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  • avn/swd/skyward-boardcore
  • emilio.corigliano/skyward-boardcore
  • ettore.pane/skyward-boardcore
  • giulia.facchi/skyward-boardcore
  • valerio.flamminii/skyward-boardcore
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scripts/linter.py
View file @ ae510fee
......@@ -259,7 +259,6 @@ def check_find(directory):
sum = find_in_code(directory, r'^using namespace', '.h')
sum += find_in_code(directory,
r'[^a-zA-Z0-9]printf\(', pathFilter='shared')
sum += find_in_code(directory, r'( |^)assert\(')
sum += find_in_code(directory, '^ *throw ', pathFilter='catch')
if sum > 0:
......
src/shared/drivers/i2c/I2C.cpp
View file @ ae510fee
......@@ -32,39 +32,163 @@ I2C::I2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
}
bool I2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
const size_t &nBytes)
const size_t nBytes)
{
i2c.flushBus();
return i2c.read(slaveConfig, buffer, nBytes);
}
bool I2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
const void *buffer, const size_t &nBytes)
const void *buffer, const size_t nBytes)
{
i2c.flushBus();
return i2c.write(slaveConfig, buffer, nBytes);
}
bool I2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, uint8_t &registerContent)
const uint8_t registerAddress, uint8_t &registerContent)
{
i2c.flushBus();
return i2c.write(slaveConfig, &registerAddress, 1, false) &&
i2c.read(slaveConfig, &registerContent, 1);
}
bool I2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint16_t &registerContent)
{
i2c.flushBus();
uint8_t buf[2] = {0};
if (i2c.write(slaveConfig, &registerAddress, 1, false) &&
i2c.read(slaveConfig, buf, 2))
{
registerContent =
(slaveConfig.MSBFirst ? ((uint16_t)buf[0]) << 8 | buf[1]
: ((uint16_t)buf[1]) << 8 | buf[0]);
return true;
}
return false;
}
bool I2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint32_t &registerContent)
{
i2c.flushBus();
uint8_t buf[3] = {0};
if (i2c.write(slaveConfig, &registerAddress, 1, false) &&
i2c.read(slaveConfig, buf, 3))
{
registerContent =
(slaveConfig.MSBFirst
? ((uint32_t)buf[0]) << 16 | ((uint32_t)buf[1] << 8) | buf[2]
: ((uint32_t)buf[2]) << 16 | ((uint32_t)buf[1] << 8) | buf[0]);
return true;
}
return false;
}
bool I2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint32_t &registerContent)
{
i2c.flushBus();
uint8_t buf[4] = {0};
if (i2c.write(slaveConfig, &registerAddress, 1, false) &&
i2c.read(slaveConfig, buf, 4))
{
registerContent =
(slaveConfig.MSBFirst
? ((uint32_t)buf[0]) << 24 | ((uint32_t)buf[1] << 16) |
((uint32_t)buf[2] << 8) | buf[3]
: ((uint32_t)buf[3]) << 24 | ((uint32_t)buf[2] << 16) |
((uint32_t)buf[1] << 8) | buf[0]);
return true;
}
return false;
}
bool I2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress,
const uint8_t &registerContent)
const uint8_t registerAddress,
const uint8_t registerContent)
{
const uint8_t reg[2] = {registerAddress, registerContent};
i2c.flushBus();
return i2c.write(slaveConfig, reg, 2);
}
bool I2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint16_t registerContent)
{
i2c.flushBus();
if (slaveConfig.MSBFirst)
{
const uint8_t reg[3] = {registerAddress, // subAddr
(uint8_t)(registerContent >> 8), // MSB
(uint8_t)(registerContent)}; // LSB
return i2c.write(slaveConfig, reg, 3);
}
else
{
const uint8_t reg[3] = {registerAddress, // subAddr
(uint8_t)(registerContent), // LSB
(uint8_t)(registerContent >> 8)}; // MSB
return i2c.write(slaveConfig, reg, 3);
}
}
bool I2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
i2c.flushBus();
if (slaveConfig.MSBFirst)
{
const uint8_t reg[4] = {registerAddress, // subAddr
(uint8_t)(registerContent >> 16), // MSB
(uint8_t)(registerContent >> 8), //
(uint8_t)registerContent}; // LSB
return i2c.write(slaveConfig, reg, 4);
}
else
{
const uint8_t reg[4] = {registerAddress, // subAddr
(uint8_t)(registerContent), // LSB
(uint8_t)(registerContent >> 8), //
(uint8_t)(registerContent >> 16)}; // MSB
return i2c.write(slaveConfig, reg, 4);
}
}
bool I2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
i2c.flushBus();
if (slaveConfig.MSBFirst)
{
const uint8_t reg[5] = {registerAddress, // subAddr
(uint8_t)(registerContent >> 24), // MSB
(uint8_t)(registerContent >> 16), //
(uint8_t)(registerContent >> 8), //
(uint8_t)registerContent}; // LSB
return i2c.write(slaveConfig, reg, 5);
}
else
{
const uint8_t reg[5] = {registerAddress, // subAddr
(uint8_t)(registerContent), // LSB
(uint8_t)(registerContent >> 8), //
(uint8_t)(registerContent >> 16), //
(uint8_t)(registerContent >> 24)}; // MSB
return i2c.write(slaveConfig, reg, 5);
}
}
bool I2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, void *buffer,
const size_t &nBytes)
const uint8_t registerAddress, void *buffer,
const size_t nBytes)
{
i2c.flushBus();
return i2c.write(slaveConfig, &registerAddress, 1, false) &&
......@@ -86,38 +210,86 @@ SyncedI2C::SyncedI2C(I2C_TypeDef *i2c, const miosix::GpioPin &scl,
}
bool SyncedI2C::read(const I2CDriver::I2CSlaveConfig &slaveConfig, void *buffer,
const size_t &nBytes)
const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::read(slaveConfig, buffer, nBytes);
}
bool SyncedI2C::write(const I2CDriver::I2CSlaveConfig &slaveConfig,
const void *buffer, const size_t &nBytes)
const void *buffer, const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::write(slaveConfig, buffer, nBytes);
}
bool SyncedI2C::readRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress,
const uint8_t registerAddress,
