spi com if basic verification complete

linux/spi/SpiComIF.cpp

@@ -1,5 +1,4 @@
 #include "SpiComIF.h"
-#include "spiDefinitions.h"
 
 #include <linux/utility/Utility.h>
 #include <linux/spi/SpiCookie.h>
@@ -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<SpiCookie*>(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<uint8_t*>(&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<SpiCookie*>(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<ssize_t>(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<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!");
+    }
+}

linux/spi/SpiComIF.h

@@ -4,6 +4,7 @@
 #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
 #include <fsfw/objectmanager/SystemObject.h>
 #include <linux/gpio/GpioIF.h>
+#include <linux/spi/spiDefinitions.h>
 #include <returnvalues/classIds.h>
 
 #include <vector>
@@ -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_ */

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 <devices/gpioIds.h>
-#include <linux/spi/spiDefinitions.h>
-#include <linux/utility/Utility.h>
-
-#include <fcntl.h>
-#include <unistd.h>
-#include <linux/spi/spidev.h>
-#include <sys/ioctl.h>
-#include <bitset>
-
 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<uint8_t*>(&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<GpioIF>(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;
 }