lis 3 basic test code

linux/boardtest/SpiTestClass.cpp

@@ -19,7 +19,7 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objec
     if(gpioIF == nullptr) {
         sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
     }
-    testMode = TestModes::NONE;
+    testMode = TestModes::MGM_LIS3MDL;
     spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
     spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
 }
@@ -30,6 +30,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
         break;
     }
     case(TestModes::MGM_LIS3MDL): {
+        performLis3MdlTest(mgm0Lis3ChipSelect);
         break;
     }
     case(TestModes::MGM_RM3100): {
@@ -89,6 +90,47 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
             std::endl;
 }
 
+void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
+    /* Configure all SPI chip selects and pull them high */
+    acsInit();
+
+    /* Adapt accordingly */
+    if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
+        sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
+    }
+    gpioId_t currentGpioId = 0;
+    uint8_t chipSelectPin = lis3Id;
+    uint8_t whoAmIReg = 0b0000'1111;
+    if(chipSelectPin == mgm0Lis3ChipSelect) {
+        currentGpioId = gpioIds::MGM_0_LIS3_CS;
+    }
+    else {
+        currentGpioId = gpioIds::MGM_2_LIS3_CS;
+    }
+    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;
+
+    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;
+    }
+    setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+
+    uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
+    sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" <<
+            std::bitset<8>(whoAmIRegVal) << std::endl;
+}
+
+
 void SpiTestClass::acsInit() {
     GpioCookie* gpioCookie = new GpioCookie();
     std::string rpiGpioName = "gpiochip0";

linux/boardtest/SpiTestClass.h

@@ -31,6 +31,8 @@ private:
     struct spi_ioc_transfer spiTransferStruct;
 
     void performRm3100Test(uint8_t mgmId);
+    void performLis3MdlTest(uint8_t lis3Id);
+
     /* ACS board specific code which pulls all GPIOs high */
     void acsInit();
 

linux/spi/SpiComIF.cpp

@@ -6,6 +6,7 @@
 
 #include <fsfw/ipc/MutexFactory.h>
 #include <fsfw/ipc/MutexHelper.h>
+#include <fsfw/globalfunctions/arrayprinter.h>
 
 #include <linux/spi/spidev.h>
 #include <fcntl.h>
@@ -170,6 +171,23 @@ 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();
@@ -182,7 +200,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(fullDuplex) {
         /* Initiate a full duplex SPI transfer. */
         retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
-        if(retval != 0) {
+        if(retval < 0) {
             utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }