eive-obsw/linux/boardtest/SpiTestClass.h

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#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
#define LINUX_BOARDTEST_SPITESTCLASS_H_
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#include "OBSWConfig.h"
#if defined(XIPHOS_Q7S)
#include "busConf.h"
#endif
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#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include <test/testtasks/TestTask.h>
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#include <vector>
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class SpiTestClass: public TestTask {
public:
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enum TestModes {
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NONE,
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MGM_LIS3MDL,
MGM_RM3100,
GYRO_L3GD20H,
};
TestModes testMode;
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SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
ReturnValue_t performOneShotAction() override;
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ReturnValue_t performPeriodicAction() override;
private:
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GpioIF* gpioIF;
std::array<uint8_t, 128> recvBuffer;
std::array<uint8_t, 128> sendBuffer;
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struct spi_ioc_transfer spiTransferStruct = {};
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void performRm3100Test(uint8_t mgmId);
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void performLis3MdlTest(uint8_t lis3Id);
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void performL3gTest(uint8_t l3gId);
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/* ACS board specific code which pulls all GPIOs high */
void acsInit();
/* ACS board specific variables */
#ifdef RASPBERRY_PI
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uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
#elif defined(XIPHOS_Q7S)
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uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
uint8_t gyro0AdisChipSelect = q7s::GPIO_GYRO_0_ADIS_CS;
uint8_t gyro2AdisChipSelect = q7s::GPIO_GYRO_2_ADIS_CS;
uint8_t gyro1L3gd20ChipSelect = q7s::GPIO_GYRO_1_L3G_CS;
uint8_t gyro3L3gd20ChipSelect = q7s::GPIO_GYRO_3_L3G_CS;
uint8_t mgm2Lis3mdlChipSelect = q7s::GPIO_MGM_2_LIS3_CS;
uint8_t mgm3Rm3100ChipSelect = q7s::GPIO_MGM_3_RM3100_CS;
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#else
uint8_t mgm0Lis3mdlChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 0;
uint8_t gyro0AdisResetLine = 0;
uint8_t gyro0AdisChipSelect = 0;
uint8_t gyro1L3gd20ChipSelect = 0;
uint8_t gyro2L3gd20ChipSelect = 0;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 0;
#endif
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static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
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static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
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static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
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void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
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void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
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void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
size_t len);
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
size_t len);
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
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uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
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uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
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uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
size_t len);
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
uint8_t* reply, size_t len);
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};
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */