addresses via the debug printable. * */ - virtual void scanAddresses() = 0; + virtual void addressScan() = 0; protected: /// @brief The peripheral's address to communicate with. uint16_t address_; diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index 3bad044..8656917 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -29,7 +29,6 @@ namespace sta void addressScan(); void fill(uint8_t value, size_t count) override; - void scanAddresses() override; private: I2C_HandleTypeDef * handle_; const uint32_t timeout_ = 1000; From ad4e77a7bedce317a8724e33f2e3cf7ca13fb5a1 Mon Sep 17 00:00:00 2001 From: carlwachter Date: Fri, 5 Jul 2024 09:12:26 +0000 Subject: [PATCH 05/18] Added GPL 3.0 License --- LICENSE | 232 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 232 insertions(+) create mode 100644 LICENSE diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..3e408cb --- /dev/null +++ b/LICENSE @@ -0,0 +1,232 @@ +GNU GENERAL PUBLIC LICENSE +Version 3, 29 June 2007 + +Copyright © 2007 Free Software Foundation, Inc. + +Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed. + +Preamble + +The GNU General Public License is a free, copyleft license for software and other kinds of works. + +The licenses for most software and other practical works are designed to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. +If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. + +END OF TERMS AND CONDITIONS + +How to Apply These Terms to Your New Programs + +If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms. + +To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found. + + test + Copyright (C) 2024 ALPAKA + + This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. + + This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. + + You should have received a copy of the GNU General Public License along with this program. If not, see . + +Also add information on how to contact you by electronic and paper mail. + +If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode: + + test Copyright (C) 2024 ALPAKA + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”. + +You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see . + +The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read . From d4f03a92499c7b003670cfa49ddcb0680e4ab8de Mon Sep 17 00:00:00 2001 From: dario Date: Wed, 26 Jun 2024 11:29:23 +0200 Subject: [PATCH 06/18] Updated printable to reduce mutex operations when printing newlines --- include/sta/debug/debug.hpp | 15 ++-- include/sta/debug/printing/printable.hpp | 64 ++++++++++------ .../sta/debug/printing/printable_printf.hpp | 11 ++- include/sta/debug/printing/printable_uart.hpp | 11 ++- src/debug/printing/printable.cpp | 73 +++++++++---------- src/debug/printing/printable_printf.cpp | 12 ++- src/debug/printing/printable_uart.cpp | 12 ++- 7 files changed, 126 insertions(+), 72 deletions(-) diff --git a/include/sta/debug/debug.hpp b/include/sta/debug/debug.hpp index 7a09609..9cc3654 100644 --- a/include/sta/debug/debug.hpp +++ b/include/sta/debug/debug.hpp @@ -19,7 +19,7 @@ namespace sta * * @ingroup sta_core_debug */ -# define STA_DEBUG_PRINT(...) sta::Debug->print(__VA_ARGS__) +# define STA_DEBUG_PRINT(...) sta::Debug->print(__VA_ARGS__) /** * @brief Debug print message followed by new-line to UART. @@ -28,7 +28,7 @@ namespace sta * * @ingroup sta_core_debug */ -# define STA_DEBUG_PRINTLN(...) sta::Debug->println(__VA_ARGS__) +# define STA_DEBUG_PRINTLN(...) sta::Debug->println(__VA_ARGS__) /** * @brief Formatted debug printing with new-line. @@ -36,13 +36,16 @@ namespace sta * @param fmt See @ref sta::PrintableUART::printf * @param ... See @ref sta::PrintableUART::printf */ -# define STA_DEBUG_PRINTF(fmt, ...) sta::Debug->printf(fmt, __VA_ARGS__) +# define STA_DEBUG_PRINTF(fmt, ...) sta::Debug->printf(fmt, __VA_ARGS__) + +# define STA_DEBUG_READ(buffer, length) sta::Debug->read(buffer, length) #else // !STA_DEBUGGING_ENABLED -# define STA_DEBUG_PRINT(...) ((void)0) -# define STA_DEBUG_PRINTLN(...) ((void)0) -# define STA_DEBUG_PRINTF(fmt, ...) ((void)0) +# define STA_DEBUG_PRINT(...) ((void)0) +# define STA_DEBUG_PRINTLN(...) ((void)0) +# define STA_DEBUG_PRINTF(fmt, ...) ((void)0) +# define STA_DEBUG_READ(buffer, length) ((void)0) #endif // STA_DEBUGGING_ENABLED diff --git a/include/sta/debug/printing/printable.hpp b/include/sta/debug/printing/printable.hpp index 531522f..30995db 100644 --- a/include/sta/debug/printing/printable.hpp +++ b/include/sta/debug/printing/printable.hpp @@ -40,62 +40,70 @@ namespace sta /** * @brief Print single character. * - * @param c Character to print + * @param c Character to print + * @param newline If true, send a \r\n to start a new line. */ - void print(char c); + void print(char c, bool newline = false); /** * @brief Print boolean value. * - * @param b Boolean value + * @param b Boolean value + * @param newline If true, send a \r\n to start a new line. */ - void print(bool b); + void print(bool b, bool newline = false); /** * @brief Print floating point value. * - * @param d Floating point value + * @param d Floating point value + * @param newline If true, send a \r\n to start a new line. */ - void print(double d); + void print(double d, bool newline = false); /** * @brief Print integer in selected base. * - * @param num 8-bit unsigned integer - * @param base Integer base + * @param num 8-bit unsigned integer + * @param base Integer base + * @param newline If true, send a \r\n to start a new line. */ - void print(uint8_t num, IntegerBase base = IntegerBase::DEC); + void print(uint8_t num, IntegerBase base = IntegerBase::DEC, bool newline = false); /** * @brief Print integer in selected base. * - * @param num 16-bit unsigned integer - * @param base Integer base + * @param num 16-bit unsigned integer + * @param base Integer base + * @param newline If true, send a \r\n to start a new line. */ - void print(uint16_t num, IntegerBase base = IntegerBase::DEC); + void print(uint16_t num, IntegerBase base = IntegerBase::DEC, bool newline = false); /** * @brief Print integer in selected base. * - * @param num 32-bit unsigned integer - * @param base Integer base + * @param num 32-bit unsigned integer + * @param base Integer base + * @param newline If true, send a \r\n to start a new line. */ - void print(uint32_t num, IntegerBase base = IntegerBase::DEC); + void print(uint32_t num, IntegerBase base = IntegerBase::DEC, bool newline = false); /** * @brief Print c-string. * - * @param str Null terminated string + * @param str Null terminated string + * @param newline If true, send a \r\n to start a new line. */ - void print(const char * str); + void print(const char * str, bool newline = false); /** * @brief Print string. * * @param str String buffer * @param length String length + * @param newline If true, send a \r\n to start a new line. */ - virtual void print(const char * str, size_t length) = 0; + virtual void print(const char * str, size_t length, bool newline = false) = 0; /** * @brief Print new-line. @@ -161,6 +169,14 @@ namespace sta * @param length String length */ void println(const char * str, size_t length); + public: + /** + * @brief Read string. + * + * @param str String buffer + * @param length String length + */ + virtual void read(char* str, size_t length) = 0; private: /** @@ -170,32 +186,36 @@ namespace sta * @param base Integer base * @param fmt printf format string for base 10 * @param size Size of value in bytes + * @param newline If true, send a \r\n to start a new line. */ - void printBase(uintmax_t value, IntegerBase base, const char * fmt, size_t size); + void printBase(uintmax_t value, IntegerBase base, const char * fmt, size_t size, bool newline = false); /** * @brief Print unsigned integer in base 10. * * @param value Unsigned integer value * @param fmt printf format string + * @param newline If true, send a \r\n to start a new line. */ - void printDec(uintmax_t value, const char * fmt); + void printDec(uintmax_t value, const char * fmt, bool newline = false); /** * @brief Print unsigned integer in base 2. * * @param value Unsigned integer value * @param digits Number of digits to print + * @param newline If true, send a \r\n to start a new line. */ - void printBin(uintmax_t value, size_t digits); + void printBin(uintmax_t value, size_t digits, bool newline = false); /** * @brief Print unsigned integer in base 16. * * @param value Unsigned integer value * @param digits Number of digits to print + * @param newline If true, send a \r\n to start a new line. */ - void printHex(uintmax_t value, size_t digits); + void printHex(uintmax_t value, size_t digits, bool newline = false); }; } // namespace sta diff --git a/include/sta/debug/printing/printable_printf.hpp b/include/sta/debug/printing/printable_printf.hpp index a0de3cd..a570bd0 100644 --- a/include/sta/debug/printing/printable_printf.hpp +++ b/include/sta/debug/printing/printable_printf.hpp @@ -23,8 +23,17 @@ namespace sta * * @param str String buffer * @param length String length + * @param newline If true, send a \r\n to start a new line. */ - void print(const char * str, size_t length) override; + void print(const char * str, size_t length, bool newline = false) override; + + /** + * @brief Print string. + * + * @param str String buffer + * @param length String length + */ + void read(char * str, size_t length) override; }; } // namespace sta diff --git a/include/sta/debug/printing/printable_uart.hpp b/include/sta/debug/printing/printable_uart.hpp index 93f92c5..0559607 100644 --- a/include/sta/debug/printing/printable_uart.hpp +++ b/include/sta/debug/printing/printable_uart.hpp @@ -32,8 +32,17 @@ namespace sta * * @param str String buffer * @param length String length + * @param newline If true, send a \r\n to start a new line. */ - void print(const char * str, size_t length) override; + void print(const char * str, size_t length, bool newline = false) override; + + /** + * @brief Read string. + * + * @param str String buffer + * @param length String length + */ + void read(char * str, size_t length) override; private: UART * intf_; diff --git a/src/debug/printing/printable.cpp b/src/debug/printing/printable.cpp index a3206bb..73b4c5d 100644 --- a/src/debug/printing/printable.cpp +++ b/src/debug/printing/printable.cpp @@ -27,82 +27,76 @@ namespace sta println(str); } - void Printable::print(char c) + void Printable::print(char c, bool newline /* = false */) { - print(&c, 1); + print(&c, 1, newline); } - void Printable::print(bool b) + void Printable::print(bool b, bool newline /* = false */) { - print(b ? "true" : "false"); + print(b ? "true" : "false", newline); } - void Printable::print(double d) + void Printable::print(double d, bool newline /* = false */) { char buffer[64]; snprintf(buffer, sizeof(buffer), "%f", d); - print(buffer); + print(buffer, newline); } - void Printable::print(uint8_t num, IntegerBase base) + void Printable::print(uint8_t num, IntegerBase base, bool newline /* = false */) { - printBase(num, base, "%" PRIu8, sizeof(num)); + printBase(num, base, "%" PRIu8, sizeof(num), newline); } - void Printable::print(uint16_t num, IntegerBase base) + void Printable::print(uint16_t num, IntegerBase base, bool newline /* = false */) { - printBase(num, base, "%" PRIu16, sizeof(num)); + printBase(num, base, "%" PRIu16, sizeof(num), newline); } - void Printable::print(uint32_t num, IntegerBase base) + void Printable::print(uint32_t num, IntegerBase base, bool newline /* = false */) { - printBase(num, base, "%" PRIu32, sizeof(num)); + printBase(num, base, "%" PRIu32, sizeof(num), newline); } - void Printable::print(const char * str) + void Printable::print(const char * str, bool newline /* = false */) { - print(str, strlen(str)); + print(str, strlen(str), newline); } void Printable::println() { - print("\r\n", 2); + print("\r\n", 2, false); } void Printable::println(char c) { - print(&c, 1); - println(); + print(&c, 1, true); } void Printable::println(bool b) { - print(b); - println(); + print(b, true); } void Printable::println(double d) { - print(d); - println(); + print(d, true); } void Printable::println(uint8_t num, IntegerBase base) { - print(num, base); - println(); + print(num, base, true); } void Printable::println(uint16_t num, IntegerBase base) { - print(num, base); - println(); + print(num, base, true); } void Printable::println(uint32_t num, IntegerBase base) { - print(num, base); - println(); + print(num, base, true); } void Printable::println(const char * str) @@ -112,26 +106,25 @@ namespace sta void Printable::println(const char * str, size_t length) { - print(str, length); - println(); + print(str, length, true); } - void Printable::printBase(uintmax_t num, IntegerBase base, const char * fmt, size_t size) + void Printable::printBase(uintmax_t num, IntegerBase base, const char * fmt, size_t size, bool newline /* = false */) { switch (base) { case IntegerBase::DEC: - printDec(num, fmt); + printDec(num, fmt, newline); break; case IntegerBase::BIN: // Digits in base 2 = size in bytes * 8 - printBin(num, size * 8); + printBin(num, size * 8, newline); break; case IntegerBase::HEX: // Digits in base 16 = size in bytes * 2 - printHex(num, size * 2); + printHex(num, size * 2, newline); break; default: @@ -139,14 +132,14 @@ namespace sta } } - void Printable::printDec(uintmax_t num, const char * fmt) + void Printable::printDec(uintmax_t num, const char * fmt, bool newline /* = false */) { char buffer[64]; snprintf(buffer, sizeof(buffer), fmt, static_cast(num)); - print(buffer); + print(buffer, newline); } - void Printable::printBin(uintmax_t value, size_t digits) + void Printable::printBin(uintmax_t value, size_t digits, bool newline /* = false */) { // Need 8 digits for every byte char buffer[sizeof(value) * 8]; @@ -168,10 +161,10 @@ namespace sta buffer[i] = '0' + ((value >> (digits - 1 - i)) & 0x1); } - print(buffer, digits); + print(buffer, digits, newline); } - void Printable::printHex(uintmax_t value, size_t digits) + void Printable::printHex(uintmax_t value, size_t digits, bool newline /* = false */) { // Need 2 digits for every byte char buffer[sizeof(value) * 2]; @@ -179,7 +172,7 @@ namespace sta // Check bounds if (digits > sizeof(buffer)) { - print(""); + print("", newline); return; } // Nothing to do @@ -197,7 +190,7 @@ namespace sta buffer[i] = '0' + hex; } - print(buffer, digits); + print(buffer, digits, newline); } } // namespace sta diff --git a/src/debug/printing/printable_printf.cpp b/src/debug/printing/printable_printf.cpp index 07357f5..9c8a8d8 100644 --- a/src/debug/printing/printable_printf.cpp +++ b/src/debug/printing/printable_printf.cpp @@ -1,5 +1,6 @@ #include #include +#include #include @@ -10,11 +11,20 @@ namespace sta } - void PrintablePrintf::print(const char * str, size_t length) + void PrintablePrintf::print(const char * str, size_t length, bool newline /* = false */) { STA_ASSERT(str != nullptr); STA_ASSERT(length > 0); printf("%.*s", length, str); + printf("\r\n"); + } + + void PrintablePrintf::read(char * str, size_t length) + { + STA_ASSERT(str != nullptr); + STA_ASSERT(length > 0); + + STA_NOT_IMPLEMENTED(); } } // namespace sta diff --git a/src/debug/printing/printable_uart.cpp b/src/debug/printing/printable_uart.cpp index f3f7453..2877c82 100644 --- a/src/debug/printing/printable_uart.cpp +++ b/src/debug/printing/printable_uart.cpp @@ -17,11 +17,21 @@ namespace sta STA_ASSERT(intf->settings().mode == UARTMode::RX || intf->settings().mode == UARTMode::RX_TX); } - void PrintableUART::print(const char * str, size_t length) + void PrintableUART::print(const char * str, size_t length, bool newline /* = false */) { + const char * linebreak = "\r\n"; + intf_->acquire(); intf_->transfer(reinterpret_cast(str), length); + intf_->transfer(reinterpret_cast(linebreak), 2); intf_->release(); } + void PrintableUART::read(char * str, size_t length) + { + intf_->acquire(); + intf_->receive(reinterpret_cast(str), length); + intf_->release(); + } + } // namespace sta From 5155c301964672339b135efca1d764a4ae8f8ab7 Mon Sep 17 00:00:00 2001 From: dario Date: Wed, 26 Jun 2024 17:11:02 +0200 Subject: [PATCH 07/18] Added docstring to STA_DEBUG_READ --- include/sta/debug/debug.hpp | 18 +++++++++++++----- 1 file changed, 13 insertions(+), 5 deletions(-) diff --git a/include/sta/debug/debug.hpp b/include/sta/debug/debug.hpp index 9cc3654..dec9b4c 100644 --- a/include/sta/debug/debug.hpp +++ b/include/sta/debug/debug.hpp @@ -15,16 +15,16 @@ namespace sta /** * @brief Debug print message. * - * @param ... See @ref sta::PrintableUART::print + * @param ... See @ref sta::Printable::print * * @ingroup sta_core_debug */ # define STA_DEBUG_PRINT(...) sta::Debug->print(__VA_ARGS__) /** - * @brief Debug print message followed by new-line to UART. + * @brief Debug print message followed by new-line to the printable. * - * @param ... See @ref sta::PrintableUART::println + * @param ... See @ref sta::Printable::println * * @ingroup sta_core_debug */ @@ -33,11 +33,19 @@ namespace sta /** * @brief Formatted debug printing with new-line. * - * @param fmt See @ref sta::PrintableUART::printf - * @param ... See @ref sta::PrintableUART::printf + * @param fmt See @ref sta::Printable::printf + * @param ... See @ref sta::Printable::printf */ # define STA_DEBUG_PRINTF(fmt, ...) sta::Debug->printf(fmt, __VA_ARGS__) +/** + * @brief