MRobot/assets/User_code/bsp/spi.c

/* Includes ----------------------------------------------------------------- */
#include "bsp\spi.h"

/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private typedef ---------------------------------------------------------- */
/* Private variables -------------------------------------------------------- */
static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);

/* Private function  -------------------------------------------------------- */
static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) {
/* AUTO GENERATED SPI_GET */
  else
    return BSP_SPI_ERR;
}

void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]) {
      SPI_Callback[bsp_spi][BSP_SPI_TX_CPLT_CB]();
    }
  }
}

void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_CPLT_CB]();
  }
}

void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_CPLT_CB]();
  }
}

void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_HALF_CPLT_CB]();
  }
}

void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_RX_HALF_CPLT_CB]();
  }
}

void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_TX_RX_HALF_CPLT_CB]();
  }
}

void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_ERROR_CB]();
  }
}

void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) {
  BSP_SPI_t bsp_spi = SPI_Get(hspi);
  if (bsp_spi != BSP_SPI_ERR) {
    if (SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB])
      SPI_Callback[SPI_Get(hspi)][BSP_SPI_ABORT_CPLT_CB]();
  }
}

/* Exported functions ------------------------------------------------------- */
SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
  switch (spi) {
/* AUTO GENERATED BSP_SPI_GET_HANDLE */
    default:
      return NULL;
  }
}

int8_t BSP_SPI_RegisterCallback(BSP_SPI_t spi, BSP_SPI_Callback_t type,
                                void (*callback)(void)) {
  if (callback == NULL) return BSP_ERR_NULL;
  SPI_Callback[spi][type] = callback;
  return BSP_OK;
}

int8_t BSP_SPI_Transmit(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL) return BSP_ERR;

  if (dma) {
    return HAL_SPI_Transmit_DMA(hspi, data, size);
  } else {
    return HAL_SPI_Transmit_IT(hspi, data, size);
  }
}

int8_t BSP_SPI_Receive(BSP_SPI_t spi, uint8_t *data, uint16_t size, bool dma) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL) return BSP_ERR;

  if (dma) {
    return HAL_SPI_Receive_DMA(hspi, data, size);
  } else {
    return HAL_SPI_Receive_IT(hspi, data, size);
  }
}

int8_t BSP_SPI_TransmitReceive(BSP_SPI_t spi, uint8_t *txData, uint8_t *rxData,
                               uint16_t size, bool dma) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL) return BSP_ERR;
  
  if (dma) {
    return HAL_SPI_TransmitReceive_DMA(hspi, txData, rxData, size);
  } else {
    return HAL_SPI_TransmitReceive_IT(hspi, txData, rxData, size);
  }
}

uint8_t BSP_SPI_MemReadByte(BSP_SPI_t spi, uint8_t reg) {
  if (spi >= BSP_SPI_NUM) return 0xFF;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL) return 0xFF;

  uint8_t data = 0;
  HAL_SPI_Mem_Read(hspi, reg, &data, sizeof(data));
  return data;
}

int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL) return BSP_ERR;

  return HAL_SPI_Mem_Write(hspi, reg, &data, sizeof(data));
}

int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL || data == NULL || size == 0) return BSP_ERR_NULL;

  return HAL_SPI_Mem_Read(hspi, reg, data, size);
}

int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size) {
  if (spi >= BSP_SPI_NUM) return BSP_ERR;
  SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(spi);
  if (hspi == NULL || data == NULL || size == 0) return BSP_ERR_NULL;

  return HAL_SPI_Mem_Write(hspi, reg, data, size);
}