diff --git a/linux/spi/SpiComIF.cpp b/linux/spi/SpiComIF.cpp index 3b5cb67e..eef44126 100644 --- a/linux/spi/SpiComIF.cpp +++ b/linux/spi/SpiComIF.cpp @@ -1,5 +1,4 @@ #include "SpiComIF.h" -#include "spiDefinitions.h" #include #include @@ -32,6 +31,7 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(object } ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { + int retval = 0; SpiCookie* spiCookie = dynamic_cast(cookie); if(spiCookie == nullptr) { return NULLPOINTER; @@ -90,16 +90,6 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { return fileHelper.getOpenResult(); } - int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, reinterpret_cast(&spiMode)); - if(retval != 0) { - utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI mode failed!"); - } - - retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed); - if(retval != 0) { - utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI speed failed!"); - } - /* These flags are rather uncommon */ if(params.threeWireSpi or params.noCs or params.csHigh) { uint32_t currentMode = 0; @@ -143,6 +133,8 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) { ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { SpiCookie* spiCookie = dynamic_cast(cookie); ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + int retval = 0; + if(spiCookie == nullptr) { return NULLPOINTER; } @@ -161,8 +153,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s return DeviceCommunicationIF::TOO_MUCH_DATA; } - spiCookie->assignWriteBuffer(sendData); - spiCookie->assignTransferSize(sendLen); + + /* Prepare transfer */ int fileDescriptor = 0; std::string device = spiCookie->getSpiDevice(); utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR, @@ -170,17 +162,25 @@ 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; + uint32_t spiSpeed = 0; + spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr); + setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); + spiCookie->assignWriteBuffer(sendData); + spiCookie->assignTransferSize(sendLen); bool fullDuplex = spiCookie->isFullDuplex(); - int retval = 0; - gpioId_t gpioId = spiCookie->getChipSelectPin(); + + /* GPIO access is mutex protected */ MutexHelper(spiMutex, timeoutType, timeoutMs); + + /* Pull SPI CS low. For now, no support for active high given */ if(gpioId != gpio::NO_GPIO) { - /* For now, no support for active high given */ gpioComIF->pullLow(gpioId); } + /* Execute transfer */ if(fullDuplex) { /* Initiate a full duplex SPI transfer. */ retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle()); @@ -190,7 +190,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s } } else { - /* We write with a blocking transfer here */ + /* We write with a blocking half-duplex transfer here */ if (write(fileDescriptor, sendData, sendLen) != static_cast(sendLen)) { #if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_CPP_OSTREAM_ENABLED == 1 @@ -294,3 +294,15 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) { *buffer = iter->second.replyBuffer.data(); return HasReturnvaluesIF::RETURN_OK; } + +void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) { + int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast(&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!"); + } +} diff --git a/linux/spi/SpiComIF.h b/linux/spi/SpiComIF.h index e454db21..cbcaa4e0 100644 --- a/linux/spi/SpiComIF.h +++ b/linux/spi/SpiComIF.h @@ -4,6 +4,7 @@ #include #include #include +#include #include #include @@ -54,7 +55,9 @@ private: SpiDeviceMap spiDeviceMap; + ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); + void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed); }; #endif /* LINUX_SPI_SPICOMIF_H_ */ diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 7bd6dfba..a3ab25cd 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -40,6 +40,7 @@ void MGMHandlerLIS3MDL::doStartUp() { /* Set up cached registers which will be used to configure the MGM. */ if(commandExecuted) { commandExecuted = false; + /* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */ setMode(_MODE_TO_ON); } break; @@ -283,7 +284,8 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, #if OBSW_VERBOSE_LEVEL >= 1 if(debugDivider->check()) { /* Set terminal to utf-8 if there is an issue with micro printout. */ - sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C" << std::endl; + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " \xC2\xB0" << "C" << + std::endl; } #endif ReturnValue_t result = dataset.read(); @@ -442,77 +444,5 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( return HasReturnvaluesIF::RETURN_OK; } -#include -#include -#include - -#include -#include -#include -#include -#include - void MGMHandlerLIS3MDL::performOperationHook() { - - /* Adapt accordingly */ -// if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) { -// sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl; -// } - gpioId_t currentGpioId = gpioIds::MGM_0_LIS3_CS; - uint8_t chipSelectPin = 0; - uint8_t whoAmIReg = 0b0000'1111; - uint8_t reg = whoAmIReg; - - uint32_t spiSpeed = 3'900'000; - spi::SpiMode spiMode = spi::SpiMode::MODE_3; -#ifdef RASPBERRY_PI - std::string deviceName = "/dev/spidev0.0"; -#else - std::string deviceName = "placeholder"; -#endif - int fileDescriptor = 0; - uint8_t recvBuffer [16]; - uint8_t sendBuffer [16]; - - utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR, - "SpiComIF::initializeInterface: "); - if(fileHelper.getOpenResult()) { - sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!" - << std::endl; - return; - } - int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, reinterpret_cast(&spiMode)); - if(retval != 0) { - utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!"); - } - - retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed); - if(retval != 0) { - utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!"); - } - GpioIF* gpioIF = objectManager->get(objects::GPIO_IF); - uint8_t STM_READ_MASK = 0b1000'0000; - struct spi_ioc_transfer spiTransferStruct = {}; - reg |= STM_READ_MASK; - spiTransferStruct.len = 2; - sendBuffer[0] = reg; - sendBuffer[1] = 0; - spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer); - spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer); - //spiTransferStruct.bits_per_word = 8; - //spiTransferStruct.speed_hz = 3'900'000; - - if(gpioIF != nullptr and currentGpioId != gpio::NO_GPIO) { - gpioIF->pullLow(currentGpioId); - } - retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), &spiTransferStruct); - if(retval < 0) { - utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed"); - } - if(gpioIF != nullptr and currentGpioId != gpio::NO_GPIO) { - gpioIF->pullHigh(currentGpioId); - } - - sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" << - std::bitset<8>(recvBuffer[1]) << std::endl; }