Read string via printable. + * + * @param ... See @ref sta::Printable::read + * + * @ingroup sta_core_debug + * + */ # define STA_DEBUG_READ(buffer, length) sta::Debug->read(buffer, length) #else // !STA_DEBUGGING_ENABLED From 45cef775264f84b2d3d2c70df42e7276a8ed198d Mon Sep 17 00:00:00 2001 From: dario Date: Wed, 26 Jun 2024 17:41:56 +0200 Subject: [PATCH 08/18] Improved printable implementation; data reading with macro --- include/sta/debug/debug.hpp | 5 ++-- include/sta/debug/printing/printable.hpp | 26 ++++++++++++++++++- .../sta/debug/printing/printable_printf.hpp | 10 +++---- include/sta/debug/printing/printable_uart.hpp | 10 +++---- src/debug/printing/printable.cpp | 15 +++++++++++ src/debug/printing/printable_printf.cpp | 2 +- src/debug/printing/printable_uart.cpp | 4 +-- 7 files changed, 56 insertions(+), 16 deletions(-) diff --git a/include/sta/debug/debug.hpp b/include/sta/debug/debug.hpp index dec9b4c..25d757f 100644 --- a/include/sta/debug/debug.hpp +++ b/include/sta/debug/debug.hpp @@ -35,16 +35,17 @@ namespace sta * * @param fmt See @ref sta::Printable::printf * @param ... See @ref sta::Printable::printf + * + * @ingroup sta_core_debug */ # define STA_DEBUG_PRINTF(fmt, ...) sta::Debug->printf(fmt, __VA_ARGS__) /** - * @brief Read string via printable. + * @brief Read data via printable. * * @param ... See @ref sta::Printable::read * * @ingroup sta_core_debug - * */ # define STA_DEBUG_READ(buffer, length) sta::Debug->read(buffer, length) diff --git a/include/sta/debug/printing/printable.hpp b/include/sta/debug/printing/printable.hpp index 30995db..d25148b 100644 --- a/include/sta/debug/printing/printable.hpp +++ b/include/sta/debug/printing/printable.hpp @@ -170,13 +170,37 @@ namespace sta */ void println(const char * str, size_t length); public: + /** + * @brief Read bytes. + * + * @param buffer Byte buffer + * @param length Buffer length + */ + virtual void read(uint8_t * buffer, size_t length) = 0; + /** * @brief Read string. * * @param str String buffer * @param length String length */ - virtual void read(char* str, size_t length) = 0; + void read(char * str, size_t length); + + /** + * @brief Read floats. + * + * @param buffer Float buffer + * @param length Buffer length + */ + void read(float * buffer, size_t length); + + /** + * @brief Read doubles. + * + * @param buffer Double buffer + * @param length Buffer length + */ + void read(double * buffer, size_t length); private: /** diff --git a/include/sta/debug/printing/printable_printf.hpp b/include/sta/debug/printing/printable_printf.hpp index a570bd0..4f9f7e5 100644 --- a/include/sta/debug/printing/printable_printf.hpp +++ b/include/sta/debug/printing/printable_printf.hpp @@ -28,12 +28,12 @@ namespace sta void print(const char * str, size_t length, bool newline = false) override; /** - * @brief Print string. - * - * @param str String buffer - * @param length String length + * @brief Read bytes. + * + * @param buffer Byte buffer + * @param length Buffer length */ - void read(char * str, size_t length) override; + void read(uint8_t * buffer, size_t length) override; }; } // namespace sta diff --git a/include/sta/debug/printing/printable_uart.hpp b/include/sta/debug/printing/printable_uart.hpp index 0559607..e97de02 100644 --- a/include/sta/debug/printing/printable_uart.hpp +++ b/include/sta/debug/printing/printable_uart.hpp @@ -37,12 +37,12 @@ namespace sta void print(const char * str, size_t length, bool newline = false) override; /** - * @brief Read string. - * - * @param str String buffer - * @param length String length + * @brief Read bytes. + * + * @param buffer Byte buffer + * @param length Buffer length */ - void read(char * str, size_t length) override; + void read(uint8_t * str, size_t length) override; private: UART * intf_; diff --git a/src/debug/printing/printable.cpp b/src/debug/printing/printable.cpp index 73b4c5d..42b0191 100644 --- a/src/debug/printing/printable.cpp +++ b/src/debug/printing/printable.cpp @@ -193,4 +193,19 @@ namespace sta print(buffer, digits, newline); } + void Printable::read(char * str, size_t length) + { + read(reinterpret_cast(str), length * sizeof(char)); + } + + void Printable::read(float * buffer, size_t length) + { + read(reinterpret_cast(buffer), length * sizeof(float)); + } + + void Printable::read(double * buffer, size_t length) + { + read(reinterpret_cast(buffer), length * sizeof(double)); + } + } // namespace sta diff --git a/src/debug/printing/printable_printf.cpp b/src/debug/printing/printable_printf.cpp index 9c8a8d8..35872eb 100644 --- a/src/debug/printing/printable_printf.cpp +++ b/src/debug/printing/printable_printf.cpp @@ -20,7 +20,7 @@ namespace sta printf("\r\n"); } - void PrintablePrintf::read(char * str, size_t length) + void PrintablePrintf::read(uint8_t * str, size_t length) { STA_ASSERT(str != nullptr); STA_ASSERT(length > 0); diff --git a/src/debug/printing/printable_uart.cpp b/src/debug/printing/printable_uart.cpp index 2877c82..b35b376 100644 --- a/src/debug/printing/printable_uart.cpp +++ b/src/debug/printing/printable_uart.cpp @@ -27,10 +27,10 @@ namespace sta intf_->release(); } - void PrintableUART::read(char * str, size_t length) + void PrintableUART::read(uint8_t * buffer, size_t length) { intf_->acquire(); - intf_->receive(reinterpret_cast(str), length); + intf_->receive(buffer, length); intf_->release(); } From 5d89a121c509f4ee1219f7e67a7293b3bc297493 Mon Sep 17 00:00:00 2001 From: dario Date: Wed, 26 Jun 2024 23:35:06 +0200 Subject: [PATCH 09/18] Updated feedback --- src/debug/printing/printable_printf.cpp | 4 +++- src/debug/printing/printable_uart.cpp | 10 +++++++--- 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/src/debug/printing/printable_printf.cpp b/src/debug/printing/printable_printf.cpp index 35872eb..900c5fc 100644 --- a/src/debug/printing/printable_printf.cpp +++ b/src/debug/printing/printable_printf.cpp @@ -17,7 +17,9 @@ namespace sta STA_ASSERT(length > 0); printf("%.*s", length, str); - printf("\r\n"); + + if (newline) + printf("\r\n"); } void PrintablePrintf::read(uint8_t * str, size_t length) diff --git a/src/debug/printing/printable_uart.cpp b/src/debug/printing/printable_uart.cpp index b35b376..be750d7 100644 --- a/src/debug/printing/printable_uart.cpp +++ b/src/debug/printing/printable_uart.cpp @@ -19,11 +19,15 @@ namespace sta void PrintableUART::print(const char * str, size_t length, bool newline /* = false */) { - const char * linebreak = "\r\n"; - intf_->acquire(); intf_->transfer(reinterpret_cast(str), length); - intf_->transfer(reinterpret_cast(linebreak), 2); + + if (newline) + { + const char * linebreak = "\r\n"; + intf_->transfer(reinterpret_cast(linebreak), 2); + } + intf_->release(); } From 0078f9f44a809d1b9bd313658dad3c2b46b1fc40 Mon Sep 17 00:00:00 2001 From: dario Date: Thu, 27 Jun 2024 16:29:30 +0200 Subject: [PATCH 10/18] Updated gitignore and added spatz utilities --- .gitignore | 3 ++ include/sta/debug/printing/printable.hpp | 8 ++++ include/sta/debug/profile.hpp | 6 +-- include/sta/debug/spatz.hpp | 56 ++++++++++++++++++++++++ src/debug/spatz.cpp | 42 ++++++++++++++++++ 5 files changed, 112 insertions(+), 3 deletions(-) create mode 100644 include/sta/debug/spatz.hpp create mode 100644 src/debug/spatz.cpp diff --git a/.gitignore b/.gitignore index 4b5a695..3adcee3 100644 --- a/.gitignore +++ b/.gitignore @@ -10,6 +10,9 @@ Debug/ Release/ +!include/sta/debug/ +!src/debug/ + # Doxygen docs/html docs/latex diff --git a/include/sta/debug/printing/printable.hpp b/include/sta/debug/printing/printable.hpp index d25148b..c913bff 100644 --- a/include/sta/debug/printing/printable.hpp +++ b/include/sta/debug/printing/printable.hpp @@ -201,6 +201,14 @@ namespace sta * @param length Buffer length */ void read(double * buffer, size_t length); + public: + virtual void request(uint8_t * txBuffer, size_t txLength, uint8_t * rxBuffer, size_t rxLength) = 0; + + void request(uint8_t * txBuffer, size_t txLength, float * rxBuffer, size_t rxLength); + + void request(uint8_t * txBuffer, size_t txLength, double * rxBuffer, size_t rxLenght); + + private: /** diff --git a/include/sta/debug/profile.hpp b/include/sta/debug/profile.hpp index f256ac5..50100c5 100644 --- a/include/sta/debug/profile.hpp +++ b/include/sta/debug/profile.hpp @@ -5,8 +5,8 @@ * Author: Dario */ -#ifndef STA_DEBUGGING_PROFILING_HPP -#define STA_DEBUGGING_PROFILING_HPP +#ifndef STA_CORE_PROFILE_HPP +#define STA_CORE_PROFILE_HPP #include @@ -44,4 +44,4 @@ namespace sta #endif // // STA_PROFILING_ENABLED -#endif // STA_DEBUGGING_PROFILING_HPP +#endif // STA_CORE_PROFILE_HPP diff --git a/include/sta/debug/spatz.hpp b/include/sta/debug/spatz.hpp new file mode 100644 index 0000000..5f6f54f --- /dev/null +++ b/include/sta/debug/spatz.hpp @@ -0,0 +1,56 @@ +#ifndef STA_CORE_SPATZ_HPP +#define STA_CORE_SPATZ_HPP + +#include +#ifdef STA_SPATZ_ENABLED + +#include +#ifndef STA_DEBUGGING_ENABLED +# error "Cannot use SPATZ without debugging being enabled." +#endif // STA_DEBUGGING_ENABLED + +#include + +namespace sta +{ + namespace spatz + { + /** + * @brief Initialize SPATZ for in-the-loop testing. + * + * @param mutex A mutex used to make SPATZ thread-safe. + */ + void init(Mutex * mutex); + + /** + * @brief Request bytes for a specific sensor id via the printable. + * + * @param id The id of the sensor to request data for. + * @param buffer The byte buffer to write the data to. + * @param length The number of the bytes to request. + */ + void request(uint8_t id, uint8_t * buffer, size_t length); + + /** + * @brief Request floats for a specific sensor id via the printable. + * + * @param id The id of the sensor to request data for. + * @param buffer The float buffer to write the data to. + * @param length The number of floats to request. + */ + void request(uint8_t id, float * buffer, size_t length); + + /** + * @brief Request doubles for a specific sensor id via the printable. + * + * @param id The id of the sensor to request data for. + * @param buffer The double buffer to write the data to. + * @param length The number of doubles to request. + */ + void request(uint8_t id, double * buffer, size_t length); + } // namespace spatz +} // namespace sta + +#endif // STA_SPATZ_ENABLED + +#endif // STA_CORE_SPATZ_HPP diff --git a/src/debug/spatz.cpp b/src/debug/spatz.cpp new file mode 100644 index 0000000..0e3082a --- /dev/null +++ b/src/debug/spatz.cpp @@ -0,0 +1,42 @@ +#include + +#ifdef STA_SPATZ_ENABLED + +namespace sta +{ + namespace spatz + { + sta::Mutex * mutex_; + + void init(sta::Mutex * mutex) + { + mutex_ = mutex; + } + + void request(uint8_t id, uint8_t * buffer, size_t length) + { + sta::lock_guard lock(*mutex_); + + Debug->println(id); + Debug->read(buffer, length); + } + + void request(uint8_t id, float * buffer, size_t length) + { + sta::lock_guard lock(*mutex_); + + Debug->println(id); + Debug->read(buffer, length); + } + + void request(uint8_t id, double * buffer, size_t length) + { + sta::lock_guard lock(*mutex_); + + Debug->println(id); + Debug->read(buffer, length); + } + } // namespace spatz +} // namespace sta + +#endif // STA_SPATZ_ENABLED \ No newline at end of file From faebbfcb02b6286b82764eb26dc59c8b7bb17726 Mon Sep 17 00:00:00 2001 From: dario Date: Sat, 29 Jun 2024 17:30:11 +0200 Subject: [PATCH 11/18] Updated spatz implementation --- include/sta/debug/printing/printable.hpp | 9 ----- include/sta/debug/spatz.hpp | 14 ++++++-- src/debug/spatz.cpp | 43 ++++++++++++++++++++---- 3 files changed, 48 insertions(+), 18 deletions(-) diff --git a/include/sta/debug/printing/printable.hpp b/include/sta/debug/printing/printable.hpp index c913bff..d453702 100644 --- a/include/sta/debug/printing/printable.hpp +++ b/include/sta/debug/printing/printable.hpp @@ -201,15 +201,6 @@ namespace sta * @param length Buffer length */ void read(double * buffer, size_t length); - public: - virtual void request(uint8_t * txBuffer, size_t txLength, uint8_t * rxBuffer, size_t rxLength) = 0; - - void request(uint8_t * txBuffer, size_t txLength, float * rxBuffer, size_t rxLength); - - void request(uint8_t * txBuffer, size_t txLength, double * rxBuffer, size_t rxLenght); - - - private: /** * @brief Print unsigned integer in selected base. diff --git a/include/sta/debug/spatz.hpp b/include/sta/debug/spatz.hpp index 5f6f54f..7b69f4c 100644 --- a/include/sta/debug/spatz.hpp +++ b/include/sta/debug/spatz.hpp @@ -1,6 +1,8 @@ #ifndef STA_CORE_SPATZ_HPP #define STA_CORE_SPATZ_HPP +#include + #include #ifdef STA_SPATZ_ENABLED @@ -9,8 +11,6 @@ # error "Cannot use SPATZ without debugging being enabled." #endif // STA_DEBUGGING_ENABLED -#include - namespace sta { namespace spatz @@ -51,6 +51,16 @@ namespace sta } // namespace spatz } // namespace sta +#else + +namespace sta +{ + namespace spatz + { + void init(Mutex * mutex); + } // namespace spatz +} // namespace sta + #endif // STA_SPATZ_ENABLED #endif // STA_CORE_SPATZ_HPP diff --git a/src/debug/spatz.cpp b/src/debug/spatz.cpp index 0e3082a..2f22c0b 100644 --- a/src/debug/spatz.cpp +++ b/src/debug/spatz.cpp @@ -2,6 +2,10 @@ #ifdef STA_SPATZ_ENABLED +#ifndef STA_INIT_SPATZ_ID +# error "The ID used to communicate SPATZ initialization was not defined." +#endif // STA_INIT_SPATZ_ID + namespace sta { namespace spatz @@ -11,32 +15,57 @@ namespace sta void init(sta::Mutex * mutex) { mutex_ = mutex; + uint8_t msg = 0xFF; + + sta::lock_guard lock(*mutex_); + + // Wait until SPATZ sends the init byte. + while (msg != STA_INIT_SPATZ_ID) + { + Debug->read(&msg, 1); + } } void request(uint8_t id, uint8_t * buffer, size_t length) { - sta::lock_guard lock(*mutex_); + sta::lock_guard lock(*mutex_); - Debug->println(id); + Debug->println("%d", id); Debug->read(buffer, length); } void request(uint8_t id, float * buffer, size_t length) { - sta::lock_guard lock(*mutex_); + sta::lock_guard lock(*mutex_); - Debug->println(id); + // Debug->println(id, IntegerBase::DEC); + + Debug->printf("%d", id); Debug->read(buffer, length); } void request(uint8_t id, double * buffer, size_t length) { - sta::lock_guard lock(*mutex_); + sta::lock_guard lock(*mutex_); - Debug->println(id); + Debug->println("%d", id); Debug->read(buffer, length); } } // namespace spatz } // namespace sta -#endif // STA_SPATZ_ENABLED \ No newline at end of file +#else + +namespace sta +{ + namespace spatz + { + void init(sta::Mutex * mutex) + { + // Nothing to do here. + } + } // namespace spatz +} // namespace sta + + +#endif // STA_SPATZ_ENABLED From 64757fb2202bf2293972704f75e66c579fc3c13a Mon Sep 17 00:00:00 2001 From: "@CarlWachter" Date: Sat, 24 Aug 2024 11:34:00 +0200 Subject: [PATCH 12/18] feat: secondary can bus callback --- include/sta/devices/stm32/can.hpp | 9 +++++++++ src/devices/stm32/can.cpp | 11 +++++++++++ 2 files changed, 20 insertions(+) diff --git a/include/sta/devices/stm32/can.hpp b/include/sta/devices/stm32/can.hpp index 598b2bd..eff37a4 100644 --- a/include/sta/devices/stm32/can.hpp +++ b/include/sta/devices/stm32/can.hpp @@ -117,6 +117,15 @@ namespace sta * @ingroup sta_core_stm32_can */ void CanBus_RxPendingCallback(); + + /** + * @brief Interrupt handler for pending RX frames. Secondary handler. + * + * May be implemented by application. + * + * @ingroup sta_core_stm32_can + */ + void CanBus_RxPendingCallbackSecondary(); #endif // STA_STM32_CAN_GLOBAL } // namespace sta diff --git a/src/devices/stm32/can.cpp b/src/devices/stm32/can.cpp index 47e9c97..ffd6a41 100644 --- a/src/devices/stm32/can.cpp +++ b/src/devices/stm32/can.cpp @@ -215,6 +215,10 @@ namespace sta STA_WEAK void CanBus_RxPendingCallback(uint32_t fifo) {} + + STA_WEAK + void CanBus_RxPendingCallbackSecondary(uint32_t fifo) + {} } // namespace sta @@ -226,6 +230,10 @@ extern "C" { sta::CanBus_RxPendingCallback(CAN_RX_FIFO0); } + else + { + sta::CanBus_RxPendingCallbackSecondary(CAN_RX_FIFO0); + } } void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) @@ -234,6 +242,9 @@ extern "C" { sta::CanBus_RxPendingCallback(CAN_RX_FIFO1); } + else{ + sta::CanBus_RxPendingCallbackSecondary(CAN_RX_FIFO1); + } } } From 234d5b939c8531bd92ec1bb31317259d98098a4d Mon Sep 17 00:00:00 2001 From: CarlWachter Date: Wed, 11 Sep 2024 16:28:58 +0200 Subject: [PATCH 13/18] feat(can): Split filtering for multiple can peripherals --- include/sta/devices/stm32/can.hpp | 5 ++++- src/devices/stm32/can.cpp | 32 ++++++++++++++++++------------- 2 files changed, 23 insertions(+), 14 deletions(-) diff --git a/include/sta/devices/stm32/can.hpp b/include/sta/devices/stm32/can.hpp index eff37a4..4da17b3 100644 --- a/include/sta/devices/stm32/can.hpp +++ b/include/sta/devices/stm32/can.hpp @@ -46,8 +46,10 @@ namespace sta public: /** * @param handle CAN handle + * + * @param filter_start Start index for filters (default: 0 for can1, 14 for can2) */ - STM32CanController(CAN_HandleTypeDef * handle); + STM32CanController(CAN_HandleTypeDef * handle, uint32_t filter_start = 0); /** * @brief Enable RX pending interrupts. @@ -97,6 +99,7 @@ namespace sta private: CAN_HandleTypeDef * handle_; /**< CAN handle */ CAN_FilterTypeDef filters_[MAX_FILTER_COUNT]; /**< Filter settings */ + uint32_t filter_start_; /**< Start index for filters */ }; diff --git a/src/devices/stm32/can.cpp b/src/devices/stm32/can.cpp index ffd6a41..c396625 100644 --- a/src/devices/stm32/can.cpp +++ b/src/devices/stm32/can.cpp @@ -7,8 +7,8 @@ namespace sta { - STM32CanController::STM32CanController(CAN_HandleTypeDef * handle) - : handle_{handle} + STM32CanController::STM32CanController(CAN_HandleTypeDef * handle, uint32_t filter_start) + : handle_{handle}, filter_start_{filter_start} { initFilters(); } @@ -141,7 +141,7 @@ namespace sta void STM32CanController::clearFilters() { - for (uint32_t i = 0; i < MAX_FILTER_COUNT; ++i) + for (uint32_t i = filter_start_; i < filter_start_ + MAX_FILTER_COUNT; ++i) { CAN_FilterTypeDef * config = &filters_[i]; @@ -157,17 +157,23 @@ namespace sta void STM32CanController::initFilters() { - for (uint32_t i = 0; i < MAX_FILTER_COUNT; ++i) - { - CAN_FilterTypeDef * config = &filters_[i]; - - config->FilterBank = i; - config->FilterMode = CAN_FILTERMODE_IDMASK; - config->FilterScale = CAN_FILTERSCALE_32BIT; - config->FilterActivation = CAN_FILTER_DISABLE; - config->SlaveStartFilterBank = MAX_FILTER_COUNT; - HAL_CAN_ConfigFilter(handle_, config); + CAN_FilterTypeDef * config = &filters_[filter_start_]; + if (filter_start_ == 0){ + config->FilterBank = 0; + }else{ + // Split can peripheral bank for any STM F4 series supporting multiple CAN peripherals + config->FilterBank = filter_start_+1; } + + config->FilterMode = CAN_FILTERMODE_IDMASK; + config->FilterScale = CAN_FILTERSCALE_32BIT; + config->FilterActivation = ENABLE; + config->FilterIdHigh = 0x0000; + config->FilterIdLow = 0x0000; + config->FilterMaskIdHigh = 0x0000; + config->FilterMaskIdLow = 0x0000; + config->SlaveStartFilterBank = filter_start_; + HAL_CAN_ConfigFilter(handle_, config); } CanPendingRxFifos STM32CanController::getPendingRxFifos(){ From 8441e961bcef5320eac90d73e48e9509c93a6fa5 Mon Sep 17 00:00:00 2001 From: dario Date: Fri, 4 Oct 2024 11:07:38 +0200 Subject: [PATCH 14/18] Fixed race condition in interface class --- src/bus/interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/bus/interface.cpp b/src/bus/interface.cpp index 8560b3b..69c1900 100644 --- a/src/bus/interface.cpp +++ b/src/bus/interface.cpp @@ -18,8 +18,8 @@ namespace sta void Interface::release() { - mutex_->release(); acquired_ = false; + mutex_->release(); } bool Interface::isAcquired() From 9444654dc0b7d871a09ad79dda702c1ee498257d Mon Sep 17 00:00:00 2001 From: dario Date: Sun, 3 Nov 2024 18:22:34 +0100 Subject: [PATCH 15/18] Added timeout to bus communication and added error handling via return values --- include/sta/bus/device.hpp | 29 +++++++++++--- include/sta/bus/i2c/device.hpp | 3 -- include/sta/bus/interface.hpp | 39 +++++++++++++++---- include/sta/bus/spi/device.hpp | 3 +- include/sta/bus/spi/spi.hpp | 21 +++++++++- include/sta/devices/stm32/bus/i2c.hpp | 1 - include/sta/devices/stm32/bus/spi.hpp | 13 +++---- include/sta/devices/stm32/bus/uart.hpp | 11 +++--- src/bus/device.cpp | 53 +++++++++++++++++++++----- src/bus/spi/device.cpp | 13 ++++--- src/bus/spi/spi.cpp | 22 +++++++++++ src/devices/stm32/bus/i2c.cpp | 51 ++++++++++--------------- src/devices/stm32/bus/spi.cpp | 29 +++++++------- src/devices/stm32/bus/uart.cpp | 22 ++++++----- 14 files changed, 207 insertions(+), 103 deletions(-) diff --git a/include/sta/bus/device.hpp b/include/sta/bus/device.hpp index 1d9b8f1..6c5b6fd 100644 --- a/include/sta/bus/device.hpp +++ b/include/sta/bus/device.hpp @@ -35,14 +35,14 @@ namespace sta * * @param value 8-bit value */ - void transfer(uint8_t value); + bool transfer(uint8_t value, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Send two bytes of data. * * @param value 16-bit value */ - void transfer16(uint16_t value); + bool transfer16(uint16_t value, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Send data from buffer. @@ -50,7 +50,16 @@ namespace sta * @param buffer Source buffer * @param size Number of bytes to transfer */ - void transfer(const uint8_t * buffer, size_t size); + bool transfer(const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); + + /** + * @brief Write data to a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write to the address + * @param size The number of bytes to write to the peripheral. + */ + bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Read incoming data to buffer. @@ -58,7 +67,16 @@ namespace sta * @param buffer Destination buffer * @param size Number of bytes to read */ - void receive(uint8_t * buffer, size_t size); + bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); + + /** + * @brief Read data from a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write the received data to. + * @param size The number of bytes to receive from the peripheral. + */ + bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Send byte value repeatedly. @@ -66,7 +84,7 @@ namespace sta * @param value 8-bit value to repeat * @param count Number of repetitions */ - void fill(uint8_t value, size_t count); + void fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT); protected: /** @@ -78,7 +96,6 @@ namespace sta * @brief Deactivate device.. */ virtual void deselect() = 0; - private: Interface * intf_; bool selected_ = false; diff --git a/include/sta/bus/i2c/device.hpp b/include/sta/bus/i2c/device.hpp index 61f4c82..fcb85a4 100644 --- a/include/sta/bus/i2c/device.hpp +++ b/include/sta/bus/i2c/device.hpp @@ -35,7 +35,4 @@ namespace sta } // namespace sta - - - #endif // STA_CORE_I2C_DEVICE_HPP diff --git a/include/sta/bus/interface.hpp b/include/sta/bus/interface.hpp index 6b0f357..24b630f 100644 --- a/include/sta/bus/interface.hpp +++ b/include/sta/bus/interface.hpp @@ -6,6 +6,11 @@ #include #include +/** + * @brief The maximum timeout for bus communication in sta-core. + */ +#define STA_MAX_TIMEOUT 0xFFFFFFFFU + namespace sta { /** @@ -24,27 +29,46 @@ namespace sta * * @param value 8-bit value */ - virtual void transfer(uint8_t value) = 0; + virtual bool transfer(uint8_t value, uint32_t timeout = STA_MAX_TIMEOUT) = 0; /** * @brief Send two bytes of data. * * @param value 16-bit value */ - virtual void transfer16(uint16_t value) = 0; + virtual bool transfer16(uint16_t value, uint32_t timeout = STA_MAX_TIMEOUT) = 0; /** * @brief Send data from buffer. * * @param buffer Source buffer * @param size Number of bytes to transfer */ - virtual void transfer(const uint8_t * buffer, size_t size) = 0; + virtual bool transfer(const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + + /** + * @brief Write data to a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write to the address + * @param size The number of bytes to write to the peripheral. + */ + virtual bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + /** * @brief Read incoming data to buffer. * * @param buffer Destination buffer * @param size Number of bytes to read */ - virtual void receive(uint8_t * buffer, size_t size) = 0; + virtual bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + + /** + * @brief Read data from a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write the received data to. + * @param size The number of bytes to receive from the peripheral. + */ + virtual bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; /** * @brief Send byte value repeatedly. @@ -52,25 +76,26 @@ namespace sta * @param value 8-bit value to repeat * @param count Number of repetitions */ - virtual void fill(uint8_t value, size_t count) = 0; + virtual bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT) = 0; /** * @brief Acquire usage rights to use the interface. * * Must be called before any I/O operations are executed. */ - virtual void acquire(); + virtual void acquire(uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Release usage rights for interface. * * Must be called after last I/O operation. */ - virtual void release(); + virtual void release(uint32_t timeout = STA_MAX_TIMEOUT); /** * @returns true if the interface has been aquired. */ bool isAcquired(); + private: Mutex * mutex_; bool acquired_ = false; diff --git a/include/sta/bus/spi/device.hpp b/include/sta/bus/spi/device.hpp index b2a0ddc..eb40a1a 100644 --- a/include/sta/bus/spi/device.hpp +++ b/include/sta/bus/spi/device.hpp @@ -30,6 +30,7 @@ namespace sta SPIDevice(SPI * intf, GpioPin * csPin); using Device::transfer; + /** * @brief Send and receive data simultaneously. * @@ -37,7 +38,7 @@ namespace sta * @param rxBuffer Receive buffer * @param size Number of bytes to transfer */ - void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size); + bool transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Get %SPI interface settings. diff --git a/include/sta/bus/spi/spi.hpp b/include/sta/bus/spi/spi.hpp index 2d0dc14..6d30450 100644 --- a/include/sta/bus/spi/spi.hpp +++ b/include/sta/bus/spi/spi.hpp @@ -38,7 +38,25 @@ namespace sta * @param rxBuffer Receive