//-----------------------------------------------------------------------------
static void
vectornav_gpt_end_cb(GPTDriver * gptp)
{
(void)gptp;
switch( async_vn_msg.state )
{
case VN_ASYNC_1ST_SLEEP:
chSysLockFromISR();
async_vn_msg.state = VN_ASYNC_2ND_SPI_CB;
memset(&async_vn_msg.buf, 0, sizeof(async_vn_msg.buf));
spiSelectI(VND1.spip);
spiStartReceiveI(VND1.spip, async_vn_msg.buf_size, async_vn_msg.buf);
chSysUnlockFromISR();
break;
case VN_ASYNC_2ND_SLEEP:
// finished, clear it all
memset(&async_vn_msg, 0, sizeof(async_vn_msg));
break;
case VN_ASYNC_INACTIVE:
case VN_ASYNC_1ST_SPI_CB:
case VN_ASYNC_2ND_SPI_CB:
default:
// @TODO: assert?
break;
}
}
/**
* @brief Receives data from the SPI bus.
* @details This asynchronous function starts a receive operation.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiStartReceive(SPIDriver *spip, size_t n, void *rxbuf) {
osalDbgCheck((spip != NULL) && (n > 0U) && (rxbuf != NULL));
osalSysLock();
osalDbgAssert(spip->state == SPI_READY, "not ready");
spiStartReceiveI(spip, n, rxbuf);
osalSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This asynchronous function starts a receive operation.
* @pre A slave must have been selected using @p spiSelect() or
* @p spiSelectI().
* @post At the end of the operation the configured callback is invoked.
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiStartReceive(SPIDriver *spip, size_t n, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
"spiStartReceive");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiStartReceive(), #1", "not ready");
spiStartReceiveI(spip, n, rxbuf);
chSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This synchronous function performs a receive operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
osalDbgCheck((spip != NULL) && (n > 0U) && (rxbuf != NULL));
osalSysLock();
osalDbgAssert(spip->state == SPI_READY, "not ready");
osalDbgAssert(spip->config->end_cb == NULL, "has callback");
spiStartReceiveI(spip, n, rxbuf);
(void) osalThreadSuspendS(&spip->thread);
osalSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This synchronous function performs a receive operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
osalDbgCheck((spip != NULL) && (n > 0U) && (rxbuf != NULL));
#if SPI_SUPPORTS_CIRCULAR
osalDbgCheck((spip->config->circular == false) || ((n & 1U) == 0U));
#endif
osalSysLock();
osalDbgAssert(spip->state == SPI_READY, "not ready");
spiStartReceiveI(spip, n, rxbuf);
(void) osalThreadSuspendS(&spip->thread);
osalSysUnlock();
}
/**
* @brief Receives data from the SPI bus.
* @details This synchronous function performs a receive operation.
* @pre In order to use this function the option @p SPI_USE_WAIT must be
* enabled.
* @pre In order to use this function the driver must have been configured
* without callbacks (@p end_cb = @p NULL).
* @note The buffers are organized as uint8_t arrays for data sizes below
* or equal to 8 bits else it is organized as uint16_t arrays.
*
* @param[in] spip pointer to the @p SPIDriver object
* @param[in] n number of words to receive
* @param[out] rxbuf the pointer to the receive buffer
*
* @api
*/
void spiReceive(SPIDriver *spip, size_t n, void *rxbuf) {
chDbgCheck((spip != NULL) && (n > 0) && (rxbuf != NULL),
"spiReceive");
chSysLock();
chDbgAssert(spip->state == SPI_READY, "spiReceive(), #1", "not ready");
chDbgAssert(spip->config->end_cb == NULL,
"spiReceive(), #2", "has callback");
spiStartReceiveI(spip, n, rxbuf);
_spi_wait_s(spip);
chSysUnlock();
}
