feat[spi]: enable interrupt-safe operations using spinlocks

[wdfk-prog]

拉取/合并请求描述：(PR description)

[

为什么提交这份PR (why to submit this PR)

• 当前的 SPI 驱动框架使用 rt_mutex 作为总线和设备的保护锁。由于互斥锁在获取不到时会导致线程挂起，因此它不能在中断服务程序（ISR）或其他禁止调度的上下文中使用。这限制了 SPI 设备（如 SPI Flash）在某些需要高实时性响应（例如，在中断中紧急写入日志或数据）的场景下的应用。

• 此外，SFUD 驱动中的 retry_delay 函数使用了 rt_thread_delay，该函数同样依赖于线程调度器，无法在中断中调用。

你的解决方案是什么 (what is your solution)

• 为了使 SPI 驱动框架能够安全地在中断上下文中使用，本次提交引入了一套上下文感知的混合锁机制，并对相关代码进行了适应性修改。

主要变更 (Key Changes)

1. 引入混合锁机制:

• 通过新增的 spi_lock 和 spi_unlock 辅助函数，封装了锁的获取与释放逻辑。
• 函数内部通过 rt_scheduler_is_available() 判断当前环境：
  • 线程环境: 继续使用 rt_mutex，允许任务调度。
  • 中断环境: 切换为使用 rt_spin_lock_irqsave，通过禁用中断和忙等来保证资源访问的原子性。

2. 数据结构更新:

• 为 rt_spi_bus 和 spi_flash_device 结构体增加了 rt_spinlock 成员，并通过 RT_USING_SPI_ISR 宏进行条件编译。

3. SFUD 驱动适配:

• 对 SFUD 驱动中的 spi_lock/spi_unlock 回调进行了同样的改造，使其支持中断调用。
• 修改了 retry_delay_100us 函数，使其在中断上下文中改用 rt_hw_us_delay 进行硬件忙等延时。

4. 新增 Kconfig 选项:

• 增加了 RT_USING_SPI_ISR 选项，用户可以按需开启或关闭此功能。

• 通过这些修改，SPI 驱动现在是完全的线程安全和中断安全的，极大地扩展了其应用范围。

请提供验证的bsp和config (provide the config and bsp)

• BSP: STM32F4

• STM32需要修改适配可以在中断环境下使用

• 参考此处修改实现:2bbee8b

• [components][SPI][spi-bit-ops]修复可能的异常操作 #9124

• feat(CmBacktrace): enhance reliability, configurability, and testability armink-rtt-pkgs/CmBacktrace#22

• 验证结果

[2025/10/30 15:48:38 253] msh />
[2025/10/30 15:48:38 460] msh />
[2025/10/30 15:48:42 356] msh />cmb
[2025/10/30 15:48:42 358] cmb_test
[2025/10/30 15:48:42 893] msh />cmb_test
[2025/10/30 15:48:42 896] Please input 'cmb_test <DIVBYZERO|UNALIGNED|ASSERT>' 
[2025/10/30 15:48:47 737] msh />cmb_test UNALIGNED
[2025/10/30 15:48:47 739] addr:0x00 value:0x20002A28
[2025/10/30 15:48:47 739] addr:0x04 value:0x08000229
[2025/10/30 15:48:47 739] 01-01 00:00:00 cmb:  
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb: Firmware name: 5axis, hardware version: 1.0, software version: 1.0
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb: Fault on interrupt or bare metal(no OS) environment
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb: ===== Thread stack information =====
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb:   addr: 20003cf4    data: 2000415c
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb:   addr: 20003cf8    data: 00000000
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb:   addr: 20003cfc    data: 08027db9
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb:   addr: 20003d00    data: 08020270
[2025/10/30 15:48:47 925] 01-01 00:00:00 cmb:   addr: 20003d04    data: 01000200
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb:   addr: 20003d08    data: 080554e7
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: ====================================
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: =================== Registers information ====================
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb:   R0 : 2000c5d4  R1 : 2000c5f8  R2 : 2000c618  R3 : 080202c3
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb:   R12: fffffffd  LR : 00000000  PC : 10000000  PSR: f0000000
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: ==============================================================
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: Usage fault is caused by indicates that an unaligned access fault has taken place
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: Show more call stack info by run: addr2line -e 5axis.elf -afpiC 10000000 08027db8 080554e6 
[2025/10/30 15:48:47 926] 01-01 00:00:00 cmb: Current system tick: 11837
[2025/10/30 15:48:57 939] rcc_csr = 0x1e000000(Reset flag for system reset through CPU)

