[spi] update spi_slave_hs for generic device (and chimu_spi)

conf/modules/ahrs_chimu_spi.xml

@@ -13,7 +13,7 @@
     <define name="USE_AHRS"/>
     <define name="USE_INS_MODULE"/>
     <define name="USE_SPI"/>
-    <define name="INS_LINK" value="SpiSlave"/>
+    <define name="INS_LINK" value="spi_slave_hs"/>
     <define name="USE_USB_HIGH_PCLK" />
     <file name="ahrs_chimu_spi.c"/>
     <file name="imu_chimu.c"/>

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.c

@@ -38,6 +38,7 @@
 #include "pprz_debug.h"
 #include "armVIC.h"
 
+struct spi_slave_hs spi_slave_hs;
 
 /* High Speed SPI Slave Circular Buffer */
 uint16_t spi_slave_hs_rx_insert_idx, spi_slave_hs_rx_extract_idx;
@@ -103,6 +104,36 @@ static void SSP_ISR(void) __attribute__((naked));
 #endif
 
 
+// Functions for the generic device API
+static int spi_slave_hs_check_free_space(struct spi_slave_hs *p __attribute__((unused)), uint8_t len __attribute__((unused)))
+{
+  return TRUE;
+}
+
+static void spi_slave_hs_transmit(struct spi_slave_hs *p __attribute__((unused)), uint8_t byte)
+{
+  uint8_t temp = (spi_slave_hs_tx_insert_idx + 1) % SPI_SLAVE_HS_TX_BUFFER_SIZE;
+  if (temp != spi_slave_hs_tx_extract_idx)  /* there is room left */
+  {
+    spi_slave_hs_tx_buffer[spi_slave_hs_tx_insert_idx] = byte;
+    spi_slave_hs_tx_insert_idx = temp;
+  }
+}
+
+static void spi_slave_hs_send(struct spi_slave_hs *p __attribute__((unused))) { }
+
+static int spi_slave_hs_char_available(struct spi_slave_hs *p __attribute__((unused)))
+{
+  return spi_slave_hs_rx_insert_idx != spi_slave_hs_rx_extract_idx;
+}
+
+static uint8_t spi_slave_hs_getch(struct spi_slave_hs *p __attribute__((unused)))
+{
+  uint8_t ret = spi_slave_hs_rx_buffer[spi_slave_hs_rx_extract_idx];
+  spi_slave_hs_rx_extract_idx = (spi_slave_hs_rx_extract_idx + 1)%SPI_SLAVE_HS_RX_BUFFER_SIZE;
+  return ret;
+}
+
 void spi_slave_hs_init(void)
 {
 
@@ -129,6 +160,14 @@ void spi_slave_hs_init(void)
   // Enable Receive interrupt
   SetBit(SSPIMSC, RXIM);
 
+  // Configure generic device
+  spi_slave_hs.device.periph = (void *)(&spi_slave_hs);
+  spi_slave_hs.device.check_free_space = (check_free_space_t) spi_slave_hs_check_free_space;
+  spi_slave_hs.device.transmit = (transmit_t) spi_slave_hs_transmit;
+  spi_slave_hs.device.send_message = (send_message_t) spi_slave_hs_send;
+  spi_slave_hs.device.char_available = (char_available_t) spi_slave_hs_char_available;
+  spi_slave_hs.device.getchar = (getchar_t) spi_slave_hs_getch;
+
 }
 
 /*

sw/airborne/arch/lpc21/mcu_periph/spi_slave_hs_arch.h

@@ -32,7 +32,14 @@
 #define SPI_SLAVE_HS_ARCH_H
 
 #include "std.h"
+#include "mcu_periph/link_device.h"
 
+struct spi_slave_hs {
+  /** Generic device interface */
+  struct link_device device;
+};
+
+extern struct spi_slave_hs spi_slave_hs;
 
 #define SpiEnable() {   \
     SetBit(SSPCR1, SSE);  \
@@ -48,29 +55,11 @@
 extern uint16_t spi_slave_hs_rx_insert_idx, spi_slave_hs_rx_extract_idx;
 extern uint8_t spi_slave_hs_rx_buffer[SPI_SLAVE_HS_RX_BUFFER_SIZE];
 
-#define SpiSlaveChAvailable() (spi_slave_hs_rx_insert_idx != spi_slave_hs_rx_extract_idx)
-
-#define SpiSlaveGetch() ({\
-    uint8_t ret = spi_slave_hs_rx_buffer[spi_slave_hs_rx_extract_idx]; \
-    spi_slave_hs_rx_extract_idx = (spi_slave_hs_rx_extract_idx + 1)%SPI_SLAVE_HS_RX_BUFFER_SIZE;        \
-    ret;                                                 \
-  })
 
 #define SPI_SLAVE_HS_TX_BUFFER_SIZE 64
 
 extern uint8_t spi_slave_hs_tx_insert_idx, spi_slave_hs_tx_extract_idx;
 extern uint8_t spi_slave_hs_tx_buffer[SPI_SLAVE_HS_TX_BUFFER_SIZE];
 
-#define SpiSlaveTransmit(data) {\
-    uint8_t temp = (spi_slave_hs_tx_insert_idx + 1) % SPI_SLAVE_HS_TX_BUFFER_SIZE; \
-    if (temp != spi_slave_hs_tx_extract_idx)  /* there is room left */  \
-    { \
-      spi_slave_hs_tx_buffer[spi_slave_hs_tx_insert_idx] = (uint8_t)data; \
-      spi_slave_hs_tx_insert_idx = temp; \
-    } \
-  }
-
-
-
 
 #endif

sw/airborne/mcu_periph/spi.h

@@ -365,6 +365,7 @@ extern bool_t spi_slave_wait(struct spi_periph *p);
 /** @}*/
 
 #if SPI_SLAVE_HS
+#include "mcu_periph/spi_slave_hs_arch.h"
 extern void spi_slave_hs_init(void);
 #endif
 

sw/airborne/modules/ins/ins_module.h

@@ -77,6 +77,7 @@ void parse_ins_buffer(uint8_t);
 
 #ifndef SITL
 #include "mcu_periph/uart.h"
+#include "mcu_periph/spi.h"
 
 #define InsSend1(c) InsLinkDevice->transmit(InsLinkDevice->periph, c)
 #define InsUartSend1(c) InsSend1(c)

sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.c

@@ -87,8 +87,8 @@ bool_t chibios_logInit(const bool_t binaryFile)
   chibios_sdlog.device.check_free_space = (check_free_space_t) sdlog_check_free_space;
   chibios_sdlog.device.transmit = (transmit_t) sdlog_transmit;
   chibios_sdlog.device.send_message = (send_message_t) sdlog_send;
-  chibios_sdlog.device.char_available = (char_available_t) null_function; // read only
+  chibios_sdlog.device.char_available = (char_available_t) null_function; // write only
-  chibios_sdlog.device.getchar = (getchar_t) null_function; // read only
+  chibios_sdlog.device.getchar = (getchar_t) null_function; // write only
 
   if (sdLogInit (NULL) != SDLOG_OK)
     goto error;