Delete dubious SPI timeout mechanism
The result from this mechanism is never checked, and SPI is not a bus prone to timeouts anyway (the master generates the clock and the transmission happens in a deterministic amount of time no matter if the slave is cooperative, absent, or uncooperative.) The timeout counter was set *per transfer*, and is fixed no matter what the SPI clock speed. If the transfer size is large, and the SPI clock is slow, stalls on the SPI bus are unavoidable (as we can generate data faster than SPI can transmit it). These accumulate over the length of a long transfer and trigger a "timeout". Detecting these as fatal timeouts is not helpful.
This commit is contained in:
Nicholas Sherlock
borisbstyle
parent
264c094eef
commit
3941c6c252
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@ -126,8 +126,6 @@ void mpu6000SpiGyroInit(uint8_t lpf)
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mpu6000AccAndGyroInit();
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mpuIntExtiInit();
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spiResetErrorCounter(MPU6000_SPI_INSTANCE);
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spiSetDivisor(MPU6000_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
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@ -139,8 +137,7 @@ void mpu6000SpiGyroInit(uint8_t lpf)
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int16_t data[3];
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mpuGyroRead(data);
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if ((((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) || spiGetErrorCounter(MPU6000_SPI_INSTANCE) != 0) {
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spiResetErrorCounter(MPU6000_SPI_INSTANCE);
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if (((int8_t)data[1]) == -1 && ((int8_t)data[0]) == -1) {
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failureMode(FAILURE_GYRO_INIT_FAILED);
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}
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}
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@ -26,21 +26,13 @@
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#include "bus_spi.h"
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static volatile uint16_t spi1ErrorCount = 0;
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static volatile uint16_t spi2ErrorCount = 0;
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#ifdef STM32F303xC
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static volatile uint16_t spi3ErrorCount = 0;
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#endif
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#ifdef USE_SPI_DEVICE_1
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#ifndef SPI1_GPIO
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#define SPI1_NSS_GPIO GPIOA
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#define SPI1_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
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#define SPI1_NSS_PIN GPIO_Pin_4
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#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
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#define SPI1_GPIO GPIOA
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#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOA
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#define SPI1_NSS_PIN GPIO_Pin_4
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#define SPI1_NSS_PIN_SOURCE GPIO_PinSource4
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#define SPI1_SCK_PIN GPIO_Pin_5
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#define SPI1_SCK_PIN_SOURCE GPIO_PinSource5
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#define SPI1_MISO_PIN GPIO_Pin_6
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@ -73,10 +65,7 @@ void initSpi1(void)
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GPIO_PinAFConfig(SPI1_GPIO, SPI1_SCK_PIN_SOURCE, GPIO_AF_5);
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GPIO_PinAFConfig(SPI1_GPIO, SPI1_MISO_PIN_SOURCE, GPIO_AF_5);
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GPIO_PinAFConfig(SPI1_GPIO, SPI1_MOSI_PIN_SOURCE, GPIO_AF_5);
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#ifdef SPI1_NSS_PIN_SOURCE
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RCC_AHBPeriphClockCmd(SPI1_NSS_PERIPHERAL, ENABLE);
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GPIO_PinAFConfig(SPI1_GPIO, SPI1_NSS_PIN_SOURCE, GPIO_AF_5);
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#endif
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// Init pins
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@ -94,7 +83,7 @@ void initSpi1(void)
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(SPI1_NSS_GPIO, &GPIO_InitStructure);
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GPIO_Init(SPI1_GPIO, &GPIO_InitStructure);
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#endif
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#endif
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@ -105,20 +94,20 @@ void initSpi1(void)
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gpio.mode = Mode_AF_PP;
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gpio.pin = SPI1_MOSI_PIN | SPI1_SCK_PIN;
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gpio.speed = Speed_50MHz;
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gpioInit(SPI1_GPIO, &gpio);
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gpioInit(GPIOA, &gpio);
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// MISO as input
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gpio.pin = SPI1_MISO_PIN;
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gpio.mode = Mode_IN_FLOATING;
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gpioInit(SPI1_GPIO, &gpio);
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gpioInit(GPIOA, &gpio);
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#ifdef SPI1_NSS_PIN
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// NSS as gpio slave select
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gpio.pin = SPI1_NSS_PIN;
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gpio.mode = Mode_Out_PP;
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gpioInit(SPI1_NSS_GPIO, &gpio);
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gpioInit(GPIOA, &gpio);
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#endif
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#endif
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// Init SPI1 hardware
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// Init SPI hardware
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SPI_I2S_DeInit(SPI1);
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spi.SPI_Mode = SPI_Mode_Master;
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@ -138,23 +127,16 @@ void initSpi1(void)
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SPI_Init(SPI1, &spi);
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SPI_Cmd(SPI1, ENABLE);
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#ifdef SPI1_NSS_PIN
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// Drive NSS high to disable connected SPI device.
