diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a511e5de6b6133cf8c7601398c36f2cf61eef3b..c5d677191b4f9b6bcdb43eb84697bddab5116297 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -214,15 +214,6 @@ sbs_target(test-pwm stm32f429zi_stm32f4discovery)
add_executable(test-spi src/tests/drivers/spi/test-spi.cpp)
sbs_target(test-spi stm32f429zi_stm32f4discovery)
-add_executable(test-spi-as-slave src/tests/drivers/spi/test-spi-as-slave.cpp)
-sbs_target(test-spi-as-slave stm32f429zi_stm32f4discovery)
-
-add_executable(test-spi-signal-generator src/tests/drivers/spi/test-spi-signal-generator.cpp)
-sbs_target(test-spi-signal-generator stm32f429zi_stm32f4discovery)
-
-add_executable(test-spi-slave-bus src/tests/drivers/spi/test-spi-slave-bus.cpp)
-sbs_target(test-spi-slave-bus stm32f429zi_stm32f4discovery)
-
add_executable(test-timer-utils src/tests/drivers/timer/test-timer-utils.cpp)
sbs_target(test-timer-utils stm32f429zi_stm32f4discovery)
@@ -322,12 +313,6 @@ sbs_target(test-ads1118 stm32f407vg_stm32f4discovery)
add_executable(test-ads131m04 src/tests/sensors/ADS131M04/test-ads131m04.cpp)
sbs_target(test-ads131m04 stm32f429zi_stm32f4discovery)
-add_executable(test-ads131m04highfreq src/tests/sensors/ADS131M04/test-ads131m04highfreq.cpp)
-sbs_target(test-ads131m04highfreq stm32f429zi_stm32f4discovery)
-
-add_executable(test-ads131m04highfreq-with-logger src/tests/sensors/ADS131M04/test-ads131m04highfreq-with-logger.cpp)
-sbs_target(test-ads131m04highfreq-with-logger stm32f429zi_stm32f4discovery)
-
add_executable(test-analog-pressure-sensors src/tests/sensors/analog/test-analog-pressure-sensors.cpp)
sbs_target(test-analog-pressure-sensors stm32f429zi_stm32f4discovery)
diff --git a/cmake/boardcore.cmake b/cmake/boardcore.cmake
index 5a91d68a09de6e972b58f779eac3ab722f596cd7..caea138a30977227222c31c1f0beae22b3f415f4 100644
--- a/cmake/boardcore.cmake
+++ b/cmake/boardcore.cmake
@@ -81,7 +81,6 @@ foreach(OPT_BOARD ${BOARDS})
# Sensors
${SBS_BASE}/src/shared/sensors/ADS1118/ADS1118.cpp
${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04.cpp
- ${SBS_BASE}/src/shared/sensors/ADS131M04/ADS131M04HighFreq.cpp
${SBS_BASE}/src/shared/sensors/BME280/BME280.cpp
${SBS_BASE}/src/shared/sensors/BMP280/BMP280.cpp
${SBS_BASE}/src/shared/sensors/BMX160/BMX160.cpp
diff --git a/src/shared/drivers/spi/SPI.h b/src/shared/drivers/spi/SPI.h
index 2097264ec8fc93ea70f3ef8fe600bf06d4baad36..e146c323c5db96c5bb5915202e848a88ad8be890 100644
--- a/src/shared/drivers/spi/SPI.h
+++ b/src/shared/drivers/spi/SPI.h
@@ -183,7 +183,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer in bytes.
*/
- void read(uint16_t *data, size_t nBytes);
+ void read16(uint16_t *data, size_t nBytes);
/**
* @brief Writes a single byte to the bus.
@@ -197,7 +197,7 @@ public:
*
* @param data Half word to write.
*/
- void write(uint16_t data);
+ void write16(uint16_t data);
/**
* @brief Writes multiple bytes to the bus.
@@ -213,7 +213,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer in bytes.
*/
- void write(const uint16_t *data, size_t nBytes);
+ void write16(const uint16_t *data, size_t nBytes);
/**
* @brief Full duplex transmission of one byte on the bus.
@@ -229,7 +229,7 @@ public:
* @param data Half word to write.
* @return Half word read from the bus.
*/
- uint16_t transfer(uint16_t data);
+ uint16_t transfer16(uint16_t data);
/**
* @brief Full duplex transmission of multiple bytes on the bus.
@@ -245,7 +245,7 @@ public:
* @param data Buffer containing data to trasfer.
* @param size Size of the buffer in bytes.
