added some testcode, zero init spi struct

bsp_rpi/boardconfig/rpi_config.h

@@ -3,8 +3,8 @@
 
 #include <cstdint>
 
-#define RPI_ADD_GPIO_TEST               1
+#define RPI_ADD_GPIO_TEST               0
-#define RPI_LOOPBACK_TEST_GPIO          1
+#define RPI_LOOPBACK_TEST_GPIO          0
 
 /* Only one of those 2 should be enabled! */
 #define RPI_ADD_SPI_TEST                0

bsp_rpi/main.cpp

@@ -6,7 +6,7 @@
 #include <iostream>
 
 /**
- * @brief 	This is the main program for the target hardware.
+ * @brief 	    This is the main program and entry point for the Raspberry Pi.
  * @return
  */
 int main(void)
@@ -20,7 +20,7 @@ int main(void)
 	initmission::initMission();
 
 	for(;;) {
-		/* suspend main thread by sleeping it. */
+		/* Suspend main thread by sleeping it. */
 		TaskFactory::delayTask(5000);
 	}
 }

linux/boardtest/SpiTestClass.cpp

@@ -135,37 +135,37 @@ void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
     std::string rpiGpioName = "gpiochip0";
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), mgm0Lis3ChipSelect, "MGM_0_LIS3",
+        GpiodRegular gpio(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+        GpiodRegular gpio(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), gyro0AdisChipSelect, "GYRO_0_ADIS",
+        GpiodRegular gpio(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+        GpiodRegular gpio(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+        GpiodRegular gpio(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+        GpiodRegular gpio(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
     }
     {
-        GpiodRegular gpio(rpiGpioName.c_str(), mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+        GpiodRegular gpio(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
                 gpio::Direction::OUT, 1);
         gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
     }

linux/spi/SpiComIF.cpp

@@ -71,6 +71,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
         return HasReturnvaluesIF::RETURN_FAILED;
     }
 
+    /* Pull CS high in any case to be sure that device is inactive */
     gpioId_t gpioId = spiCookie->getChipSelectPin();
     if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullHigh(gpioId);
@@ -171,23 +172,6 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     }
 
     bool fullDuplex = spiCookie->isFullDuplex();
-    if(fullDuplex) {
-        uint8_t* readBuf = nullptr;
-        ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &readBuf);
-        if (result != HasReturnvaluesIF::RETURN_OK) {
-#if FSFW_VERBOSE_LEVEL >= 1
-#if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "SpiComIF::sendMessage: Could not get read buffer!" <<
-                    std::endl;
-#else
-            sif::printWarning("SpiComIF::sendMessage: Could not get read buffer!\n");
-#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
-#endif /* FSFW_VERBOSE_LEVEL >= 1 */
-            return result;
-        }
-        spiCookie->assignReadBuffer(readBuf);
-    }
-
     int retval = 0;
 
     gpioId_t gpioId = spiCookie->getChipSelectPin();

linux/spi/SpiCookie.h

@@ -104,7 +104,7 @@ private:
     uint32_t spiSpeed;
     bool halfDuplex = false;
 
-    struct spi_ioc_transfer spiTransferStruct;
+    struct spi_ioc_transfer spiTransferStruct = {};
     UncommonParameters uncommonParameters;
 };
 

mission/devices/MGMHandlerLIS3MDL.cpp

@@ -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;
 }