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GPIO_SetBits(SPI1_NSS_GPIO, SPI1_NSS_PIN);
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#endif
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}
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#endif
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#ifdef USE_SPI_DEVICE_2
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#ifndef SPI2_GPIO
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#define SPI2_NSS_GPIO GPIOB
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#define SPI2_NSS_PERIPHERAL RCC_AHBPeriph_GPIOB
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#define SPI2_NSS_PIN GPIO_Pin_12
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#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
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#define SPI2_GPIO GPIOB
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#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
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#define SPI2_NSS_PIN GPIO_Pin_12
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#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
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#define SPI2_SCK_PIN GPIO_Pin_13
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#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
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#define SPI2_MISO_PIN GPIO_Pin_14
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@ -187,10 +169,7 @@ void initSpi2(void)
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GPIO_PinAFConfig(SPI2_GPIO, SPI2_SCK_PIN_SOURCE, GPIO_AF_5);
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GPIO_PinAFConfig(SPI2_GPIO, SPI2_MISO_PIN_SOURCE, GPIO_AF_5);
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GPIO_PinAFConfig(SPI2_GPIO, SPI2_MOSI_PIN_SOURCE, GPIO_AF_5);
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#ifdef SPI2_NSS_PIN_SOURCE
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RCC_AHBPeriphClockCmd(SPI2_NSS_PERIPHERAL, ENABLE);
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GPIO_PinAFConfig(SPI2_GPIO, SPI2_NSS_PIN_SOURCE, GPIO_AF_5);
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#endif
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@ -208,13 +187,14 @@ void initSpi2(void)
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(SPI2_NSS_GPIO, &GPIO_InitStructure);
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GPIO_Init(SPI2_GPIO, &GPIO_InitStructure);
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#endif
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#endif
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#ifdef STM32F10X
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gpio_config_t gpio;
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// MOSI + SCK as output
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gpio.mode = Mode_AF_PP;
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gpio.pin = SPI2_SCK_PIN | SPI2_MOSI_PIN;
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@ -224,135 +204,45 @@ void initSpi2(void)
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gpio.pin = SPI2_MISO_PIN;
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gpio.mode = Mode_IN_FLOATING;
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gpioInit(SPI2_GPIO, &gpio);
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#ifdef SPI2_NSS_PIN
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// NSS as gpio slave select
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gpio.pin = SPI2_NSS_PIN;
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gpio.mode = Mode_Out_PP;
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gpioInit(SPI2_NSS_GPIO, &gpio);
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gpioInit(SPI2_GPIO, &gpio);
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#endif
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#endif
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// Init SPI2 hardware
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SPI_I2S_DeInit(SPI2);
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spi.SPI_Mode = SPI_Mode_Master;
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spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
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spi.SPI_Mode = SPI_Mode_Master;
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spi.SPI_DataSize = SPI_DataSize_8b;
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spi.SPI_NSS = SPI_NSS_Soft;
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spi.SPI_FirstBit = SPI_FirstBit_MSB;
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spi.SPI_CRCPolynomial = 7;
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spi.SPI_CPOL = SPI_CPOL_High;
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spi.SPI_CPHA = SPI_CPHA_2Edge;
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spi.SPI_NSS = SPI_NSS_Soft;
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spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
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spi.SPI_FirstBit = SPI_FirstBit_MSB;
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spi.SPI_CRCPolynomial = 7;
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#ifdef STM32F303xC
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// Configure for 8-bit reads.