buffer * @param size Number of bytes to transfer */ - virtual void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) = 0; + virtual bool transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + + /** + * @brief Write data to a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write to the address + * @param size The number of bytes to write to the peripheral. + */ + bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + + /** + * @brief Read data from a specific memory address of the peripheral. + * + * @param regAddr The memory address. + * @param buffer The buffer of data to write the received data to. + * @param size The number of bytes to receive from the peripheral. + */ + bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; /** * @brief Get %SPI interface settings. @@ -46,7 +64,6 @@ namespace sta * @return %SPI settings */ const SPISettings & settings(); - private: SPISettings settings_; /**< %SPI settings */ }; diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index 8656917..c10c256 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -31,7 +31,6 @@ namespace sta void fill(uint8_t value, size_t count) override; private: I2C_HandleTypeDef * handle_; - const uint32_t timeout_ = 1000; }; class STM32I2CDevice : public I2CDevice diff --git a/include/sta/devices/stm32/bus/spi.hpp b/include/sta/devices/stm32/bus/spi.hpp index 439e06a..211d5b2 100644 --- a/include/sta/devices/stm32/bus/spi.hpp +++ b/include/sta/devices/stm32/bus/spi.hpp @@ -72,13 +72,12 @@ namespace sta */ STM32SPI(const Info & info, Mutex * mutex = nullptr); - void transfer(uint8_t value) override; - void transfer16(uint16_t value) override; - void transfer(const uint8_t * buffer, size_t size) override; - void transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) override; - void receive(uint8_t * buffer, size_t size) override; - - void fill(uint8_t value, size_t count) override; + bool transfer(uint8_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer16(uint16_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer(const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT) override; private: SPI_HandleTypeDef * handle_; /**< STM32 HAL handle */ diff --git a/include/sta/devices/stm32/bus/uart.hpp b/include/sta/devices/stm32/bus/uart.hpp index e046f42..391f589 100644 --- a/include/sta/devices/stm32/bus/uart.hpp +++ b/include/sta/devices/stm32/bus/uart.hpp @@ -45,12 +45,11 @@ namespace sta */ STM32UART(UART_HandleTypeDef * handle, UARTSettings & settings, Mutex * mutex); - void transfer(uint8_t value) override; - void transfer16(uint16_t value) override; - void transfer(const uint8_t * buffer, size_t size) override; - void receive(uint8_t * buffer, size_t size) override; - - void fill(uint8_t value, size_t count) override; + bool transfer(uint8_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer16(uint16_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer(const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT) override; private: UART_HandleTypeDef * handle_; /**< STM32 HAL handle */ }; diff --git a/src/bus/device.cpp b/src/bus/device.cpp index 85713d0..97f135f 100644 --- a/src/bus/device.cpp +++ b/src/bus/device.cpp @@ -23,45 +23,78 @@ namespace sta intf_->release(); } - void Device::transfer(uint8_t value) + bool Device::transfer(uint8_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. STA_ASSERT(intf_->isAcquired()); STA_ASSERT(selected_); - intf_->transfer(value); + return intf_->transfer(value, timeout); } - void Device::transfer16(uint16_t value) + bool Device::transfer16(uint16_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. STA_ASSERT(intf_->isAcquired()); STA_ASSERT(selected_); - intf_->transfer16(value); + return intf_->transfer16(value, timeout); } - void Device::transfer(const uint8_t * buffer, size_t size) + bool Device::transfer(const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. STA_ASSERT(intf_->isAcquired()); STA_ASSERT(selected_); + + // Check if the user passed a null pointer as a buffer. STA_ASSERT(buffer != nullptr); - intf_->transfer(buffer, size); + return intf_->transfer(buffer, size, timeout); } - void Device::receive(uint8_t * buffer, size_t size) + bool Device::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. STA_ASSERT(intf_->isAcquired()); STA_ASSERT(selected_); + + // Check if the user passed a null pointer as a buffer. STA_ASSERT(buffer != nullptr); - intf_->receive(buffer, size); + return intf_->writeMemory(regAddr, buffer, size, timeout); } - void Device::fill(uint8_t value, size_t count) + bool Device::receive(uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. STA_ASSERT(intf_->isAcquired()); STA_ASSERT(selected_); - intf_->fill(value, count); + // Check if the user passed a null pointer as a buffer. + STA_ASSERT(buffer != nullptr); + + return intf_->receive(buffer, size, timeout); + } + + bool Device::readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. + STA_ASSERT(intf_->isAcquired()); + STA_ASSERT(selected_); + + // Check if the user passed a null pointer as a buffer. + STA_ASSERT(buffer != nullptr); + + return intf_->readMemory(regAddr, buffer, size, timeout); + } + + bool Device::fill(uint8_t value, size_t count, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. + STA_ASSERT(intf_->isAcquired()); + STA_ASSERT(selected_); + + intf_->fill(value, count, timeout); } } // namespace sta diff --git a/src/bus/spi/device.cpp b/src/bus/spi/device.cpp index 60b273a..f6bada0 100644 --- a/src/bus/spi/device.cpp +++ b/src/bus/spi/device.cpp @@ -12,13 +12,16 @@ namespace sta STA_ASSERT(csPin != nullptr); } - void SPIDevice::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) + bool SPIDevice::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - STA_ASSERT(intf_->isAcquired()); + // If these asserts fail, the user either forgot to call _beginTransmission()_ or the mutex acquision failed. + STA_ASSERT(intf_->isAcquired()); + + // Check if the user passed a null pointer as a buffer. STA_ASSERT(txBuffer != nullptr); STA_ASSERT(rxBuffer != nullptr); - intf_->transfer(txBuffer, rxBuffer, size); + intf_->transfer(txBuffer, rxBuffer, size, timeout); } const SPISettings & SPIDevice::settings() const @@ -28,11 +31,11 @@ namespace sta void SPIDevice::select() { - csPin_->setState(GpioPinState::GPIO_LOW); + csPin_->setLow(); } void SPIDevice::deselect() { - csPin_->setState(GpioPinState::GPIO_HIGH); + csPin_->setHigh(); } } // namespace sta diff --git a/src/bus/spi/spi.cpp b/src/bus/spi/spi.cpp index 012bcf3..ba3c961 100644 --- a/src/bus/spi/spi.cpp +++ b/src/bus/spi/spi.cpp @@ -10,6 +10,28 @@ namespace sta } + bool SPI::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (!transfer(regAddr, timeout)) + return false; + + if (!transfer(buffer, size, timeout)) + return false; + + return true; + } + + bool SPI::readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (!transfer(regAddr, timeout)) + return false; + + if (!receive(buffer, size, timeout)) + return false; + + return true; + } + const SPISettings & SPI::settings() { return settings_; diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index 982ae82..b5d9824 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -18,45 +18,37 @@ namespace sta STA_ASSERT(handle != nullptr); } - void STM32I2C::transfer(uint8_t value) + bool STM32I2C::transfer(uint8_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - HAL_StatusTypeDef res; - if (master_) { - res = HAL_I2C_Master_Transmit(handle_, address_, &value, 1, timeout_); + return HAL_I2C_Master_Transmit(handle_, address_, &value, 1, timeout) == HAL_OK; } else { - res = HAL_I2C_Slave_Transmit(handle_, &value, 1, timeout_); + return HAL_I2C_Slave_Transmit(handle_, &value, 1, timeout) == HAL_OK; } - - STA_ASSERT(res == HAL_OK); } - void STM32I2C::transfer16(uint16_t value) + bool STM32I2C::transfer16(uint16_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - HAL_StatusTypeDef res; - if (blocking_) { if (master_) { - res = HAL_I2C_Master_Transmit(handle_, address_, reinterpret_cast(&value), 2, timeout_); + return HAL_I2C_Master_Transmit(handle_, address_, reinterpret_cast(&value), 2, timeout) == HAL_OK; } else { - res = HAL_I2C_Slave_Transmit(handle_, reinterpret_cast(&value), 2, timeout_); + return HAL_I2C_Slave_Transmit(handle_, reinterpret_cast(&value), 2, timeout) == HAL_OK; } } else { if (master_) { - res = HAL_I2C_Slave_Transmit_IT(handle_, reinterpret_cast(&value), 2); + return HAL_I2C_Slave_Transmit_IT(handle_, reinterpret_cast(&value), 2) == HAL_OK; } else { - res = HAL_I2C_Slave_Transmit_IT(handle_, reinterpret_cast(&value), 2); + return HAL_I2C_Slave_Transmit_IT(handle_, reinterpret_cast(&value), 