*/
- void transfer(uint16_t *data, size_t nBytes);
+ void transfer16(uint16_t *data, size_t nBytes);
private:
SPIType *spi;
@@ -344,7 +344,7 @@ inline void SPI::read(uint8_t *data, size_t nBytes)
data[i] = read();
}
-inline void SPI::read(uint16_t *data, size_t nBytes)
+inline void SPI::read16(uint16_t *data, size_t nBytes)
{
// Set 16 bit frame format
set16BitFrameFormat();
@@ -372,7 +372,7 @@ inline void SPI::read(uint16_t *data, size_t nBytes)
inline void SPI::write(uint8_t data) { transfer(data); }
-inline void SPI::write(uint16_t data) { transfer(data); }
+inline void SPI::write16(uint16_t data) { transfer(data); }
inline void SPI::write(const uint8_t *data, size_t nBytes)
{
@@ -380,7 +380,7 @@ inline void SPI::write(const uint8_t *data, size_t nBytes)
transfer(data[i]);
}
-inline void SPI::write(const uint16_t *data, size_t nBytes)
+inline void SPI::write16(const uint16_t *data, size_t nBytes)
{
// Set 16 bit frame format
set16BitFrameFormat();
@@ -423,7 +423,7 @@ inline uint8_t SPI::transfer(uint8_t data)
return static_cast<uint8_t>(spi->DR);
}
-inline uint16_t SPI::transfer(uint16_t data)
+inline uint16_t SPI::transfer16(uint16_t data)
{
// Set 16 bit frame format
set16BitFrameFormat();
@@ -452,7 +452,7 @@ inline void SPI::transfer(uint8_t *data, size_t nBytes)
data[i] = transfer(data[i]);
}
-inline void SPI::transfer(uint16_t *data, size_t nBytes)
+inline void SPI::transfer16(uint16_t *data, size_t nBytes)
{
// Set 16 bit frame format
set16BitFrameFormat();
diff --git a/src/shared/drivers/spi/SPIBus.h b/src/shared/drivers/spi/SPIBus.h
index e5865b0511bae4e6750b0908eba08074b6e7d2b3..a10af7e296aa35d8aaed5f3c14eac9119b7df802 100644
--- a/src/shared/drivers/spi/SPIBus.h
+++ b/src/shared/drivers/spi/SPIBus.h
@@ -101,7 +101,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer.
*/
- void read(uint16_t* data, size_t size) override;
+ void read16(uint16_t* data, size_t size) override;
/**
* @brief Writes a single byte to the bus.
@@ -115,7 +115,7 @@ public:
*
* @param data Half word to write.
*/
- void write(uint16_t data) override;
+ void write16(uint16_t data) override;
/**
* @brief Writes multiple bytes to the bus.
@@ -131,7 +131,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer.
*/
- void write(uint16_t* data, size_t size) override;
+ void write16(uint16_t* data, size_t size) override;
/**
* @brief Full duplex transmission of one byte on the bus.
@@ -147,7 +147,7 @@ public:
* @param data Half word to write.
* @return Half word read from the bus.
*/
- uint16_t transfer(uint16_t data) override;
+ uint16_t transfer16(uint16_t data) override;
/**
* @brief Full duplex transmission of multiple bytes on the bus.
@@ -163,7 +163,7 @@ public:
* @param data Buffer containing data to trasfer.
* @param size Size of the buffer.
*/
- void transfer(uint16_t* data, size_t size) override;
+ void transfer16(uint16_t* data, size_t size) override;
private:
SPI spi;
@@ -233,31 +233,34 @@ inline uint16_t SPIBus::read16() { return spi.read16(); }
inline void SPIBus::read(uint8_t* data, size_t size) { spi.read(data, size); }
-inline void SPIBus::read(uint16_t* data, size_t size) { spi.read(data, size); }
+inline void SPIBus::read16(uint16_t* data, size_t size)
+{
+ spi.read16(data, size);
+}
inline void SPIBus::write(uint8_t data) { spi.write(data); }
-inline void SPIBus::write(uint16_t data) { spi.write(data); }
+inline void SPIBus::write16(uint16_t data) { spi.write(data); }
inline void SPIBus::write(uint8_t* data, size_t size) { spi.write(data, size); }
-inline void SPIBus::write(uint16_t* data, size_t size)
+inline void SPIBus::write16(uint16_t* data, size_t size)
{
- spi.write(data, size);
+ spi.write16(data, size);
}
inline uint8_t SPIBus::transfer(uint8_t data) { return spi.transfer(data); }
-inline uint16_t SPIBus::transfer(uint16_t data) { return spi.transfer(data); }
+inline uint16_t SPIBus::transfer16(uint16_t data) { return spi.transfer(data); }
inline void SPIBus::transfer(uint8_t* data, size_t size)
{
spi.transfer(data, size);
}
-inline void SPIBus::transfer(uint16_t* data, size_t size)
+inline void SPIBus::transfer16(uint16_t* data, size_t size)
{
- spi.transfer(data, size);
+ spi.transfer16(data, size);
}
} // namespace Boardcore
diff --git a/src/shared/drivers/spi/SPIBusInterface.h b/src/shared/drivers/spi/SPIBusInterface.h
index 1cbdd05ffe6c9a8ba86b82307fe776f1d079a645..12fde48f221732752690b0b109f40ef55c638b01 100644
--- a/src/shared/drivers/spi/SPIBusInterface.h
+++ b/src/shared/drivers/spi/SPIBusInterface.h
@@ -148,7 +148,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer.
*/
- virtual void read(uint16_t* data, size_t size) = 0;
+ virtual void read16(uint16_t* data, size_t size) = 0;
/**
* @brief Writes a single byte to the bus.
@@ -162,7 +162,7 @@ public:
*
* @param data Half word to write.
*/
- virtual void write(uint16_t data) = 0;
+ virtual void write16(uint16_t data) = 0;
/**
* @brief Writes multiple bytes to the bus.
@@ -178,7 +178,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer.
