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;
@@ -210,7 +210,7 @@ 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;
 #endif
@@ -218,7 +218,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
   size_t decodedFrameLen = 0;
 
   while (decodedFrameLen < maxReplyLen) {
-      /** First byte already read in */
+    // First byte already read in
     if (decodedFrameLen != 0) {
       byteRead = 0;
       if (read(fd, &byteRead, 1) != 1) {
@@ -229,7 +229,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
     }
 
     if (byteRead == FLAG_BYTE) {
-        /** Reached end of frame */
+      // Reached end of frame
       break;
     } else if (byteRead == 0x7D) {
       if (read(fd, &byteRead, 1) != 1) {
@@ -247,7 +247,6 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-          closeSpi(fd);
         result = rws::INVALID_SUBSTITUTE;
         break;
       }
@@ -257,9 +256,10 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
       continue;
     }
 
+    // Check end marker.
     /**
      * There might be the unlikely case that each byte in a get-telemetry reply has been
-       * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
+     * replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
      * Otherwise there might be something wrong.
      */
     if (decodedFrameLen == maxReplyLen) {
@@ -269,8 +269,8 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         break;
       }
       if (byteRead != FLAG_BYTE) {
-          sif::error << "rwSpiCallback::spiCallback: Missing end sign "
-                     << static_cast<int>(FLAG_BYTE) << std::endl;
+        sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
+                   << std::endl;
         decodedFrameLen--;
         result = rws::MISSING_END_SIGN;
         break;
@@ -278,8 +278,10 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
     }
     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);
 };