2) == HAL_OK; } } - - STA_ASSERT(res == HAL_OK); } - void STM32I2C::transfer(const uint8_t * buffer, size_t size) + bool STM32I2C::transfer(const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { HAL_StatusTypeDef res; @@ -71,9 +63,9 @@ namespace sta { if (master_) { - res = HAL_I2C_Master_Transmit(handle_, address_, temp_buffer, size, timeout_); + res = HAL_I2C_Master_Transmit(handle_, address_, temp_buffer, size, timeout); } else { - res = HAL_I2C_Slave_Transmit(handle_, temp_buffer, size, timeout_); + res = HAL_I2C_Slave_Transmit(handle_, temp_buffer, size, timeout); } } else { if (master_) { @@ -85,40 +77,39 @@ namespace sta delete [] temp_buffer; - STA_ASSERT(res == HAL_OK); + return res == HAL_OK; } - void STM32I2C::receive(uint8_t * buffer, size_t size) + bool STM32I2C::receive(uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - HAL_StatusTypeDef res; if (blocking_) { if (master_) { - res = HAL_I2C_Master_Receive(handle_, address_, buffer, size, timeout_); + return HAL_I2C_Master_Receive(handle_, address_, buffer, size, timeout) == HAL_OK; } else { - res = HAL_I2C_Slave_Receive(handle_, buffer, size, timeout_); + return HAL_I2C_Slave_Receive(handle_, buffer, size, timeout) == HAL_OK; } } else { if (master_) { - res = HAL_I2C_Master_Receive_IT(handle_, address_, buffer, size); + return HAL_I2C_Master_Receive_IT(handle_, address_, buffer, size) == HAL_OK; } else { - res = HAL_I2C_Slave_Receive_IT(handle_, buffer, size); + return HAL_I2C_Slave_Receive_IT(handle_, buffer, size) == HAL_OK; } } - - STA_ASSERT(res == HAL_OK); } - void STM32I2C::fill(uint8_t value, size_t count) + bool STM32I2C::fill(uint8_t value, size_t count, uint32_t timeout /* = STA_MAX_TIMEOUT */) { // Initialize a buffer of size count and fill it with the value. uint8_t *buffer = new uint8_t[count]; memset(buffer, value, count); // Transfer the buffer via the bus. - transfer(buffer, count); + bool rslt = transfer(buffer, count, timeout); delete [] buffer; + + return rslt; } bool STM32I2C::hasAddress(int address) diff --git a/src/devices/stm32/bus/spi.cpp b/src/devices/stm32/bus/spi.cpp index becfaac..ba1b685 100644 --- a/src/devices/stm32/bus/spi.cpp +++ b/src/devices/stm32/bus/spi.cpp @@ -77,21 +77,21 @@ namespace sta {} - void STM32SPI::transfer(uint8_t value) + bool STM32SPI::transfer(uint8_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { if (settings().dataSize == SPIDataSize::SIZE_8) { - HAL_SPI_Transmit(handle_, &value, 1, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, &value, 1, timeout) == HAL_OK; } else { // Required since tx buffer is cast to uint16_t * internally uint16_t dummy = value; - HAL_SPI_Transmit(handle_, reinterpret_cast(&dummy), 1, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, reinterpret_cast(&dummy), 1, timeout) == HAL_OK; } } - void STM32SPI::transfer16(uint16_t value) + bool STM32SPI::transfer16(uint16_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { uint16_t size = 1; @@ -107,35 +107,34 @@ namespace sta } } - HAL_SPI_Transmit(handle_, reinterpret_cast(&value), size, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, reinterpret_cast(&value), size, timeout) == HAL_OK; } - void STM32SPI::transfer(const uint8_t * buffer, size_t size) + bool STM32SPI::transfer(const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(buffer != nullptr); STA_ASSERT(size != 0); - HAL_SPI_Transmit(handle_, const_cast(buffer), size, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, const_cast(buffer), size, timeout) == HAL_OK; } - void STM32SPI::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size) + bool STM32SPI::transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(txBuffer != nullptr); STA_ASSERT(rxBuffer != nullptr); STA_ASSERT(size != 0); - HAL_SPI_TransmitReceive(handle_, const_cast(txBuffer), rxBuffer, size, HAL_MAX_DELAY); + return HAL_SPI_TransmitReceive(handle_, const_cast(txBuffer), rxBuffer, size, timeout) == HAL_OK; } - void STM32SPI::receive(uint8_t * buffer, size_t size) + bool STM32SPI::receive(uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(buffer != nullptr); - HAL_SPI_Receive(handle_, buffer, size, HAL_MAX_DELAY); + return HAL_SPI_Receive(handle_, buffer, size, timeout) == HAL_OK; } - - void STM32SPI::fill(uint8_t value, size_t count) + bool STM32SPI::fill(uint8_t value, size_t count, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(count != 0); @@ -143,7 +142,7 @@ namespace sta { for (size_t i = 0; i < count; ++i) { - HAL_SPI_Transmit(handle_, &value, 1, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, &value, 1, timeout) == HAL_OK; } } else @@ -152,7 +151,7 @@ namespace sta uint16_t dummy = value; for (size_t i = 0; i < count; ++i) { - HAL_SPI_Transmit(handle_, reinterpret_cast(&dummy), 1, HAL_MAX_DELAY); + return HAL_SPI_Transmit(handle_, reinterpret_cast(&dummy), 1, timeout) == HAL_OK; } } } diff --git a/src/devices/stm32/bus/uart.cpp b/src/devices/stm32/bus/uart.cpp index 300f49f..4075066 100644 --- a/src/devices/stm32/bus/uart.cpp +++ b/src/devices/stm32/bus/uart.cpp @@ -12,40 +12,42 @@ namespace sta STA_ASSERT(handle != nullptr); } - void STM32UART::transfer(uint8_t value) + bool STM32UART::transfer(uint8_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - HAL_UART_Transmit(handle_, &value, 1, HAL_MAX_DELAY); + return HAL_UART_Transmit(handle_, &value, 1, timeout) != HAL_OK; } - void STM32UART::transfer16(uint16_t value) + bool STM32UART::transfer16(uint16_t value, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - HAL_UART_Transmit(handle_, reinterpret_cast(&value), 2, HAL_MAX_DELAY); + return HAL_UART_Transmit(handle_, reinterpret_cast(&value), 2, timeout) == HAL_OK; } - void STM32UART::transfer(const uint8_t * buffer, size_t size) + bool STM32UART::transfer(const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(buffer != nullptr); - HAL_UART_Transmit(handle_, const_cast(buffer), size, HAL_MAX_DELAY); + return HAL_UART_Transmit(handle_, const_cast(buffer), size, timeout) == HAL_OK; } - void STM32UART::receive(uint8_t * buffer, size_t size) + bool STM32UART::receive(uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { STA_ASSERT(buffer != nullptr); - HAL_UART_Receive(handle_, buffer, size, HAL_MAX_DELAY); + return HAL_UART_Receive(handle_, buffer, size, timeout) == HAL_OK; } - void STM32UART::fill(uint8_t value, size_t count) + bool STM32UART::fill(uint8_t value, size_t count, uint32_t timeout /* = STA_MAX_TIMEOUT */) { // Initialize a buffer of size count and fill it with the value. uint8_t *buffer = new uint8_t[count]; memset(buffer, value, count); // Transfer the buffer via the bus. - transfer(buffer, count); + bool rslt = transfer(buffer, count, timeout); delete [] buffer; + + return rslt; } } // namespace sta From 6a50c3644eb92b2a718412ce70054e6b20b96301 Mon Sep 17 00:00:00 2001 From: dario Date: Sun, 3 Nov 2024 18:31:52 +0100 Subject: [PATCH 16/18] Added readMemory and writeMemory implementation for STM32 --- include/sta/devices/stm32/bus/i2c.hpp | 13 +++++++------ src/devices/stm32/bus/i2c.cpp | 19 ++++++++++++++++++- 2 files changed, 25 insertions(+), 7 deletions(-) diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index c10c256..14af08f 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -21,14 +21,15 @@ namespace sta public: STM32I2C(I2C_HandleTypeDef * handle, Mutex * mutex=nullptr); - void transfer(uint8_t value) override; - void transfer16(uint16_t value) override; - void transfer(const uint8_t * buffer, size_t size) override; - void receive(uint8_t * buffer, size_t size) override; + bool transfer(uint8_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer16(uint16_t value, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool transfer(const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; + bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT) override; bool hasAddress(int address); void addressScan(); - - void fill(uint8_t value, size_t count) override; private: I2C_HandleTypeDef * handle_; }; diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index b5d9824..17eb8a6 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -80,9 +80,17 @@ namespace sta return res == HAL_OK; } + bool STM32I2C::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (blocking_) { + return HAL_I2C_Mem_Write(handle_, address_, regAddr, 1, buffer, size, timeout) == HAL_OK; + } else { + return HAL_I2C_Mem_Write_IT(handle_, address_, regAddr, 1, buffer, size) == HAL_OK; + } + } + bool STM32I2C::receive(uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { - if (blocking_) { if (master_) { return HAL_I2C_Master_Receive(handle_, address_, buffer, size, timeout) == HAL_OK; @@ -98,6 +106,15 @@ namespace sta } } + bool STM32I2C::readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (blocking_) { + return HAL_I2C_Mem_Read(handle_, address_, regAddr, 1, buffer, size, timeout) == HAL_OK; + } else { + return HAL_I2C_Mem_Read_IT(handle_, address_, regAddr, 1, buffer, size) == HAL_OK; + } + } + bool STM32I2C::fill(uint8_t value, size_t count, uint32_t timeout /* = STA_MAX_TIMEOUT */) { // Initialize a buffer of size count and fill it with the value. From bbdfc293683e20b604555f7dbf0bc99ba60196a0 Mon Sep 17 00:00:00 2001 From: dario Date: Thu, 14 Nov 2024 21:58:42 +0100 Subject: [PATCH 17/18] Fixed compiler errors, untested due to lack of hardware --- include/sta/bus/device.hpp | 2 +- include/sta/bus/interface.hpp | 4 ++-- include/sta/bus/spi/spi.hpp | 18 ------------------ src/bus/interface.cpp | 26 ++++++++++++++++++++++++-- src/bus/spi/spi.cpp | 22 ---------------------- src/devices/stm32/bus/i2c.cpp | 11 +++++++++-- 6 files changed, 36 insertions(+), 47 deletions(-) diff --git a/include/sta/bus/device.hpp b/include/sta/bus/device.hpp index 6c5b6fd..853f4aa 100644 --- a/include/sta/bus/device.hpp +++ b/include/sta/bus/device.hpp @@ -84,7 +84,7 @@ namespace sta * @param value 8-bit value to repeat * @param count Number of repetitions */ - void fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT); + bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT); protected: /** diff --git a/include/sta/bus/interface.hpp b/include/sta/bus/interface.hpp index 24b630f..9aa6b5e 100644 --- a/include/sta/bus/interface.hpp +++ b/include/sta/bus/interface.hpp @@ -51,7 +51,7 @@ namespace sta * @param buffer The buffer of data to write to the address * @param size The number of bytes to write to the peripheral. */ - virtual bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + virtual bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Read incoming data to buffer. @@ -68,7 +68,7 @@ namespace sta * @param buffer The buffer of data to write the received data to. * @param size The number of bytes to receive from the peripheral. */ - virtual bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; + virtual bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT); /** * @brief Send byte value repeatedly. diff --git a/include/sta/bus/spi/spi.hpp b/include/sta/bus/spi/spi.hpp index 6d30450..4321d02 100644 --- a/include/sta/bus/spi/spi.hpp +++ b/include/sta/bus/spi/spi.hpp @@ -40,24 +40,6 @@ namespace sta */ virtual bool transfer(const uint8_t * txBuffer, uint8_t * rxBuffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) = 0; - /** - * @brief Write data to a specific memory address of the peripheral. - * - * @param regAddr The memory address. - * @param buffer The buffer of data to write to the address - * @param size The number of bytes to write to the peripheral. - */ - bool writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; - - /** - * @brief Read data from a specific memory address of the peripheral. - * - * @param regAddr The memory address. - * @param buffer The buffer of data to write the received data to. - * @param size The number of bytes to receive from the peripheral. - */ - bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; - /** * @brief Get %SPI interface settings. * diff --git a/src/bus/interface.cpp b/src/bus/interface.cpp index 69c1900..8721fe6 100644 --- a/src/bus/interface.cpp +++ b/src/bus/interface.cpp @@ -10,13 +10,35 @@ namespace sta STA_ASSERT(mutex != nullptr); } - void Interface::acquire() + bool Interface::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (!transfer(regAddr, timeout)) + return false; + + if (!transfer(buffer, size, timeout)) + return false; + + return true; + } + + bool Interface::readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) + { + if (!transfer(regAddr, timeout)) + return false; + + if (!receive(buffer, size, timeout)) + return false; + + return true; + } + + void Interface::acquire(uint32_t timeout /* = STA_MAX_TIMEOUT */) { mutex_->acquire(); acquired_ = true; } - void Interface::release() + void Interface::release(uint32_t timeout /* = STA_MAX_TIMEOUT */) { acquired_ = false; mutex_->release(); diff --git a/src/bus/spi/spi.cpp b/src/bus/spi/spi.cpp index ba3c961..012bcf3 100644 --- a/src/bus/spi/spi.cpp +++ b/src/bus/spi/spi.cpp @@ -10,28 +10,6 @@ namespace sta } - bool SPI::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) - { - if (!transfer(regAddr, timeout)) - return false; - - if (!transfer(buffer, size, timeout)) - return false; - - return true; - } - - bool SPI::readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) - { - if (!transfer(regAddr, timeout)) - return false; - - if (!receive(buffer, size, timeout)) - return false; - - return true; - } - const SPISettings & SPI::settings() { return settings_; diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index 17eb8a6..f617845 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -82,10 +82,17 @@ namespace sta bool STM32I2C::writeMemory(uint8_t regAddr, const uint8_t * buffer, size_t size, uint32_t timeout /* = STA_MAX_TIMEOUT */) { + /* + * It's undecided if we want to change the parameter for this function. Since the transmission + * doesn't take a const buffer as an argument, we are using this fix by creating a temporary buffer. + */ + uint8_t * temp_buffer = new uint8_t[size]; + memcpy(temp_buffer, buffer, size); + if (blocking_) { - return HAL_I2C_Mem_Write(handle_, address_, regAddr, 1, buffer, size, timeout) == HAL_OK; + return HAL_I2C_Mem_Write(handle_, address_, regAddr, 1, temp_buffer, size, timeout) == HAL_OK; } else { - return HAL_I2C_Mem_Write_IT(handle_, address_, regAddr, 1, buffer, size) == HAL_OK; + return HAL_I2C_Mem_Write_IT(handle_, address_, regAddr, 1, temp_buffer, size) == HAL_OK; } } From 0e44e257ee0030a0a9ce3dbe52a9dde42bda95af Mon Sep 17 00:00:00 2001 From: dario Date: Mon, 1 Jul 2024 11:06:45 +0200 Subject: [PATCH 18/18] Added I2C address scan --- include/sta/bus/i2c/i2c.hpp | 10 +++++++++- include/sta/devices/stm32/bus/i2c.hpp | 3 +-- src/bus/i2c/i2c.cpp | 13 ++++++++++++- src/devices/stm32/bus/i2c.cpp | 11 ----------- 4 files changed, 22 insertions(+), 15 deletions(-) diff --git a/include/sta/bus/i2c/i2c.hpp b/include/sta/bus/i2c/i2c.hpp index f29cff6..3fa1994 100644 --- a/include/sta/bus/i2c/i2c.hpp +++ b/include/sta/bus/i2c/i2c.hpp @@ -35,11 +35,19 @@ namespace sta */ void setSettings(uint16_t address, bool master, bool blocking); + /** + * @brief Checks if a device with the given address is connected to the I2C bus. + * + * @param address The address to check availability for. + * @return true if the address exists, false otherwise. + */ + virtual bool hasAddress(int address) = 0; + /** * @brief Prints all available addresses via the debug printable. * */ - virtual void addressScan() = 0; + void scanAddresses(); protected: /// @brief The peripheral's address to communicate with. uint16_t address_; diff --git a/include/sta/devices/stm32/bus/i2c.hpp b/include/sta/devices/stm32/bus/i2c.hpp index 14af08f..b797021 100644 --- a/include/sta/devices/stm32/bus/i2c.hpp +++ b/include/sta/devices/stm32/bus/i2c.hpp @@ -28,8 +28,7 @@ namespace sta bool receive(uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; bool readMemory(uint8_t regAddr, uint8_t * buffer, size_t size, uint32_t timeout = STA_MAX_TIMEOUT) override; bool fill(uint8_t value, size_t count, uint32_t timeout = STA_MAX_TIMEOUT) override; - bool hasAddress(int address); - void addressScan(); + bool hasAddress(int address) override; private: I2C_HandleTypeDef * handle_; }; diff --git a/src/bus/i2c/i2c.cpp b/src/bus/i2c/i2c.cpp index 289bbda..cec1e21 100644 --- a/src/bus/i2c/i2c.cpp +++ b/src/bus/i2c/i2c.cpp @@ -1,5 +1,5 @@ #include - +#include namespace sta { @@ -15,4 +15,15 @@ namespace sta master_ = master; blocking_ = blocking; } + + void I2C::scanAddresses() + { + for (uint8_t i = 0; i < 128; ++i) + { + if (hasAddress(i)) + { + STA_DEBUG_PRINTF("Address %d is available", i); + } + } + } } // namespace sta diff --git a/src/devices/stm32/bus/i2c.cpp b/src/devices/stm32/bus/i2c.cpp index f617845..b62c831 100644 --- a/src/devices/stm32/bus/i2c.cpp +++ b/src/devices/stm32/bus/i2c.cpp @@ -141,17 +141,6 @@ namespace sta return HAL_I2C_IsDeviceReady(handle_, (uint16_t)(address << 1), 3, 5) == HAL_OK; } - void STM32I2C::addressScan() - { - for(uint8_t i = 1; i < 128; i++) - { - if (hasAddress(i)) - { - STA_DEBUG_PRINTF("Address %d exists", i); - } - } - } - STM32I2CDevice::STM32I2CDevice(STM32I2C * intf, int address, bool master, bool blocking) /* The address is bit-shifted by one to work properly for the STM32 HAL. */ : I2CDevice(intf, address << 1, master, blocking)