spi bugfixes

linux/boardtest/SpiTestClass.cpp

@@ -10,6 +10,7 @@
 #include <linux/utility/Utility.h>
 #include <unistd.h>
 #include <sys/ioctl.h>
+#include <bitset>
 
 
 SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
@@ -28,7 +29,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
         break;
     }
     case(TestModes::MGM_RM3100): {
-        performRm3100Test();
+        performRm3100Test(mgm1Rm3100ChipSelect);
         break;
     }
     case(TestModes::GYRO_L3GD20H): {
@@ -47,7 +48,7 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     acsInit();
 
     /* Adapt accordingly */
-    if(mgmId != mgm1Rm3100ChipSelect or mgmId != mgm3Rm3100ChipSelect) {
+    if(mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
         sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
     }
     gpioId_t currentGpioId = 0;
@@ -58,15 +59,18 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
     else {
         currentGpioId = gpioIds::MGM_3_RM3100_CS;
     }
-    uint32_t rm3100Speed = 3'900'000;
+    uint32_t rm3100speed = 3'900'000;
-    uint8_t rm3100whoAmIReg = 0b0000'1111;
+    uint8_t rm3100revidReg = 0x36;
-    int rm3100mode = SPI_MODE_3;
+    spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
+    //spiTransferStruct.speed_hz = rm3100Speed;
 #ifdef RASPBERRY_PI
-    std::string deviceName = "spidev0.0";
+    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()) {
@@ -74,20 +78,11 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
                 << std::endl;
         return;
     }
+    setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
 
-    int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, rm3100mode);
+    uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false);
-    if(retval != 0) {
+    sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+            std::endl;
-    }
-
-    retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, rm3100Speed);
-    if(retval != 0) {
-        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
-    }
-
-    gpioIF->pullLow(currentGpioId);
-
-
 }
 
 void SpiTestClass::acsInit() {
@@ -132,3 +127,59 @@ void SpiTestClass::acsInit() {
         gpioIF->addGpios(gpioCookie);
     }
 }
+
+void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+        bool autoIncrement) {
+    if(autoIncrement) {
+        reg |= STM_AUTO_INCR_MASK;
+    }
+    spiTransferStruct.len = 2;
+    sendBuffer[0] = reg;
+    sendBuffer[1] = value;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+}
+
+void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
+    int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
+    }
+
+    retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
+    if(retval != 0) {
+        utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
+    }
+}
+
+uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
+        bool autoIncrement) {
+    reg |= STM_READ_MASK;
+    if(autoIncrement) {
+        reg |= STM_AUTO_INCR_MASK;
+    }
+    spiTransferStruct.len = 2;
+    sendBuffer[0] = reg;
+    sendBuffer[1] = 0;
+
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullLow(chipSelect);
+    }
+    int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
+    if(retval < 0) {
+        utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed");
+    }
+    if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
+        gpioIF->pullHigh(chipSelect);
+    }
+    return recvBuffer[1];
+}

linux/boardtest/SpiTestClass.h

@@ -42,6 +42,14 @@ private:
     uint8_t mgm2Lis3mdlChipSelect = 17;
     uint8_t mgm3Rm3100ChipSelect = 27;
 
+    static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
+    static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
+
+    void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
+    void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
+            bool autoIncrement);
+    uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
+
 };
 
 

linux/spi/SpiComIF.cpp

@@ -88,12 +88,12 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
         return fileHelper.getOpenResult();
     }
 
-    int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, static_cast<int>(spiMode));
+    int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&spiMode));
     if(retval != 0) {
         utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI mode failed!");
     }
 
-    retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, spiSpeed);
+    retval = ioctl(fileDescriptor, SPI_IOC_WR_MAX_SPEED_HZ, &spiSpeed);
     if(retval != 0) {
         utility::handleIoctlError("SpiComIF::initializeInterface: Setting SPI speed failed!");
     }
@@ -117,19 +117,19 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
             currentMode |= SPI_CS_HIGH;
         }
         /* Write adapted mode */
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, currentMode);
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, &currentMode);
         if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
         }
     }
     if(params.lsbFirst) {
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, true);
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, &params.lsbFirst);
         if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
         }
     }
     if(params.bitsPerWord != 8) {
-        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, params.bitsPerWord);
+        retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, &params.bitsPerWord);
         if(retval != 0) {
             utility::handleIoctlError("SpiComIF::initializeInterface: "
                     "Could not write bits per word!");

linux/utility/Utility.cpp

@@ -20,7 +20,7 @@ void utility::handleIoctlError(const char* const customPrintout) {
 
 utility::UnixFileHelper::UnixFileHelper(std::string device, int* fileDescriptor, int flags,
         std::string diagnosticPrefix):
-                    fileDescriptor(fileDescriptor) {
+        fileDescriptor(fileDescriptor) {
     if(fileDescriptor == nullptr) {
         return;
     }