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Refactor athena initialization to use handles
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Each port gets its own init method to streamline the main codepath
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@rzblue
rzblue committed Oct 30, 2024
1 parent a9652ef commit 8a01535
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Showing 4 changed files with 174 additions and 140 deletions.
306 changes: 168 additions & 138 deletions hal/src/main/native/athena/SPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,7 @@ using namespace hal;

namespace {
struct SPI {
HAL_SPIPort port;
int32_t nativeHandle;
wpi::mutex handleMutex;
wpi::mutex apiMutex;
Expand All @@ -44,7 +45,7 @@ static constexpr int32_t kSpiMaxHandles = 5;
/// Hacky hacky bad, should probably switch HAL api to use handles instead of
/// this
class SPIHandleResource
: public IndexedHandleResource<HAL_Handle, SPI, kSpiMaxHandles,
: public IndexedHandleResource<HAL_SPIHandle, SPI, kSpiMaxHandles,
HAL_HandleEnum::SPI> {
public:
HAL_Handle GetHandleForPort(HAL_SPIPort port) {
Expand Down Expand Up @@ -84,8 +85,6 @@ void InitializeSPI() {
}
} // namespace hal::init

extern "C" {

static void CommonSPIPortInit(int32_t* status) {
// All false cases will set
if (spiPortCount.fetch_add(1) == 0) {
Expand Down Expand Up @@ -120,173 +119,204 @@ static void CommonSPIPortFree(void) {
}
}

void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
static int InitOnboardCS0(int32_t* status) {
CommonSPIPortInit(status);
if (*status != 0) {
*status = INCOMPATIBLE_STATE;
return -1;
}
// CS0 is not a DIO port, so nothing to allocate
int handle = open("/dev/spidev0.0", O_RDWR);
if (handle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(HAL_SPI_kOnboardCS0), std::strerror(errno));
CommonSPIPortFree();
*status = INCOMPATIBLE_STATE;
return -1;
}
return handle;
}

static int InitOnboardCS1(int32_t* status) {
CommonSPIPortInit(status);
if (*status != 0) {
return -1;
}
// CS1, Allocate
if ((digitalHandles[0] = HAL_InitializeDIOPort(createPortHandleForSPI(26),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 26 (CS1)");
CommonSPIPortFree();
*status = INCOMPATIBLE_STATE;
return -1;
}
int handle = open("/dev/spidev0.1", O_RDWR);
if (handle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(HAL_SPI_kOnboardCS1), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[0]);
*status = INCOMPATIBLE_STATE;
return -1;
}
return handle;
}

static int InitOnboardCS2(int32_t* status) {
CommonSPIPortInit(status);
if (*status != 0) {
return -1;
}
// CS2, Allocate
if ((digitalHandles[1] = HAL_InitializeDIOPort(createPortHandleForSPI(27),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 27 (CS2)");
CommonSPIPortFree();
return -1;
}
int handle = open("/dev/spidev0.2", O_RDWR);
if (handle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(HAL_SPI_kOnboardCS2), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[1]);
*status = INCOMPATIBLE_STATE;
return -1;
}
return handle;
}

static int InitOnboardCS3(int32_t* status) {
CommonSPIPortInit(status);
if (*status != 0) {
return -1;
}
// CS3, Allocate
if ((digitalHandles[2] = HAL_InitializeDIOPort(createPortHandleForSPI(28),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 28 (CS3)");
CommonSPIPortFree();
return -1;
}
int handle = open("/dev/spidev0.3", O_RDWR);
if (handle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(HAL_SPI_kOnboardCS3), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[2]);
*status = INCOMPATIBLE_STATE;
return -1;
}
return handle;
}

static int InitMXP(int32_t* status) {
initializeDigital(status);
if (*status != 0) {
return -1;
}
if ((digitalHandles[5] = HAL_InitializeDIOPort(createPortHandleForSPI(14),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 14");
return -1;
}
if ((digitalHandles[6] = HAL_InitializeDIOPort(createPortHandleForSPI(15),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 15");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
return -1;
}
if ((digitalHandles[7] = HAL_InitializeDIOPort(createPortHandleForSPI(16),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 16");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
return -1;
}
if ((digitalHandles[8] = HAL_InitializeDIOPort(createPortHandleForSPI(17),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 17");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
return -1;
}
digitalSystem->writeEnableMXPSpecialFunction(
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
int handle = open("/dev/spidev1.0", O_RDWR);
if (handle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(HAL_SPI_kMXP), std::strerror(errno));
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
HAL_FreeDIOPort(digitalHandles[8]); // free the fourth port allocated
*status = INCOMPATIBLE_STATE;
return -1;
}
return handle;
}

extern "C" {

HAL_SPIHandle HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
if (port < 0 || port >= kSpiMaxHandles) {
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, fmt::format("SPI port must be between 0 and {}. Requested {}",
kSpiMaxHandles, static_cast<int>(port)));
return;
return HAL_kInvalidHandle;
}

HAL_Handle hal_handle;
auto spi =
spiHandles->Allocate(static_cast<int16_t>(port), &hal_handle, status);

if (status != 0) {
*status = RESOURCE_IS_ALLOCATED; // todo: previous allocation;
return;
if (*status != 0) {
// todo: previous allocation;
return HAL_kInvalidHandle;
}

int nativeHandle;
switch (port) {
case HAL_SPI_kOnboardCS0:
CommonSPIPortInit(status);
if (*status != 0) {
return;
}
// CS0 is not a DIO port, so nothing to allocate
spi->nativeHandle = open("/dev/spidev0.0", O_RDWR);
if (spi->nativeHandle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(port), std::strerror(errno));
CommonSPIPortFree();
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
nativeHandle = InitOnboardCS0(status);
break;
case HAL_SPI_kOnboardCS1:
CommonSPIPortInit(status);
if (*status != 0) {
return;
}
// CS1, Allocate
if ((digitalHandles[0] = HAL_InitializeDIOPort(createPortHandleForSPI(26),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 26 (CS1)");
CommonSPIPortFree();
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
spi->nativeHandle = open("/dev/spidev0.1", O_RDWR);
if (spi->nativeHandle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(port), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[0]);
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
nativeHandle = InitOnboardCS1(status);
break;
case HAL_SPI_kOnboardCS2:
CommonSPIPortInit(status);
if (*status != 0) {
return;
}
// CS2, Allocate
if ((digitalHandles[1] = HAL_InitializeDIOPort(createPortHandleForSPI(27),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 27 (CS2)");
CommonSPIPortFree();
return;
}
spi->nativeHandle = open("/dev/spidev0.2", O_RDWR);
if (spi->nativeHandle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(port), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[1]);
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
nativeHandle = InitOnboardCS2(status);
break;
case HAL_SPI_kOnboardCS3:
CommonSPIPortInit(status);
if (*status != 0) {
return;
}
// CS3, Allocate
if ((digitalHandles[2] = HAL_InitializeDIOPort(createPortHandleForSPI(28),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 28 (CS3)");
CommonSPIPortFree();
return;
}
spi->nativeHandle = open("/dev/spidev0.3", O_RDWR);
if (spi->nativeHandle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(port), std::strerror(errno));
CommonSPIPortFree();
HAL_FreeDIOPort(digitalHandles[2]);
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
nativeHandle = InitOnboardCS3(status);
break;
case HAL_SPI_kMXP:
initializeDigital(status);
if (*status != 0) {
return;
}
if ((digitalHandles[5] = HAL_InitializeDIOPort(createPortHandleForSPI(14),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 14");
return;
}
if ((digitalHandles[6] = HAL_InitializeDIOPort(createPortHandleForSPI(15),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 15");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
return;
}
if ((digitalHandles[7] = HAL_InitializeDIOPort(createPortHandleForSPI(16),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 16");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
return;
}
if ((digitalHandles[8] = HAL_InitializeDIOPort(createPortHandleForSPI(17),
false, nullptr, status)) ==
HAL_kInvalidHandle) {
std::puts("Failed to allocate DIO 17");
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
return;
}
digitalSystem->writeEnableMXPSpecialFunction(
digitalSystem->readEnableMXPSpecialFunction(status) | 0x00F0, status);
spi->nativeHandle = open("/dev/spidev1.0", O_RDWR);
if (spi->nativeHandle < 0) {
wpi::print("Failed to open SPI port {}: {}\n",
static_cast<int32_t>(port), std::strerror(errno));
HAL_FreeDIOPort(digitalHandles[5]); // free the first port allocated
HAL_FreeDIOPort(digitalHandles[6]); // free the second port allocated
HAL_FreeDIOPort(digitalHandles[7]); // free the third port allocated
HAL_FreeDIOPort(digitalHandles[8]); // free the fourth port allocated
spiHandles->Free(hal_handle);
*status = INCOMPATIBLE_STATE;
return;
}
nativeHandle = InitMXP(status);
break;
default:
// TODO: should be unreachable
*status = PARAMETER_OUT_OF_RANGE;
hal::SetLastError(
status, fmt::format("Invalid SPI port {}", static_cast<int>(port)));
return HAL_kInvalidHandle;
break;
}
if (*status != 0) {
spiHandles->Free(hal_handle);
return HAL_kInvalidHandle;
}
spi->nativeHandle = nativeHandle;
spi->port = port;
return hal_handle;
}

int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
Expand Down
2 changes: 1 addition & 1 deletion hal/src/main/native/include/hal/SPI.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ extern "C" {
* @param[in] port The port to initialize.
* @param[out] status the error code, or 0 for success.
*/
void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);
HAL_SPIHandle HAL_InitializeSPI(HAL_SPIPort port, int32_t* status);

/**
* Performs an SPI send/receive transaction.
Expand Down
2 changes: 2 additions & 0 deletions hal/src/main/native/include/hal/Types.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,8 @@ typedef HAL_Handle HAL_REVPDHHandle;

typedef HAL_Handle HAL_REVPHHandle;

typedef HAL_Handle HAL_SPIHandle;

typedef int32_t HAL_Bool;

#ifdef __cplusplus
Expand Down
4 changes: 3 additions & 1 deletion hal/src/main/native/sim/SPI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,11 @@ void InitializeSPI() {}

extern "C" {

void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
HAL_SPIHandle HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) {
hal::init::CheckInit();
SimSPIData[port].initialized = true;
// TODO: deal with this
return 0;
}
int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend,
uint8_t* dataReceived, int32_t size) {
Expand Down

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