fix mcp2515 hw test

libraries/ms-common/inc/spi.h

@@ -43,10 +43,10 @@ StatusCode spi_init(SpiPort spi, const SpiSettings *settings);
 StatusCode spi_exchange(SpiPort spi, uint8_t *tx_data, size_t tx_len, uint8_t *rx_data,
                         size_t rx_len);
 
-#ifdef x86
+#ifdef MS_PLATFORM_X86
 // Reads data from the tx buffer into data
-StatusCode spi_get_tx(uint8_t *data, uint8_t len);
+StatusCode spi_get_tx(SpiPort spi, uint8_t *data, uint8_t len);
 
 // Writes from data into the rx buffer
-StatusCode spi_set_rx(uint8_t *data, uint8_t len);
+StatusCode spi_set_rx(SpiPort spi, uint8_t *data, uint8_t len);
 #endif

libraries/ms-common/src/x86/spi.c

@@ -6,7 +6,7 @@
 #include "spi_mcu.h"
 
 #define SPI_BUF_SIZE 32
-#define SPI_QUEUE_DELAY_MS 0
+#define SPI_QUEUE_DELAY_MS 10
 
 typedef struct {
   uint8_t tx_buf[SPI_BUF_SIZE];
@@ -89,31 +89,22 @@ StatusCode spi_exchange(SpiPort spi, uint8_t *tx_data, size_t tx_len, uint8_t *r
 }
 
 StatusCode spi_get_tx(SpiPort spi, uint8_t *data, uint8_t len) {
-  status_ok_or_return(mutex_lock(&s_port[spi].spi_buf.mutex, SPI_TIMEOUT_MS));
-
+  uint8_t placeholder = 0;  // response during tx
   for (size_t tx = 0; tx < len; tx++) {
-    if (queue_receive(&s_port[spi].spi_buf.tx_queue, &data[tx], SPI_QUEUE_DELAY_MS)) {
-      queue_reset(&s_port[spi].spi_buf.tx_queue);
-      mutex_unlock(&s_port[spi].spi_buf.mutex);
-      return STATUS_CODE_EMPTY;
-    }
+    queue_receive(&s_port[spi].spi_buf.tx_queue, &data[tx], SPI_QUEUE_DELAY_MS);
+    queue_send(&s_port[spi].spi_buf.rx_queue, &placeholder, 0);
   }
-
-  mutex_unlock(&s_port[spi].spi_buf.mutex);
   return STATUS_CODE_OK;
 }
 
 StatusCode spi_set_rx(SpiPort spi, uint8_t *data, uint8_t len) {
-  status_ok_or_return(mutex_lock(&s_buf[spi].mutex, SPI_TIMEOUT_MS));
-
+  uint8_t placeholder = 0;
   for (size_t rx = 0; rx < len; rx++) {
-    if (queue_send(&s_port[spi].spi_buf.rx_queue, &data[rx], SPI_QUEUE_DELAY_MS)) {
-      queue_reset(&s_port[spi].spi_buf.rx_queue);
-      mutex_unlock(&s_port[spi].spi_buf.mutex);
-      return STATUS_CODE_RESOURCE_EXHAUSTED;
+    queue_receive(&s_port[spi].spi_buf.tx_queue, &placeholder, SPI_QUEUE_DELAY_MS);
+    if (placeholder != 0) {
+      return STATUS_CODE_INTERNAL_ERROR;  // expected spi tx to be 0 during rx.
     }
+    queue_send(&s_port[spi].spi_buf.rx_queue, &data[rx], 0);
   }
-
-  mutex_unlock(&s_port[spi].spi_buf.mutex);
   return STATUS_CODE_OK;
 }

projects/motor_controller/config.json

@@ -6,7 +6,6 @@
     ],
     "can": true,
     "mocks": {
-        "mcp2515_hw": ["spi_init", "spi_tx", "spi_rx", "spi_exchange"],
         "motor_can_tx": ["mcp2515_hw_transmit", "mcp2515_hw_init"],
         "motor_can_rx": ["mcp2515_hw_transmit", "mcp2515_hw_init"]
     }

projects/motor_controller/src/mcp2515_hw.c

@@ -60,9 +60,7 @@ static const uint8_t s_brp_lookup[NUM_CAN_HW_BITRATES] = {
 // SPI commands - See Table 12-1
 static void prv_reset() {
   uint8_t payload[] = { MCP2515_CMD_RESET };
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, payload, sizeof(payload));
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 }
 
 static void prv_read(uint8_t addr, uint8_t *read_data, size_t read_len) {
@@ -76,18 +74,14 @@ static void prv_write(uint8_t addr, uint8_t *write_data, size_t write_len) {
   payload[1] = addr;
   memcpy(&payload[2], write_data, write_len);
 
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, payload, write_len + 2);
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 }
 
 // See 12.10: *addr = (data & mask) | (*addr & ~mask)
 static void prv_bit_modify(uint8_t addr, uint8_t mask, uint8_t data) {
   uint8_t payload[] = { MCP2515_CMD_BIT_MODIFY, addr, mask, data };
 
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, payload, sizeof(payload));
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 }
 
 static uint8_t prv_read_status() {
@@ -309,23 +303,17 @@ StatusCode mcp2515_hw_transmit(uint32_t id, bool extended, uint8_t *data, size_t
     tx_id_regs.registers[1],          tx_id_regs.registers[0],
     (len & 0xf) | (false << 6),  // Reg 3-7 RTR and DLC
   };
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, id_payload, sizeof(id_payload));
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 
   // Load data
   uint8_t data_payload[9] = { MCP2515_CMD_LOAD_TX | tx_buf->data };
   memcpy(&data_payload[1], data, len);
 
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, (uint8_t *)&data_payload, len + 1);
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 
   // Send message
   uint8_t send_payload[] = { MCP2515_CMD_RTS | tx_buf->rts };
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_LOW);
   spi_tx(s_storage->spi_port, send_payload, sizeof(send_payload));
-  spi_cs_set_state(s_storage->spi_port, GPIO_STATE_HIGH);
 
   return STATUS_CODE_OK;
 }