eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

L3DG20H device handler tested

Browse Source
This commit is contained in:
Robin Müller
2021-03-07 14:06:29 +01:00
committed by Robin.Mueller
parent ab13fe15e4
commit 0db53f44c3
24 changed files with 260 additions and 116 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
linux/boardtest/SpiTestClass.cpp
View File

@ -71,7 +71,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
}
uint32_t rm3100speed = 976'000;
uint8_t rm3100revidReg = 0x36;
spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
@ -171,7 +171,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiMode spiMode = spi::SpiMode::MODE_3;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
@ -217,7 +217,7 @@ void SpiTestClass::performL3gTest(uint8_t l3gId) {
currentGpioId = gpioIds::GYRO_2_L3G_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiMode spiMode = spi::SpiMode::MODE_3;
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
@ -334,7 +334,7 @@ void SpiTestClass::acsInit() {
}
}
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int mode_test = SPI_MODE_3;
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {

2
linux/boardtest/SpiTestClass.h
View File

@ -50,7 +50,7 @@ private:
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
bool autoIncrement);

6
linux/spi/SpiComIF.cpp
View File

@ -79,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
}
size_t spiSpeed = 0;
spi::SpiMode spiMode = spi::SpiMode::MODE_0;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
SpiCookie::UncommonParameters params;
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
@ -163,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
spi::SpiMode spiMode = spi::SpiMode::MODE_0;
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
@ -308,7 +308,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK;
}
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode 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));
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");

2
linux/spi/SpiComIF.h
View File

@ -57,7 +57,7 @@ private:
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
};
#endif /* LINUX_SPI_SPICOMIF_H_ */

14
linux/spi/SpiCookie.cpp
View File

@ -1,17 +1,17 @@
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiMode spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
spiSpeed(spiSpeed) {
}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::SpiMode spiMode, uint32_t spiSpeed):
spi::SpiModes spiMode, uint32_t spiSpeed):
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
}
void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const {
spiMode = this->spiMode;
spiSpeed = this->spiSpeed;
@ -97,3 +97,11 @@ void SpiCookie::assignTransferSize(size_t transferSize) {
size_t SpiCookie::getCurrentTransferSize() const {
return spiTransferStruct.len;
}
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
this->spiSpeed = newSpeed;
}
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}

14
linux/spi/SpiCookie.h
View File

@ -19,19 +19,25 @@ public:
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxReplySize, spi::SpiMode spiMode, uint32_t spiSpeed);
const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
* slave select or if CS logic is performed with decoders.
*/
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiMode spiMode, uint32_t spiSpeed);
spi::SpiModes spiMode, uint32_t spiSpeed);
address_t getSpiAddress() const;
std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const;
/** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode);
/**
* True if SPI transfers should be performed in full duplex mode
* @return
@ -81,7 +87,7 @@ public:
void setCsHigh(bool enable);
void setBitsPerWord(uint8_t bitsPerWord);
void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters = nullptr) const;
/**
@ -100,7 +106,7 @@ private:
std::string spiDevice;
const size_t maxSize;
spi::SpiMode spiMode;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;

2
linux/spi/spiDefinitions.h
View File

@ -5,7 +5,7 @@
namespace spi {
enum SpiMode: uint8_t {
enum SpiModes: uint8_t {
MODE_0,
MODE_1,
MODE_2,