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SPI_RxFIFOThresholdConfig(SPI2, SPI_RxFIFOThreshold_QF);
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#endif
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SPI_Init(SPI2, &spi);
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SPI_Cmd(SPI2, ENABLE);
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#ifdef SPI2_NSS_PIN
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// Drive NSS high to disable connected SPI device.
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GPIO_SetBits(SPI2_NSS_GPIO, SPI2_NSS_PIN);
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#endif
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}
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#endif
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GPIO_SetBits(SPI2_GPIO, SPI2_NSS_PIN);
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#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
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#ifndef SPI3_GPIO
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#define SPI3_NSS_GPIO GPIOA
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#define SPI3_NSS_PERIPHERAL RCC_AHBPeriph_GPIOA
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#define SPI3_NSS_PIN GPIO_Pin_15
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#define SPI3_NSS_PIN_SOURCE GPIO_PinSource15
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#define SPI3_GPIO GPIOB
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#define SPI3_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
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#define SPI3_SCK_PIN GPIO_Pin_3
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#define SPI3_SCK_PIN_SOURCE GPIO_PinSource3
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#define SPI3_MISO_PIN GPIO_Pin_4
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#define SPI3_MISO_PIN_SOURCE GPIO_PinSource4
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#define SPI3_MOSI_PIN GPIO_Pin_5
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#define SPI3_MOSI_PIN_SOURCE GPIO_PinSource5
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#endif
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void initSpi3(void)
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{
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// Specific to the STM32F303 (AF6)
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// SPI3 Driver
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// PA15 38 SPI3_NSS
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// PB3 39 SPI3_SCK
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// PB4 40 SPI3_MISO
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// PB5 41 SPI3_MOSI
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SPI_InitTypeDef spi;
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// Enable SPI3 clock
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_SPI3, ENABLE);
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RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE);
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GPIO_InitTypeDef GPIO_InitStructure;
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RCC_AHBPeriphClockCmd(SPI3_GPIO_PERIPHERAL, ENABLE);
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GPIO_PinAFConfig(SPI3_GPIO, SPI3_SCK_PIN_SOURCE, GPIO_AF_6);
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GPIO_PinAFConfig(SPI3_GPIO, SPI3_MISO_PIN_SOURCE, GPIO_AF_6);
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GPIO_PinAFConfig(SPI3_GPIO, SPI3_MOSI_PIN_SOURCE, GPIO_AF_6);
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#ifdef SPI2_NSS_PIN_SOURCE
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RCC_AHBPeriphClockCmd(SPI3_NSS_PERIPHERAL, ENABLE);
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GPIO_PinAFConfig(SPI3_NSS_GPIO, SPI3_NSS_PIN_SOURCE, GPIO_AF_6);
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#endif
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// Init pins
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GPIO_InitStructure.GPIO_Pin = SPI3_SCK_PIN | SPI3_MISO_PIN | SPI3_MOSI_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(SPI3_GPIO, &GPIO_InitStructure);
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#ifdef SPI3_NSS_PIN
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GPIO_InitStructure.GPIO_Pin = SPI3_NSS_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(SPI3_NSS_GPIO, &GPIO_InitStructure);
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#endif
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// Init SPI hardware
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SPI_I2S_DeInit(SPI3);
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spi.SPI_Mode = SPI_Mode_Master;
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spi.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
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spi.SPI_DataSize = SPI_DataSize_8b;
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spi.SPI_NSS = SPI_NSS_Soft;
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spi.SPI_FirstBit = SPI_FirstBit_MSB;
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spi.SPI_CRCPolynomial = 7;
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spi.SPI_CPOL = SPI_CPOL_High;
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spi.SPI_CPHA = SPI_CPHA_2Edge;
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spi.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8;
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// Configure for 8-bit reads.