*/
- virtual void write(uint16_t* data, size_t size) = 0;
+ virtual void write16(uint16_t* data, size_t size) = 0;
/**
* @brief Full duplex transmission of one byte on the bus.
@@ -194,7 +194,7 @@ public:
* @param data Half word to write.
* @return Half word read from the bus.
*/
- virtual uint16_t transfer(uint16_t data) = 0;
+ virtual uint16_t transfer16(uint16_t data) = 0;
/**
* @brief Full duplex transmission of multiple bytes on the bus.
@@ -210,7 +210,7 @@ public:
* @param data Buffer containing data to trasfer.
* @param size Size of the buffer.
*/
- virtual void transfer(uint16_t* data, size_t size) = 0;
+ virtual void transfer16(uint16_t* data, size_t size) = 0;
};
/**
diff --git a/src/shared/drivers/spi/SPIDriver.h b/src/shared/drivers/spi/SPIDriver.h
index 836f9782e42c9fa5b7f5022b5d9dea30d2fba67b..7bdb64ef33a805b2d30628d81103aae1bc1ed63f 100644
--- a/src/shared/drivers/spi/SPIDriver.h
+++ b/src/shared/drivers/spi/SPIDriver.h
@@ -24,5 +24,4 @@
#include "SPIBus.h"
#include "SPIBusInterface.h"
-#include "SPISlaveBus.h"
#include "SPITransaction.h"
diff --git a/src/shared/drivers/spi/SPISignalGenerator.h b/src/shared/drivers/spi/SPISignalGenerator.h
deleted file mode 100644
index e3d7e31ee67838d454cb2aaf2dd09a6cb6361f2f..0000000000000000000000000000000000000000
--- a/src/shared/drivers/spi/SPISignalGenerator.h
+++ /dev/null
@@ -1,273 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include <drivers/timer/GeneralPurposeTimer.h>
-#include <drivers/timer/TimerUtils.h>
-
-#include "SPIBusInterface.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief Generates SPI clock and chip select signal through two timers chained
- * together.
- *
- * To configure which timer to use, change the following parameters:
- * - chainChannel: Specify which channel of the master timer is used to chain
- * the slave timer;
- * - csChannel: Specify which channel of the master timer to use for CS signal
- * generation;
- * - sckChannel: Specify which channel of the slave timer to use for SCK signal
- * generation.
- *
- * The chainChannel and CSChannel should be different. If they are equal the CS
- * signal generated by the master timer will be reversed (high when active).
- *
- * GPIO must be already configured.
- *
- * This driver does not support the complementary timers channels.
- */
-class SPISignalGenerator
-{
-public:
- /**
- * @brief Create a SPISignalGenerator object. This does not configure the
- * timers.
- *
- * @param nBytes Number of bytes for the sck signal.
- * @param transactionFrequency Frequency of the SPI transactions.
- * @param spiFrequency SPI clock signal frequency.
- * @param spiMode SPI mode, this affects the clock polarity and phase.
- * @param chainChannel Master timer channel used to chain the slave timer.
- * @param csChannel Master timer channel used for CS signal generation.
- * @param sckChannel Slave timer channel used for SCK signal generation.
- * @param masterTimer Master timer which generates the CS signal.
- * @param slaveTimer Slave timer which generates the SCK signal.
- * @param slaveTriggerSource Trigger source form the slave timer. This
- * depends on the timers combination.
- */
- SPISignalGenerator(
- size_t nBytes, int transactionFrequency, int spiFrequency = 1e6,
- SPI::Mode spiMode = SPI::Mode::MODE_0,
- TimerUtils::Channel chainChannel = TimerUtils::Channel::CHANNEL_2,
- TimerUtils::Channel csChannel = TimerUtils::Channel::CHANNEL_2,
- TimerUtils::Channel sckChannel = TimerUtils::Channel::CHANNEL_4,
- TIM_TypeDef *masterTimer = TIM1, TIM_TypeDef *slaveTimer = TIM3,
- TimerUtils::TriggerSource slaveTriggerSource =
- TimerUtils::TriggerSource::ITR0);
-
- /**
- * @brief Sets up the two timers.
- */
- void configure();
-
- /**
- * @brief Enables SPI signal generation.
- */
- void enable();
-
- /**
- * @brief Disables SPI signal generation.
- */
- void disable();
-
- /**
- * @brief Generates a single spi transaction with the specified number of
- * bytes.
- *
- * Configures the timers to generate the specified number of bytes, enables
- * master timer one one-pulse mode and enables them. The master timer will
- * be disabled automatically, but the slave timer will not.
- *
- * @param nBytes Size of the transaction in bytes.
- */
- void generateSingleTransaction(size_t nBytes);
-
-private:
- int nBytes; ///< SPI Clock pulses (divided by 8).
- int transactionFrequency; ///< Frequency of the transactions are generated.
- int spiFrequency; ///< SPI Clock frequency.
- SPI::Mode spiMode;
- TimerUtils::Channel chainChannel;
- TimerUtils::Channel csChannel;
- TimerUtils::Channel sckChannel;
- GP16bitTimer masterTimer; ///< Master timer for CS generation.
- GP16bitTimer slaveTimer; ///< Slave timer for SCK generation.
