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Merge pull request 'SPI Updates for Linux' (#480) from eive/fsfw:mueller/spi-fix into development

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Reviewed-on: fsfw/fsfw#480
This commit is contained in:
Ulrich Mohr 2021-09-27 15:21:15 +02:00
commit 01762ad222
2 changed files with 25 additions and 6 deletions
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26
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(sendLen > spiCookie->getMaxBufferSize()) { if(sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen << sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
"larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl; "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
#else #else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger " sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen), "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
if(gpioId != gpio::NO_GPIO) { if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs); result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) { if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl; sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
#endif
#endif
return result;
}
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
#endif
#endif #endif
return result; return result;
} }
gpioComIF->pullLow(gpioId);
} }
/* Execute transfer */ /* Execute transfer */
@ -213,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error."); utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1 #if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie); performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */ #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} }
@ -384,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
} }
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed); retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) { if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
} }
} }

5
src/fsfw/FSFW.h.in
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@ -16,6 +16,11 @@
#cmakedefine FSFW_ADD_MONITORING #cmakedefine FSFW_ADD_MONITORING
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR #cmakedefine FSFW_ADD_SGP4_PROPAGATOR
// Can be used for low-level debugging of the SPI bus
#ifndef FSFW_HAL_SPI_WIRETAPPING
#define FSFW_HAL_SPI_WIRETAPPING 0
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG #ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 #define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ #endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */