fsfw/hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

#include "fsfw/FSFW.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/UnixFileGuard.h"

#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h>

#include <linux/spi/spidev.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>

#include <cerrno>
#include <cstring>

SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
        SystemObject(objectId), gpioComIF(gpioComIF) {
    if(gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
#else
        sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
    }

    spiMutex = MutexFactory::instance()->createMutex();
}

ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
    int retval = 0;
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }

    address_t spiAddress = spiCookie->getSpiAddress();

    auto iter = spiDeviceMap.find(spiAddress);
    if(iter == spiDeviceMap.end()) {
        size_t bufferSize = spiCookie->getMaxBufferSize();
        SpiInstance spiInstance(bufferSize);
        auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
        if (not statusPair.second) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
                    spiAddress << "to SPI device map" << std::endl;
#else
            sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
                    "%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        /* Now we emplaced the read buffer in the map, we still need to assign that location
        to the SPI driver transfer struct */
        spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
    }
    else {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
#else
        sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return HasReturnvaluesIF::RETURN_FAILED;
    }

    /* Pull CS high in any case to be sure that device is inactive */
    gpioId_t gpioId = spiCookie->getChipSelectPin();
    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
    }

    uint32_t spiSpeed = 0;
    spi::SpiModes spiMode = spi::SpiModes::MODE_0;

    SpiCookie::UncommonParameters params;
    spiCookie->getSpiParameters(spiMode, spiSpeed, &params);

    int fileDescriptor = 0;
    UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
            "SpiComIF::initializeInterface: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return fileHelper.getOpenResult();
    }

    /* These flags are rather uncommon */
    if(params.threeWireSpi or params.noCs or params.csHigh) {
        uint32_t currentMode = 0;
        retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, &currentMode);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
        }

        if(params.threeWireSpi) {
            currentMode |= SPI_3WIRE;
        }
        if(params.noCs) {
            /* Some drivers like the Raspberry Pi ignore this flag in any case */
            currentMode |= SPI_NO_CS;
        }
        if(params.csHigh) {
            currentMode |= SPI_CS_HIGH;
        }
        /* Write adapted mode */
        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
        }
    }
    if(params.lsbFirst) {
        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
        }
    }
    if(params.bitsPerWord != 8) {
        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
        if(retval != 0) {
            utility::handleIoctlError("SpiComIF::initializeInterface: "
                    "Could not write bits per word!");
        }
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;

    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }

    if(sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
#else
        sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
                static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
        return DeviceCommunicationIF::TOO_MUCH_DATA;
    }

    if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
        result = performRegularSendOperation(spiCookie, sendData, sendLen);
    }
    else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
        spi::send_callback_function_t sendFunc = nullptr;
        void* funcArgs = nullptr;
        spiCookie->getCallback(&sendFunc, &funcArgs);
        if(sendFunc != nullptr) {
            result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
        }
    }
    return result;
}

ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
        size_t sendLen) {
    address_t spiAddress = spiCookie->getSpiAddress();
    auto iter = spiDeviceMap.find(spiAddress);
    if(iter != spiDeviceMap.end()) {
        spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
    }

    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    int retval = 0;
    /* Prepare transfer */
    int fileDescriptor = 0;
    std::string device = spiCookie->getSpiDevice();
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }
    spi::SpiModes spiMode = spi::SpiModes::MODE_0;
    uint32_t spiSpeed = 0;
    spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
    spiCookie->assignWriteBuffer(sendData);
    spiCookie->assignTransferSize(sendLen);

    bool fullDuplex = spiCookie->isFullDuplex();
    gpioId_t gpioId = spiCookie->getChipSelectPin();

    /* Pull SPI CS low. For now, no support for active high given  */
    if(gpioId != gpio::NO_GPIO) {
        result = spiMutex->lockMutex(timeoutType, timeoutMs);
        if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
            return result;
        }
        gpioComIF->pullLow(gpioId);
    }

    /* Execute transfer */
    if(fullDuplex) {
        /* Initiate a full duplex SPI transfer. */
        retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
        if(retval < 0) {
            utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
            result = FULL_DUPLEX_TRANSFER_FAILED;
        }
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
        performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
    }
    else {
        /* We write with a blocking half-duplex transfer here */
        if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
                    std::endl;
#else
            sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
            result = HALF_DUPLEX_TRANSFER_FAILED;
        }
    }

    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
        result = spiMutex->unlockMutex();
        if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
#endif
            return result;
        }
    }
    return result;
}

ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return NULLPOINTER;
    }

    if(spiCookie->isFullDuplex()) {
        return HasReturnvaluesIF::RETURN_OK;
    }

    return performHalfDuplexReception(spiCookie);
}


ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    std::string device = spiCookie->getSpiDevice();
    int fileDescriptor = 0;
    UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
            "SpiComIF::requestReceiveMessage: ");
    if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
        return OPENING_FILE_FAILED;
    }

    uint8_t* rxBuf = nullptr;
    size_t readSize = spiCookie->getCurrentTransferSize();
    result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    gpioId_t gpioId = spiCookie->getChipSelectPin();
    if(gpioId != gpio::NO_GPIO) {
        result = spiMutex->lockMutex(timeoutType, timeoutMs);
        if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
#endif
            return result;
        }
        gpioComIF->pullLow(gpioId);
    }

    if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
#else
        sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
        result = HALF_DUPLEX_TRANSFER_FAILED;
    }

    if(gpioId != gpio::NO_GPIO) {
        gpioComIF->pullHigh(gpioId);
        result = spiMutex->unlockMutex();
        if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
#endif
            return result;
        }
    }

    return result;
}

ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
    SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
    if(spiCookie == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    uint8_t* rxBuf = nullptr;
    ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        return result;
    }

    *buffer = rxBuf;
    *size = spiCookie->getCurrentTransferSize();
    return HasReturnvaluesIF::RETURN_OK;
}

MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
    if(timeoutType != nullptr) {
        *timeoutType = this->timeoutType;
    }
    if(timeoutMs != nullptr) {
        *timeoutMs = this->timeoutMs;
    }
    return spiMutex;
}

void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
    if(spiCookie == nullptr) {
        return;
    }
    size_t dataLen = spiCookie->getTransferStructHandle()->len;
    uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "Sent SPI data: " << std::endl;
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
    sif::info << "Received SPI data: " << std::endl;
#else
    sif::printInfo("Sent SPI data: \n");
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
    sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
    dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
    arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
}

ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
    if(buffer == nullptr) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }

    auto iter = spiDeviceMap.find(spiAddress);
    if(iter == spiDeviceMap.end()) {
        return HasReturnvaluesIF::RETURN_FAILED;
    }

    *buffer = iter->second.replyBuffer.data();
    return HasReturnvaluesIF::RETURN_OK;
}

GpioIF* SpiComIF::getGpioInterface() {
    return gpioComIF;
}

void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
    if(retval != 0) {
        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
    }

    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
    if(retval != 0) {
        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
    }
}