uint8_t &registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::readRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint16_t &registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister16(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::readRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint32_t &registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister24(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::readRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
uint32_t &registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readRegister32(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::writeRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress,
const uint8_t &registerContent)
const uint8_t registerAddress,
const uint8_t registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::writeRegister(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::writeRegister16(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint16_t registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::writeRegister16(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::writeRegister24(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::writeRegister24(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::writeRegister32(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress,
const uint32_t registerContent)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::writeRegister32(slaveConfig, registerAddress, registerContent);
}
bool SyncedI2C::readFromRegister(const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, void *buffer,
const size_t &nBytes)
const uint8_t registerAddress, void *buffer,
const size_t nBytes)
{
miosix::Lock<miosix::FastMutex> lock(mutex);
return I2C::readFromRegister(slaveConfig, registerAddress, buffer, nBytes);
......
src/shared/drivers/i2c/I2C.h
View file @ ae510fee
......@@ -71,7 +71,7 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
void *buffer, const size_t &nBytes);
void *buffer, const size_t nBytes);
/**
* @brief Non blocking write operation to write nBytes.
......@@ -86,10 +86,10 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
const void *buffer, const size_t &nBytes);
const void *buffer, const size_t nBytes);
/**
* @brief Non blocking operation to read a 1-byte register from a slave.
* @brief Non blocking operation to read an 8-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
......@@ -102,10 +102,58 @@ public:
*/
[[nodiscard]] bool readRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, uint8_t &registerContent);
const uint8_t registerAddress, uint8_t &registerContent);
/**
* @brief Non blocking operation to write a 1-byte register from a slave.
* @brief Non blocking operation to read a 16-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister16(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint16_t &registerContent);
/**
* @brief Non blocking operation to read a 24-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister24(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint32_t &registerContent);
/**
* @brief Non blocking operation to read a 32-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister32(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint32_t &registerContent);
/**
* @brief Non blocking operation to write an 8-bit register from a slave.
*
* This method, if necessary, flushes the bus before the write operation is
* performed. In case of an error during the communication, this method
......@@ -118,7 +166,55 @@ public:
*/
[[nodiscard]] bool writeRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, const uint8_t &registerContent);
const uint8_t registerAddress, const uint8_t registerContent);
/**
* @brief Non blocking operation to write a 16-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister16(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint16_t registerContent);
/**
* @brief Non blocking operation to write a 24-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister24(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Non blocking operation to write a 32-bit register from a slave.
*
* This method, if necessary, flushes the bus before the read operation is
* performed. In case of an error during the communication, this method
* returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister32(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Non blocking operation to read n-bytes from register from a slave.
......@@ -135,7 +231,7 @@ public:
*/
[[nodiscard]] bool readFromRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, void *buffer, const size_t &nBytes);
const uint8_t registerAddress, void *buffer, const size_t nBytes);
/**
* @brief Non blocking operation to check if a slave is available.
......@@ -200,7 +296,7 @@ public:
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool read(const I2CDriver::I2CSlaveConfig &slaveConfig,
void *buffer, const size_t &nBytes);
void *buffer, const size_t nBytes);
/**
* @brief Write operation to write nBytes.
......@@ -215,10 +311,10 @@ public:
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool write(const I2CDriver::I2CSlaveConfig &slaveConfig,
const void *buffer, const size_t &nBytes);
const void *buffer, const size_t nBytes);
/**
* @brief Read a one-byte register from the device.
* @brief Read an 8-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
......@@ -231,10 +327,58 @@ public:
*/
[[nodiscard]] bool readRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, uint8_t &registerContent);
const uint8_t registerAddress, uint8_t &registerContent);
/**
* @brief Write a one-byte register from the device.
* @brief Read a 16-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister16(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint16_t &registerContent);
/**
* @brief Read a 24-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister24(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint32_t &registerContent);
/**
* @brief Read a 32-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent Where to store the content of the register.
* @returns True if the read is successful, false otherwise.
*/
[[nodiscard]] bool readRegister32(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, uint32_t &registerContent);
/**
* @brief Write an 8-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
......@@ -247,7 +391,55 @@ public:
*/
[[nodiscard]] bool writeRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, const uint8_t &registerContent);
const uint8_t registerAddress, const uint8_t registerContent);
/**
* @brief Write a 16-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister16(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint16_t registerContent);
/**
* @brief Write a 24-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister24(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Write a 32-bit register from the device.
*
* This method could have to wait that no other thread is trying to do some
* operation on the bus. In case of an error during the communication, this
* method returns false immediately.
* @warning Check always if the operation succeeded or not!
* @param slaveConfig The configuration struct of the slave device.
* @param registerAddress Byte that represents the address of the register.
* @param registerContent The content to write on the register.
* @returns True if the write is successful, false otherwise.
*/
[[nodiscard]] bool writeRegister32(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t registerAddress, const uint32_t registerContent);
/**
* @brief Read n-bytes from register from a slave.
......@@ -264,7 +456,7 @@ public:
*/
[[nodiscard]] bool readFromRegister(
const I2CDriver::I2CSlaveConfig &slaveConfig,
const uint8_t &registerAddress, void *buffer, const size_t &nBytes);
const uint8_t registerAddress, void *buffer, const size_t nBytes);
/**
* @brief Check if a slave is available.
......
src/shared/drivers/i2c/I2CDriver.h
View file @ ae510fee
......@@ -108,6 +108,8 @@ public:
///< addressing |6-bit unused|10-bit address|).
I2CDriver::Addressing addressing; ///< Addressing mode of the device.
I2CDriver::Speed speed; ///< Speed mode of the communication.
bool MSBFirst; ///< Registers with lower values are the MSB of
///< multi-byte registers
} I2CSlaveConfig;
/**
......
src/shared/drivers/spi/SPIBus.h
View file @ ae510fee
......@@ -22,6 +22,7 @@
#pragma once
#include <assert.h>
#include <interfaces/delays.h>
#include <utils/ClockUtils.h>
......@@ -489,6 +490,9 @@ inline void SPIBus::read(uint8_t* data, size_t nBytes)
inline void SPIBus::read16(uint16_t* data, size_t nBytes)
{
// At the start of the transfer we assume that the RX FIFO is empty
assert((spi->SR & SPI_SR_RXNE) == 0);
// Set 16 bit frame format
set16BitFrameFormat();
......@@ -529,6 +533,9 @@ inline void SPIBus::write(const uint8_t* data, size_t nBytes)
inline void SPIBus::write16(const uint16_t* data, size_t nBytes)
{
// At the start of the transfer we assume that the RX FIFO is empty
assert((spi->SR & SPI_SR_RXNE) == 0);
// Set 16 bit frame format
set16BitFrameFormat();
......@@ -555,12 +562,15 @@ inline void SPIBus::write16(const uint16_t* data, size_t nBytes)
inline uint8_t SPIBus::transfer(uint8_t data)
{
// At the start of the transfer we assume that the RX FIFO is empty
assert((spi->SR & SPI_SR_RXNE) == 0);
// Wait until the peripheral is ready to transmit
while ((spi->SR & SPI_SR_TXE) == 0)
;
// Write the data item to transmit
spi->DR = static_cast<uint8_t>(data);
*(volatile uint8_t*)&spi->DR = static_cast<uint8_t>(data);
// Wait until data is received
while ((spi->SR & SPI_SR_RXNE) == 0)
......@@ -572,6 +582,9 @@ inline uint8_t SPIBus::transfer(uint8_t data)
inline uint16_t SPIBus::transfer16(uint16_t data)
{
// At the start of the transfer we assume that the RX FIFO is empty
assert((spi->SR & SPI_SR_RXNE) == 0);
// Set 16 bit frame format
set16BitFrameFormat();
......@@ -586,11 +599,13 @@ inline uint16_t SPIBus::transfer16(uint16_t data)
while ((spi->SR & SPI_SR_RXNE) == 0)
;
// Read the received data item
data = static_cast<uint16_t>(spi->DR);
// Go back to 8 bit frame format
set8BitFrameFormat();
// Read the received data item
return static_cast<uint16_t>(spi->DR);
return data;
}
inline uint32_t SPIBus::transfer24(uint32_t data)
......@@ -617,6 +632,9 @@ inline void SPIBus::transfer(uint8_t* data, size_t nBytes)
inline void SPIBus::transfer16(uint16_t* data, size_t nBytes)
{
// At the start of the transfer we assume that the RX FIFO is empty
assert((spi->SR & SPI_SR_RXNE) == 0);
// Set 16 bit frame format
set16BitFrameFormat();
......