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added some testcode, zero init spi struct

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This commit is contained in:
Robin Müller
2021-02-24 10:36:23 +01:00
parent 6b982ce5cd
commit 2cc22b2233
6 changed files with 85 additions and 29 deletions
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72
mission/devices/MGMHandlerLIS3MDL.cpp
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@ -442,5 +442,77 @@ 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;
}