- TimerUtils::TriggerSource slaveTriggerSource;
-};
-
-inline SPISignalGenerator::SPISignalGenerator(
- size_t nBytes, int transactionFrequency, int spiFrequency,
- SPI::Mode spiMode, TimerUtils::Channel chainChannel,
- TimerUtils::Channel csChannel, TimerUtils::Channel sckChannel,
- TIM_TypeDef *masterTimer, TIM_TypeDef *slaveTimer,
- TimerUtils::TriggerSource slaveTriggerSource)
- : nBytes(nBytes), transactionFrequency(transactionFrequency),
- spiFrequency(spiFrequency), spiMode(spiMode), chainChannel(chainChannel),
- csChannel(csChannel), sckChannel(sckChannel), masterTimer(masterTimer),
- slaveTimer(slaveTimer), slaveTriggerSource(slaveTriggerSource)
-{
-}
-
-inline void SPISignalGenerator::configure()
-{
- // Configure master timer
- {
- masterTimer.reset();
-
- // Ensures that the CS output will be high until the timers are enabled
- // masterTimer.setCounter(UINT16_MAX);
-
- // Connect the specified channel to the trigger output
- switch (chainChannel)
- {
- case TimerUtils::Channel::CHANNEL_1:
- masterTimer.setMasterMode(
- TimerUtils::MasterMode::OC1REF_OUTPUT);
- break;
- case TimerUtils::Channel::CHANNEL_2:
- masterTimer.setMasterMode(
- TimerUtils::MasterMode::OC2REF_OUTPUT);
- break;
- case TimerUtils::Channel::CHANNEL_3:
- masterTimer.setMasterMode(
- TimerUtils::MasterMode::OC3REF_OUTPUT);
- break;
- case TimerUtils::Channel::CHANNEL_4:
- masterTimer.setMasterMode(
- TimerUtils::MasterMode::OC4REF_OUTPUT);
- break;
- }
-
- // Set the prescaler and auto realod value
- uint16_t autoReloadRegister = spiFrequency * 4 / transactionFrequency;
- masterTimer.setPrescaler(TimerUtils::computePrescalerValue(
- masterTimer.getTimer(), spiFrequency * 4));
- masterTimer.setAutoReloadRegister(autoReloadRegister);
-
- // Set channels capture/compare register
- uint16_t ccRegister = nBytes * 8 * 4;
- ccRegister = autoReloadRegister - ccRegister + 1;
-
- // Set chain channel
- masterTimer.setCaptureCompareRegister(chainChannel, ccRegister);
- masterTimer.setOutputCompareMode(
- chainChannel, TimerUtils::OutputCompareMode::PWM_MODE_2);
-
- // Set CS channel if different
- if (chainChannel != csChannel)
- {
- masterTimer.setCaptureCompareRegister(csChannel, ccRegister);
- masterTimer.setOutputCompareMode(
- csChannel, TimerUtils::OutputCompareMode::PWM_MODE_1);
-
- // Enable CS capture/compare output
- masterTimer.enableCaptureCompareOutput(csChannel);
- }
- else
- {
- // If chain channel and cs channel are the same, the cs output
- // must be from the complementary output
- masterTimer.setCaptureCompareComplementaryPolarity(
- chainChannel, TimerUtils::OutputComparePolarity::ACTIVE_LOW);
- masterTimer.enableCaptureCompareComplementaryOutput(chainChannel);
- }
-
- // Update the registers
- masterTimer.generateUpdate();
- }
-
- // Configure slave timer
- {
- slaveTimer.reset();
-
- // Set slaveTimer in gated mode
- slaveTimer.setSlaveMode(TimerUtils::SlaveMode::GATED_MODE);
-
- // Set ITR1 as internal trigger source
- slaveTimer.setTriggerSource(slaveTriggerSource);
-
- // Set the prescaler and auto realod value
- slaveTimer.setPrescaler(TimerUtils::computePrescalerValue(
- slaveTimer.getTimer(), spiFrequency * 4));
- slaveTimer.setAutoReloadRegister(1);
-
- // Set SCK capture/compare register
- slaveTimer.setCaptureCompareRegister(sckChannel, 1);
-
- // Set channel 1 to toggle mode
- slaveTimer.setOutputCompareMode(sckChannel,
- TimerUtils::OutputCompareMode::TOGGLE);
- if (spiMode >= SPI::Mode::MODE_2)
- {
- slaveTimer.setCaptureComparePolarity(
- sckChannel, TimerUtils::OutputComparePolarity::ACTIVE_LOW);
- }
-
- // Enable capture/compare output
- slaveTimer.enableCaptureCompareOutput(sckChannel);
-
- // Update the register
- slaveTimer.generateUpdate();
- }
-}
-
-inline void SPISignalGenerator::enable()
-{
- slaveTimer.enable();
- masterTimer.enable();
-}
-
-inline void SPISignalGenerator::disable()
-{
- masterTimer.disable();
- slaveTimer.disable();
-}
-
-inline void SPISignalGenerator::generateSingleTransaction(size_t nBytes)
-{
- // Change the number of bytes to generate
- size_t backupNBytes = this->nBytes;
- this->nBytes = nBytes;
-
- // Change the period to generate a transaction right away
- int backupTransactionFrequency = transactionFrequency;
- transactionFrequency = spiFrequency * 4 / (nBytes * 8 * 4);
-
- // Configure the timers
- configure();
-
- // Enable one pulse mode
- masterTimer.enableOnePulseMode();
-
- // Reset nBytes
- this->nBytes = backupNBytes;
- transactionFrequency = backupTransactionFrequency;
-
- // Start the signal generation
- enable();
-}
-
-} // namespace Boardcore
diff --git a/src/shared/drivers/spi/SPISlaveBus.h b/src/shared/drivers/spi/SPISlaveBus.h
deleted file mode 100644
index fcd274c25937ff768f112e0312176d0d3344024f..0000000000000000000000000000000000000000
--- a/src/shared/drivers/spi/SPISlaveBus.h
+++ /dev/null
@@ -1,271 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#pragma once
-
-#include "SPIBusInterface.h"
-#include "SPISignalGenerator.h"
-
-namespace Boardcore
-{
-
-/**
- * @brief This implementation of SPIBusInterface uses the spi peripheral in
- * slave mode and the spi signal generator to act as an spi master.