[2025/10/30 15:49:04 968] cd f
[2025/10/30 15:49:05 624] msh />cd flash/l
[2025/10/30 15:49:05 847] msh />cd flash/log/
[2025/10/30 15:49:06 453] msh /flash/log>ls
[2025/10/30 15:49:06 469] Directory /flash/log:
[2025/10/30 15:49:06 549] cmb.log              1685                     
[2025/10/30 15:49:06 549] flash_sys.log        14296                    
[2025/10/30 15:49:07 789] msh /flash/log>cat c
[2025/10/30 15:49:08 124] msh /flash/log>cat cmb.log
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:  
[2025/10/30 15:49:08 309] ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿXÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ01-01 00:00:00 cmb:  
[2025/10/30 15:49:08 309] ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿXÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ01-01 00:00:00 cmb:  
[2025/10/30 15:49:08 309] ÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿXÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿÿ01-01 00:00:00 cmb:  
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb: Firmware name: 5axis, hardware version: 1.0, software version: 1.0
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb: Fault on interrupt or bare metal(no OS) environment
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb: ===== Thread stack information =====
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003cf4    data: 2000415c
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003cf8    data: 00000000
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003cfc    data: 08027db9
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003d00    data: 08020270
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003d04    data: 01000200
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb:   addr: 20003d08    data: 080554e7
[2025/10/30 15:49:08 309] 01-01 00:00:00 cmb: ====================================
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb: =================== Registers information ====================
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb:   R0 : 2000c5d4  R1 : 2000c5f8  R2 : 2000c618  R3 : 080202c3
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb:   R12: fffffffd  LR : 00000000  PC : 10000000  PSR: f0000000
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb: ==============================================================
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb: Usage fault is caused by indicates that an unaligned access fault has taken place
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb: Show more call stack info by run: addr2line -e 5axis.elf -afpiC 10000000 08027db8 080554e6 
[2025/10/30 15:49:08 310] 01-01 00:00:00 cmb: Current system tick: 11837
[2025/10/30 15:49:08 310] 

• .config:

• action:

]

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代码质量 Code Quality：

我在这个拉取/合并请求中已经考虑了 As part of this pull request, I've considered the following:

• 已经仔细查看过代码改动的对比 Already check the difference between PR and old code
• 代码风格正确，包括缩进空格，命名及其他风格 Style guide is adhered to, including spacing, naming and other styles
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• 所有变更均有原因及合理的，并且不会影响到其他软件组件代码或BSP All modifications are justified and not affect other components or BSP
• 对难懂代码均提供对应的注释 I've commented appropriately where code is tricky
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• 如果是新增bsp, 已经添加ci检查到.github/ALL_BSP_COMPILE.json 详细请参考链接BSP自查

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[github-actions]

📌 Code Review Assignment

🏷️ Tag: components

Reviewers: Maihuanyi

Changed Files (Click to expand)

• components/drivers/include/drivers/dev_spi.h
• components/drivers/spi/Kconfig
• components/drivers/spi/dev_spi_core.c
• components/drivers/spi/dev_spi_flash.h
• components/drivers/spi/dev_spi_flash_sfud.c

🏷️ Tag: components_driver_spi

Reviewers: Liang1795 wdfk-prog

Changed Files (Click to expand)

• components/drivers/spi/Kconfig
• components/drivers/spi/dev_spi_core.c
• components/drivers/spi/dev_spi_flash.h
• components/drivers/spi/dev_spi_flash_sfud.c

---

📊 Current Review Status (Last Updated: 2025-11-13 11:24 CST)

• ⌛ Liang1795 Pending Review
• ⌛ Maihuanyi Pending Review
• ⌛ wdfk-prog Pending Review

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[Copilot]

Pull Request Overview

This PR adds interrupt-safe operations to the SPI driver using spinlocks, enabling SPI operations in both interrupt context and thread context. The implementation adds a runtime check using rt_scheduler_is_available() to determine whether to use mutex (for thread context) or spinlock (for interrupt context).

Key changes:

• Added a new Kconfig option RT_USING_SPI_ISR (enabled by default) to control ISR-safe SPI functionality
• Introduced spinlock fields (_spinlock, _isr_lvl) to SPI bus and SPI flash device structures
• Refactored locking mechanisms in SPI core and SFUD driver to support both mutex and spinlock based on scheduler availability

Reviewed Changes

Copilot reviewed 5 out of 5 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
components/drivers/spi/Kconfig	Adds configuration option RT_USING_SPI_ISR to enable interrupt-safe SPI operations
components/drivers/include/drivers/dev_spi.h	Adds spinlock and interrupt level fields to rt_spi_bus structure
components/drivers/spi/dev_spi_flash.h	Adds spinlock and interrupt level fields to spi_flash_device structure
components/drivers/spi/dev_spi_core.c	Implements new spi_lock/spi_unlock helper functions that choose between mutex and spinlock based on scheduler availability
components/drivers/spi/dev_spi_flash_sfud.c	Updates SFUD lock/unlock functions and retry_delay to support interrupt context operations

[wdfk-prog]

• Kconfig提示内容完善