eive/eive-obsw
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added more spi test code, preprocessor defines

Browse Source 
and various bugfixes
This commit is contained in:
Robin Müller
2021-04-02 15:14:08 +02:00
committed by IRS Cleanroom Laptop
parent fca78108a2
commit 08351bcda2
9 changed files with 136 additions and 57 deletions
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129
linux/boardtest/SpiTestClass.cpp
View File

@ -21,11 +21,11 @@
SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
gpioIF(gpioIF) {
gpioIF(gpioIF) {
if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::GYRO_L3GD20H;
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
@ -36,11 +36,11 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3ChipSelect);
performLis3MdlTest(mgm2Lis3mdlChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
performRm3100Test(mgm1Rm3100ChipSelect);
performRm3100Test(mgm3Rm3100ChipSelect);
break;
}
case(TestModes::GYRO_L3GD20H): {
@ -78,7 +78,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -160,13 +160,14 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
acsInit();
/* Adapt accordingly */
if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
if(lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
if(chipSelectPin == mgm0Lis3ChipSelect) {
uint8_t whoAmIRegExpectedVal = 0b0011'1101;
if(chipSelectPin == mgm0Lis3mdlChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
}
else {
@ -177,7 +178,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -189,10 +190,15 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiTransferStruct.delay_usecs = 0;
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
if(whoAmIRegVal != whoAmIRegExpectedVal) {
sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!"
<< std::endl;
}
}
@ -223,7 +229,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
std::string deviceName = "/dev/spidev2.0";
#endif
int fileDescriptor = 0;
@ -293,46 +299,73 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie();
std::string rpiGpioName = "gpiochip0";
GpiodRegular* gpio = nullptr;
{
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
}
{
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
}
if(gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
#ifdef RASPBERRY_PI
std::string rpiGpioName = "gpiochip0";
gpio = new GpiodRegular(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, 1);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
}
#elif defined(XIPHOS_Q7S)
std::string q7sGpioName5 = "gpiochip5";
std::string q7sGpioName6 = "gpiochip6";
gpio = new GpiodRegular(q7sGpioName5, mgm0Lis3mdlChipSelect, "MGM_0_LIS3",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro0AdisChipSelect, "GYRO_0_ADIS",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
gpio = new GpiodRegular(q7sGpioName6, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
gpio = new GpiodRegular(q7sGpioName5, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
gpio::Direction::OUT, gpio::HIGH);
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
#endif
if(gpioIF != nullptr) {
gpioIF->addGpios(gpioCookie);
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {

11
linux/boardtest/SpiTestClass.h
View File

@ -38,6 +38,7 @@ private:
void acsInit();
/* ACS board specific variables */
#ifdef RASPBERRY_PI
uint8_t mgm0Lis3ChipSelect = 0;
uint8_t mgm1Rm3100ChipSelect = 1;
uint8_t gyro0AdisChipSelect = 5;
@ -45,6 +46,16 @@ private:
uint8_t gyro2L3gd20ChipSelect = 4;
uint8_t mgm2Lis3mdlChipSelect = 17;
uint8_t mgm3Rm3100ChipSelect = 27;
#elif defined(XIPHOS_Q7S)
uint8_t mgm0Lis3mdlChipSelect = 5;
uint8_t mgm1Rm3100ChipSelect = 17;
uint8_t gyro0AdisResetLin = 20;
uint8_t gyro0AdisChipSelect = 21;
uint8_t gyro1L3gd20ChipSelect = 7;
uint8_t gyro2L3gd20ChipSelect = 3;
uint8_t mgm2Lis3mdlChipSelect = 0;
uint8_t mgm3Rm3100ChipSelect = 23;
#endif
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;