- */
-class SPISlaveBus : public SPIBusInterface
-{
-public:
- SPISlaveBus(SPIType* spi, SPISignalGenerator signalGenerator);
-
- ///< Delete copy/move contructors/operators.
- SPISlaveBus(const SPISlaveBus&) = delete;
- SPISlaveBus& operator=(const SPISlaveBus&) = delete;
- SPISlaveBus(SPISlaveBus&&) = delete;
- SPISlaveBus& operator=(SPISlaveBus&&) = delete;
-
- /**
- * @brief Configures and enables the bus with the provided configuration.
- *
- * Since this implementation is not syncronized, if configure() is called on
- * an already in use bus nothing will be done.
- *
- * Use SyncedSPIBus if you need to synchronize access to the bus.
- */
- void configure(SPIBusConfig config) override;
-
- /**
- * @brief See SPIBusInterface::select().
- */
- void select(GpioType& cs) override;
-
- /**
- * @brief See SPIBusInterface::deselect().
- */
- void deselect(GpioType& cs) override;
-
- // Read, write and transfer operations
-
- /**
- * @brief Reads a single byte from the bus.
- *
- * @return Byte read from the bus.
- */
- uint8_t read() override;
-
- /**
- * @brief Reads a single half word from the bus.
- *
- * @return Half word read from the bus.
- */
- uint16_t read16() override;
-
- /**
- * @brief Reads multiple bytes from the bus
- *
- * @param data Buffer to be filled with received data.
- * @param size Size of the buffer in bytes.
- */
- void read(uint8_t* data, size_t size) override;
-
- /**
- * @brief Reads multiple half words from the bus
- *
- * @param data Buffer to be filled with received data.
- * @param size Size of the buffer in bytes.
- */
- void read(uint16_t* data, size_t size) override;
-
- /**
- * @brief Writes a single byte to the bus.
- *
- * @param data Byte to write.
- */
- void write(uint8_t data) override;
-
- /**
- * @brief Writes a single half word to the bus.
- *
- * @param data Half word to write.
- */
- void write(uint16_t data) override;
-
- /**
- * @brief Writes multiple bytes to the bus.
- *
- * @param data Buffer containing data to write.
- * @param size Size of the buffer in bytes.
- */
- void write(uint8_t* data, size_t size) override;
-
- /**
- * @brief Writes multiple half words to the bus.
- *
- * @param data Buffer containing data to write.
- * @param size Size of the buffer in bytes.
- */
- void write(uint16_t* data, size_t size) override;
-
- /**
- * @brief Full duplex transmission of one byte on the bus.
- *
- * @param data Byte to write.
- * @return Byte read from the bus.
- */
- uint8_t transfer(uint8_t data) override;
-
- /**
- * @brief Full duplex transmission of one half word on the bus.
- *
- * @param data Half word to write.
- * @return Half word read from the bus.
- */
- uint16_t transfer(uint16_t data) override;
-
- /**
- * @brief Full duplex transmission of multiple bytes on the bus.
- *
- * @param data Buffer containing data to trasfer.
- * @param size Size of the buffer in bytes.
- */
- void transfer(uint8_t* data, size_t size) override;
-
- /**
- * @brief Full duplex transmission of multiple half words on the bus.
- *
- * @param data Buffer containing data to trasfer.
- * @param size Size of the buffer in bytes.
- */
- void transfer(uint16_t* data, size_t size) override;
-
-private:
- SPI spi;
- SPISignalGenerator signalGenerator;
- SPIBusConfig config{};
-};
-
-inline SPISlaveBus::SPISlaveBus(SPIType* spi,
- SPISignalGenerator signalGenerator)
- : spi(spi), signalGenerator(signalGenerator)
-{
-}
-
-inline void SPISlaveBus::configure(SPIBusConfig newConfig)
-{
- // Save the new configuration
- config = newConfig;
-
- // Wait until the peripheral is done before changing configuration
- spi.waitPeripheral();
-
- // Disable the peripheral
- spi.disable();
-
- // Configure clock polarity and phase
- spi.setMode(config.mode);
-
- // Configure bit order
- spi.setBitOrder(config.bitOrder);
-
- // Enable the peripheral
- spi.enable();
-}
-
-inline void SPISlaveBus::select(GpioType& cs) {}
-
-inline void SPISlaveBus::deselect(GpioType& cs) {}
-
-// Read, write and transfer operations
-
-inline uint8_t SPISlaveBus::read()
-{
- signalGenerator.generateSingleTransaction(1);
- return spi.read();
-}
-
-inline uint16_t SPISlaveBus::read16()
-{
- signalGenerator.generateSingleTransaction(2);
- return spi.read16();
-}
-
-inline void SPISlaveBus::read(uint8_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.read(data, size);
-}
-
-inline void SPISlaveBus::read(uint16_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.read(data, size);
-}
-
-inline void SPISlaveBus::write(uint8_t data)
-{
- signalGenerator.generateSingleTransaction(1);
- spi.write(data);
-}
-
-inline void SPISlaveBus::write(uint16_t data)
-{
- signalGenerator.generateSingleTransaction(2);
- spi.write(data);
-}
-
-inline void SPISlaveBus::write(uint8_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.write(data, size);
-}
-
-inline void SPISlaveBus::write(uint16_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.write(data, size);
-}
-
-inline uint8_t SPISlaveBus::transfer(uint8_t data)
-{
- signalGenerator.generateSingleTransaction(1);
- return spi.transfer(data);
-}
-
-inline uint16_t SPISlaveBus::transfer(uint16_t data)
-{
- signalGenerator.generateSingleTransaction(2);
- return spi.transfer(data);
-}
-
-inline void SPISlaveBus::transfer(uint8_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.transfer(data, size);
-}
-
-inline void SPISlaveBus::transfer(uint16_t* data, size_t size)
-{
- signalGenerator.generateSingleTransaction(size);
- spi.transfer(data, size);
-}
-
-} // namespace Boardcore
diff --git a/src/shared/drivers/spi/SPITransaction.cpp b/src/shared/drivers/spi/SPITransaction.cpp
index faa330d96f5c8e5cc268863a5b72f51f933ffac0..e16ad6326cc661503160e262a5d45e1b38c18828 100644
--- a/src/shared/drivers/spi/SPITransaction.cpp
+++ b/src/shared/drivers/spi/SPITransaction.cpp
@@ -64,10 +64,10 @@ void SPITransaction::read(uint8_t* data, size_t size)
bus.deselect(cs);
}
-void SPITransaction::read(uint16_t* data, size_t size)
+void SPITransaction::read16(uint16_t* data, size_t size)
{
bus.select(cs);
- bus.read(data, size);
+ bus.read16(data, size);
bus.deselect(cs);
}
@@ -78,10 +78,10 @@ void SPITransaction::write(uint8_t data)
bus.deselect(cs);
}
-void SPITransaction::write(uint16_t data)
+void SPITransaction::write16(uint16_t data)
{
bus.select(cs);
- bus.write(data);
+ bus.write16(data);
bus.deselect(cs);
}
@@ -92,10 +92,10 @@ void SPITransaction::write(uint8_t* data, size_t size)
bus.deselect(cs);
}
-void SPITransaction::write(uint16_t* data, size_t size)
+void SPITransaction::write16(uint16_t* data, size_t size)
{
bus.select(cs);
- bus.write(data, size);
+ bus.write16(data, size);
bus.deselect(cs);
}
@@ -107,10 +107,10 @@ uint8_t SPITransaction::transfer(uint8_t data)
return data;
}
-uint16_t SPITransaction::transfer(uint16_t data)
+uint16_t SPITransaction::transfer16(uint16_t data)
{
bus.select(cs);
- data = bus.transfer(data);
+ data = bus.transfer16(data);
bus.deselect(cs);
return data;
}
@@ -122,10 +122,10 @@ void SPITransaction::transfer(uint8_t* data, size_t size)
bus.deselect(cs);
}
-void SPITransaction::transfer(uint16_t* data, size_t size)
+void SPITransaction::transfer16(uint16_t* data, size_t size)
{
bus.select(cs);
- bus.transfer(data, size);
+ bus.transfer16(data, size);
bus.deselect(cs);
}
diff --git a/src/shared/drivers/spi/SPITransaction.h b/src/shared/drivers/spi/SPITransaction.h
index 6c98cafbe1b4ba524f8ade19e399acb4c2b61b47..abd9ac33e6a341ea736219bdfe4b2436602a22eb 100644
--- a/src/shared/drivers/spi/SPITransaction.h
+++ b/src/shared/drivers/spi/SPITransaction.h
@@ -126,7 +126,7 @@ public:
* @param data Buffer to be filled with received data.
* @param size Size of the buffer in bytes.
*/
- void read(uint16_t *data, size_t size);
+ void read16(uint16_t *data, size_t size);
/**
* @brief Writes a single byte to the bus.
@@ -140,7 +140,7 @@ public:
*
* @param data Half word to write.
*/
- void write(uint16_t data);
+ void write16(uint16_t data);
/**
* @brief Writes multiple bytes to the bus.
@@ -156,7 +156,7 @@ public:
* @param data Buffer containing data to write.
* @param size Size of the buffer in bytes.
*/
- void write(uint16_t *data, size_t size);
+ void write16(uint16_t *data, size_t size);
/**
* @brief Full duplex transmission of one byte on the bus.
@@ -172,7 +172,7 @@ public:
* @param data Half word to write.
* @return Half word read from the bus.