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SPI_RxFIFOThresholdConfig(SPI3, SPI_RxFIFOThreshold_QF);
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SPI_Init(SPI3, &spi);
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SPI_Cmd(SPI3, ENABLE);
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#ifdef SPI3_NSS_PIN
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// Drive NSS high to disable connected SPI device.
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GPIO_SetBits(SPI3_NSS_GPIO, SPI3_NSS_PIN);
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#endif
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}
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#endif
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bool spiInit(SPI_TypeDef *instance)
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{
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#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2) && defined(USE_SPI_DEVICE_3)))
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#if (!(defined(USE_SPI_DEVICE_1) && defined(USE_SPI_DEVICE_2)))
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UNUSED(instance);
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#endif
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@ -367,41 +257,14 @@ bool spiInit(SPI_TypeDef *instance)
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initSpi2();
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return true;
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}
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#endif
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#if defined(USE_SPI_DEVICE_3) && defined(STM32F303xC)
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if (instance == SPI3) {
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initSpi3();
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return true;
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}
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#endif
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return false;
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}
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uint32_t spiTimeoutUserCallback(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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spi1ErrorCount++;
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return spi1ErrorCount;
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} else if (instance == SPI2) {
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spi2ErrorCount++;
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return spi2ErrorCount;
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#ifdef STM32F303xC
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} else if (instance == SPI3) {
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spi3ErrorCount++;
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return spi3ErrorCount;
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#endif
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}
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return -1;
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}
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// return uint8_t value or -1 when failure
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uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
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{
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uint16_t spiTimeout = 1000;
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET)
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
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}
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#ifdef STM32F303xC
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SPI_SendData8(instance, data);
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@ -409,10 +272,8 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
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#ifdef STM32F10X
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SPI_I2S_SendData(instance, data);
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#endif
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spiTimeout = 1000;
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET)
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET){
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}
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#ifdef STM32F303xC
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return ((uint8_t)SPI_ReceiveData8(instance));
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@ -436,17 +297,13 @@ bool spiIsBusBusy(SPI_TypeDef *instance)
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}
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bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len)
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void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len)
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{
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uint16_t spiTimeout = 1000;
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uint8_t b;
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instance->DR;
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while (len--) {
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b = in ? *(in++) : 0xFF;
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_TXE) == RESET) {
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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}
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#ifdef STM32F303xC
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SPI_SendData8(instance, b);
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@ -456,8 +313,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
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SPI_I2S_SendData(instance, b);
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#endif
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while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET) {
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if ((spiTimeout--) == 0)
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return spiTimeoutUserCallback(instance);
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}
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#ifdef STM32F303xC
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b = SPI_ReceiveData8(instance);
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@ -469,8 +324,6 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len
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if (out)
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*(out++) = b;
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}
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return true;
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}
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@ -530,31 +383,3 @@ void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor)
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SPI_Cmd(instance, ENABLE);
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}
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uint16_t spiGetErrorCounter(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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return spi1ErrorCount;
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} else if (instance == SPI2) {
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return spi2ErrorCount;
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#ifdef STM32F303xC
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} else if (instance == SPI3) {
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return spi3ErrorCount;
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#endif
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}
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return 0;
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}
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void spiResetErrorCounter(SPI_TypeDef *instance)
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{
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if (instance == SPI1) {
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spi1ErrorCount = 0;
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} else if (instance == SPI2) {
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spi2ErrorCount = 0;
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#ifdef STM32F303xC
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} else if (instance == SPI3) {
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spi3ErrorCount = 0;
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#endif
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}
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}
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@ -26,7 +26,4 @@ void spiSetDivisor(SPI_TypeDef *instance, uint16_t divisor);
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uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t in);
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bool spiIsBusBusy(SPI_TypeDef *instance);
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bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len);
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uint16_t spiGetErrorCounter(SPI_TypeDef *instance);
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void spiResetErrorCounter(SPI_TypeDef *instance);
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void spiTransfer(SPI_TypeDef *instance, uint8_t *out, const uint8_t *in, int len);
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Reference in New Issue