some more bugfixes

linux/devices/RwPollingTask.cpp

@@ -172,6 +172,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
   gpioId_t gpioId = rwCookie.getChipSelectPin();
   GpioIF& gpioIF = spiIF->getGpioInterface();
   pullCsLow(gpioId, spiLock, gpioIF);
+  uint8_t byteRead = 0;
   for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
     result = openSpi(O_RDWR, fd);
     if (result != returnvalue::OK) {
@@ -181,18 +182,17 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
      * The reaction wheel responds with empty frames while preparing the reply data.
      * However, receiving more than 5 empty frames will be interpreted as an error.
      */
-    uint8_t byteRead = 0;
     for (int idx = 0; idx < 5; idx++) {
       if (read(fd, &byteRead, 1) != 1) {
         sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-        pullCsHigh(gpioId, spiLock, gpioIF);
+        pullCsHigh(gpioId, gpioIF);
         closeSpi(fd);
         return rws::SPI_READ_FAILURE;
       }
       if (idx == 0) {
         if (byteRead != FLAG_BYTE) {
           sif::error << "Invalid data, expected start marker" << std::endl;
-          pullCsHigh(gpioId, spiLock, gpioIF);
+          pullCsHigh(gpioId, gpioIF);
           closeSpi(fd);
           return rws::NO_START_MARKER;
         }
@@ -202,7 +202,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         break;
       }
 
-      pullCsHigh(gpioId, spiLock, gpioIF);
+      pullCsHigh(gpioId, gpioIF);
       closeSpi(fd);
       if (idx == MAX_RETRIES_REPLY - 1) {
         sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
@@ -210,76 +210,78 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
       }
       TaskFactory::delayTask(5);
     }
-
+  }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
-    sif::info << "RW start marker detected" << std::endl;
+  sif::info << "RW start marker detected" << std::endl;
 #endif
 
-    size_t decodedFrameLen = 0;
+  size_t decodedFrameLen = 0;
 
-    while (decodedFrameLen < maxReplyLen) {
+  while (decodedFrameLen < maxReplyLen) {
-      /** First byte already read in */
+    // First byte already read in
-      if (decodedFrameLen != 0) {
+    if (decodedFrameLen != 0) {
-        byteRead = 0;
+      byteRead = 0;
-        if (read(fd, &byteRead, 1) != 1) {
+      if (read(fd, &byteRead, 1) != 1) {
-          sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-          result = rws::SPI_READ_FAILURE;
+        result = rws::SPI_READ_FAILURE;
-          break;
-        }
-      }
-
-      if (byteRead == FLAG_BYTE) {
-        /** Reached end of frame */
         break;
-      } else if (byteRead == 0x7D) {
+      }
-        if (read(fd, &byteRead, 1) != 1) {
+    }
-          sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
+
-          result = rws::SPI_READ_FAILURE;
+    if (byteRead == FLAG_BYTE) {
-          break;
+      // Reached end of frame
-        }
+      break;
-        if (byteRead == 0x5E) {
+    } else if (byteRead == 0x7D) {
-          *(replyBuf + decodedFrameLen) = 0x7E;
+      if (read(fd, &byteRead, 1) != 1) {
-          decodedFrameLen++;
+        sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-          continue;
+        result = rws::SPI_READ_FAILURE;
-        } else if (byteRead == 0x5D) {
+        break;
-          *(replyBuf + decodedFrameLen) = 0x7D;
+      }
-          decodedFrameLen++;
+      if (byteRead == 0x5E) {
-          continue;
+        *(replyBuf + decodedFrameLen) = 0x7E;
-        } else {
-          sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-          closeSpi(fd);
-          result = rws::INVALID_SUBSTITUTE;
-          break;
-        }
-      } else {
-        *(replyBuf + decodedFrameLen) = byteRead;
         decodedFrameLen++;
         continue;
+      } else if (byteRead == 0x5D) {
+        *(replyBuf + decodedFrameLen) = 0x7D;
+        decodedFrameLen++;
+        continue;
+      } else {
+        sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
+        result = rws::INVALID_SUBSTITUTE;
+        break;
       }
-
+    } else {
-      /**
+      *(replyBuf + decodedFrameLen) = byteRead;
-       * There might be the unlikely case that each byte in a get-telemetry reply has been
+      decodedFrameLen++;
-       * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
+      continue;
-       * Otherwise there might be something wrong.
-       */
-      if (decodedFrameLen == maxReplyLen) {
-        if (read(fd, &byteRead, 1) != 1) {
-          sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
-          result = rws::SPI_READ_FAILURE;
-          break;
-        }
-        if (byteRead != FLAG_BYTE) {
-          sif::error << "rwSpiCallback::spiCallback: Missing end sign "
-                     << static_cast<int>(FLAG_BYTE) << std::endl;
-          decodedFrameLen--;
-          result = rws::MISSING_END_SIGN;
-          break;
-        }
-      }
-      result = returnvalue::OK;
     }
+
+    // Check end marker.
+    /**
+     * There might be the unlikely case that each byte in a get-telemetry reply has been
+     * replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
+     * Otherwise there might be something wrong.
+     */
+    if (decodedFrameLen == maxReplyLen) {
+      if (read(fd, &byteRead, 1) != 1) {
+        sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
+        result = rws::SPI_READ_FAILURE;
+        break;
+      }
+      if (byteRead != FLAG_BYTE) {
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
+        decodedFrameLen--;
+        result = rws::MISSING_END_SIGN;
+        break;
+      }
+    }
+    result = returnvalue::OK;
   }
-  return returnvalue::OK;
+
+  pullCsHigh(gpioId, gpioIF);
+  closeSpi(fd);
+  return result;
 }
 
 ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
@@ -410,10 +412,10 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
   if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    pullCsHigh(gpioId, spiLock, gpioIF);
+    pullCsHigh(gpioId, gpioIF);
     return rws::SPI_WRITE_FAILURE;
   }
-  pullCsHigh(gpioId, spiLock, gpioIF);
+  pullCsHigh(gpioId, gpioIF);
   return returnvalue::OK;
 }
 
@@ -434,7 +436,7 @@ ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF
   return returnvalue::OK;
 }
 
-void RwPollingTask::pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
+void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;

linux/devices/RwPollingTask.h

@@ -77,7 +77,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
   void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
 
-  void pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
+  void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
   void closeSpi(int);
 };