*/
- uint16_t transfer(uint16_t data);
+ uint16_t transfer16(uint16_t data);
/**
* @brief Full duplex transmission of multiple bytes on the bus.
@@ -188,7 +188,7 @@ public:
* @param data Buffer containing data to trasfer.
* @param size Size of the buffer in bytes.
*/
- void transfer(uint16_t *data, size_t size);
+ void transfer16(uint16_t *data, size_t size);
// Read, write and transfer operations with registers
diff --git a/src/shared/sensors/MAX31855/MAX31855.cpp b/src/shared/sensors/MAX31855/MAX31855.cpp
index ee52dd7ab70af2d83e150a60b8b322e490ba1fcd..c55d0806597b7967bb2140e9768c32094f8a217e 100644
--- a/src/shared/sensors/MAX31855/MAX31855.cpp
+++ b/src/shared/sensors/MAX31855/MAX31855.cpp
@@ -51,7 +51,7 @@ bool MAX31855::checkConnection()
{
SPITransaction spi{slave};
- spi.read(sample, sizeof(sample));
+ spi.read16(sample, sizeof(sample));
}
// Bits D0, D1 and D2 go high if thermocouple is open or shorted either to
@@ -90,7 +90,7 @@ TemperatureData MAX31855::readInternalTemperature()
{
SPITransaction spi{slave};
- spi.read(sample, sizeof(sample));
+ spi.read16(sample, sizeof(sample));
}
TemperatureData result{};
diff --git a/src/tests/drivers/spi/test-spi-as-slave.cpp b/src/tests/drivers/spi/test-spi-as-slave.cpp
deleted file mode 100644
index 525f9e5d8b224e0715d3a9ac33a5e5303288a4d9..0000000000000000000000000000000000000000
--- a/src/tests/drivers/spi/test-spi-as-slave.cpp
+++ /dev/null
@@ -1,64 +0,0 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <drivers/spi/SPI.h>
-#include <miosix.h>
-
-using namespace miosix;
-using namespace Boardcore;
-
-GpioPin sckPin = GpioPin(GPIOE_BASE, 4);
-GpioPin misoPin = GpioPin(GPIOE_BASE, 2);
-GpioPin mosiPin = GpioPin(GPIOE_BASE, 5);
-GpioPin csPin = GpioPin(GPIOE_BASE, 6);
-
-uint16_t counter = 0;
-
-int main()
-{
- // Setup gpio pins
- csPin.mode(Mode::ALTERNATE);
- csPin.alternateFunction(5);
- sckPin.mode(Mode::ALTERNATE);
- sckPin.alternateFunction(5);
- misoPin.mode(Mode::ALTERNATE);
- misoPin.alternateFunction(5);
- mosiPin.mode(Mode::ALTERNATE);
- mosiPin.alternateFunction(5);
-
- // Setup spi as a slave
- SPI spi(SPI4);
- spi.reset();
- spi.enable();
- spi.set16BitFrameFormat();
-
- printf("Slave started\n");
-
- while (true)
- {
- spi.getSpi()->DR = counter;
- counter++;
- // Wait until Tx buffer is empty and until the peripheral is still busy
- while ((spi.getSpi()->SR & SPI_SR_TXE) == 0)
- ;
- }
-}
diff --git a/src/tests/drivers/spi/test-spi-signal-generator.cpp b/src/tests/drivers/spi/test-spi-signal-generator.cpp
deleted file mode 100644
index c89af2e3d71e770e76fe8ab762fb570b5ac02b15..0000000000000000000000000000000000000000
--- a/src/tests/drivers/spi/test-spi-signal-generator.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-/* Copyright (c) 2021 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <drivers/spi/SPISignalGenerator.h>
-#include <miosix.h>
-
-using namespace miosix;
-using namespace Boardcore;
-using namespace TimerUtils;
-
-/**
- * Pin list:
- * PB4 - TIM3_CH1 - CS signal
- * PE5 - TIM9_CH1 - SCK signal
- *
- * We'll use two timers to generate clock and chip select signals for the SPI
- * peripheral.
- */
-
-GpioPin csPin = GpioPin(GPIOA_BASE, 11);
-GpioPin sckPin = GpioPin(GPIOB_BASE, 1);
-
-void setupGPIOs();
-
-int main()
-{
- setupGPIOs();
-
- SPISignalGenerator spiSignalGenerator{2,
- 1000,
- 1000000,
- SPI::Mode::MODE_0,
- TimerUtils::Channel::CHANNEL_1,
- TimerUtils::Channel::CHANNEL_4,
- TimerUtils::Channel::CHANNEL_4};
- spiSignalGenerator.configure();
-
- Thread::sleep(1000);
-
- spiSignalGenerator.generateSingleTransaction(8);
-
- Thread::sleep(1000);
- spiSignalGenerator.configure();
- spiSignalGenerator.enable();
-
- Thread::sleep(5 * 1000);
-
- spiSignalGenerator.disable();
-
- while (true)
- Thread::sleep(10000);
-}
-
-void setupGPIOs()
-{
- csPin.mode(Mode::ALTERNATE);
- csPin.alternateFunction(1);
-
- sckPin.mode(Mode::ALTERNATE);
- sckPin.alternateFunction(2);
-}
diff --git a/src/tests/drivers/spi/test-spi-slave-bus.cpp b/src/tests/drivers/spi/test-spi-slave-bus.cpp
deleted file mode 100644
index e75d047e0bc822ed4f85ce886b93aff540915bf8..0000000000000000000000000000000000000000
--- a/src/tests/drivers/spi/test-spi-slave-bus.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-/* Copyright (c) 2020 Skyward Experimental Rocketry
- * Author: Alberto Nidasio
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
-
-#include <drivers/spi/SPIDriver.h>
-#include <miosix.h>
-
-using namespace miosix;
-using namespace Boardcore;
-
-GpioPin sckPin = GpioPin(GPIOE_BASE, 4);
-GpioPin misoPin = GpioPin(GPIOE_BASE, 2);
-GpioPin mosiPin = GpioPin(GPIOE_BASE, 5);
-GpioPin csPin = GpioPin(GPIOE_BASE, 6);
-
-GpioPin timerCsPin = GpioPin(GPIOA_BASE, 11);
-GpioPin timerSckPin = GpioPin(GPIOB_BASE, 1);
-
-int main()
-{
- // Setup gpio pins
- csPin.mode(Mode::ALTERNATE);
- csPin.alternateFunction(5);
- sckPin.mode(Mode::ALTERNATE);
- sckPin.alternateFunction(5);
- misoPin.mode(Mode::ALTERNATE);
- misoPin.alternateFunction(5);
- mosiPin.mode(Mode::ALTERNATE);
- mosiPin.alternateFunction(5);
-
- timerCsPin.mode(Mode::ALTERNATE);
- timerCsPin.alternateFunction(1);
- timerSckPin.mode(Mode::ALTERNATE);
- timerSckPin.alternateFunction(2);
-
- // Setup spi as a slave
- SPISignalGenerator spiSignalGenerator{2,
- 100,
- 1000000,
- SPI::Mode::MODE_0,
- TimerUtils::Channel::CHANNEL_1,
- TimerUtils::Channel::CHANNEL_4,
- TimerUtils::Channel::CHANNEL_4};
- SPISlaveBus bus(SPI4, spiSignalGenerator);
- SPISlave spiSlave(bus, csPin, {});
- spiSlave.config.clockDivider = SPI::ClockDivider::DIV_64;
-
- SPITransaction transaction(spiSlave);
-
- uint8_t buffer8[6];
- uint16_t buffer16[6];
-
- transaction.read();
- delayMs(1);
- transaction.read16();
- delayMs(1);
- transaction.read(buffer8, sizeof(buffer8));
- delayMs(1);
- transaction.read(buffer16, sizeof(buffer16));
- delayMs(1);
- transaction.write((uint8_t)0xAB);
- delayMs(1);
- transaction.write((uint16_t)0xABCD);
- delayMs(1);
- buffer8[0] = 0x01;
- buffer8[1] = 0x23;
- buffer8[2] = 0x45;
- buffer8[3] = 0x67;
- buffer8[4] = 0x89;
- buffer8[5] = 0xAB;
- transaction.write(buffer8, sizeof(buffer8));
- delayMs(1);
- buffer16[0] = 0x0101;
- buffer16[1] = 0x2323;
- buffer16[2] = 0x4545;
- buffer16[3] = 0x6767;
- buffer16[4] = 0x8989;
- buffer16[5] = 0xABAB;
- transaction.write(buffer16, sizeof(buffer16));
- delayMs(1);
- transaction.transfer((uint8_t)0xAB);
- delayMs(1);
- transaction.transfer((uint16_t)0xABCD);
- delayMs(1);
- transaction.transfer(buffer8, sizeof(buffer8));
- delayMs(1);
- transaction.transfer(buffer16, sizeof(buffer16));
-
- while (true)
- delayMs(1000);
-}
diff --git a/src/tests/drivers/spi/test-spi.cpp b/src/tests/drivers/spi/test-spi.cpp
index 0d52bd427c89ccf84f257d137d3eda5cb90e0159..813cc1a1fd3d29c68f7cf0f0872ae1f80baea04f 100644
--- a/src/tests/drivers/spi/test-spi.cpp
+++ b/src/tests/drivers/spi/test-spi.cpp
@@ -62,11 +62,11 @@ int main()
delayMs(1);
transaction.read(buffer8, 6);
delayMs(1);
- transaction.read(buffer16, 6);
+ transaction.read16(buffer16, 6);
delayMs(1);
transaction.write((uint8_t)0xAB);
delayMs(1);
- transaction.write((uint16_t)0xABCD);
+ transaction.write16((uint16_t)0xABCD);
delayMs(1);
buffer8[0] = 0x01;
buffer8[1] = 0x23;
@@ -82,15 +82,15 @@ int main()
buffer16[3] = 0x6767;
buffer16[4] = 0x8989;
buffer16[5] = 0xABAB;
- transaction.write(buffer16, 6);
+ transaction.write16(buffer16, 6);
delayMs(1);
transaction.transfer((uint8_t)0xAB);
delayMs(1);
- transaction.transfer((uint16_t)0xABCD);
+ transaction.transfer16((uint16_t)0xABCD);
delayMs(1);
transaction.transfer(buffer8, 6);
delayMs(1);
- transaction.transfer(buffer16, 6);
+ transaction.transfer16(buffer16, 6);
while (true)
delayMs(1000);