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spi bugfixes

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This commit is contained in:
Robin Müller 2021-02-23 18:01:28 +01:00 committed by Robin Mueller
parent cfa76499ad
commit 048b239b92
4 changed files with 84 additions and 25 deletions
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89
linux/boardtest/SpiTestClass.cpp
View File

@ -10,6 +10,7 @@
#include <linux/utility/Utility.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <bitset>
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
@ -28,7 +29,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::MGM_RM3100): {
performRm3100Test();
performRm3100Test(mgm1Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
@ -47,7 +48,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
acsInit();
/* Adapt accordingly */
if(mgmId != mgm1Rm3100ChipSelect or mgmId != mgm3Rm3100ChipSelect) {
if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
@ -58,15 +59,18 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
else {
currentGpioId = gpioIds::MGM_3_RM3100_CS;
}
uint32_t rm3100Speed = 3'900'000;
uint8_t rm3100whoAmIReg = 0b0000'1111;
int rm3100mode = SPI_MODE_3;
uint32_t rm3100speed = 3'900'000;
uint8_t rm3100revidReg = 0x36;
spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
//spiTransferStruct.speed_hz = rm3100Speed;
#ifdef RASPBERRY_PI
std::string deviceName = "spidev0.0";
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
#endif
int fileDescriptor = 0;
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface: ");
if(fileHelper.getOpenResult()) {
@ -74,20 +78,11 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, rm3100mode);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
}
retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, rm3100Speed);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
}
gpioIF->pullLow(currentGpioId);
uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false);
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
std::endl;
}
void SpiTestClass::acsInit() {
@ -132,3 +127,59 @@ void SpiTestClass::acsInit() {
gpioIF->addGpios(gpioCookie);
}
}
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement) {
if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = value;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode 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!");
}
}
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
bool autoIncrement) {
reg |= STM_READ_MASK;
if(autoIncrement) {
reg |= STM_AUTO_INCR_MASK;
}
spiTransferStruct.len = 2;
sendBuffer[0] = reg;
sendBuffer[1] = 0;
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullLow(chipSelect);
}
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
if(retval < 0) {
utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed");
}
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
gpioIF->pullHigh(chipSelect);
}
return recvBuffer[1];
}

8
linux/boardtest/SpiTestClass.h
View File

@ -42,6 +42,14 @@ private:
uint8_t mgm2Lis3mdlChipSelect = 17;
uint8_t mgm3Rm3100ChipSelect = 27;
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
};

10
linux/spi/SpiComIF.cpp
View File

@ -88,12 +88,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
return fileHelper.getOpenResult();
}
int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, static_cast<int>(spiMode));
int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&spiMode));
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI mode failed!");
}
retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, spiSpeed);
retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI speed failed!");
}
@ -117,19 +117,19 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
currentMode |= SPI_CS_HIGH;
}
/* Write adapted mode */
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, currentMode);
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, true);
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);
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
if(retval != 0) {
utility::handleIoctlError("SpiComIF::initializeInterface: "
"Could not write bits per word!");