eive/eive-obsw
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continue rw refactoring
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This commit is contained in:
Robin Müller
2023-02-15 17:02:22 +01:00
parent 177b573cd4
commit 8b0eceb072
13 changed files with 739 additions and 212 deletions
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24
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -76,7 +76,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
return rws::SPI_WRITE_FAILURE;
}
/** Encoding and sending command */
@ -101,7 +101,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
return rws::SPI_WRITE_FAILURE;
}
idx++;
}
@ -113,7 +113,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
return rws::SPI_WRITE_FAILURE;
}
uint8_t* rxBuf = nullptr;
@ -128,7 +128,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
// There must be a delay of at least 20 ms after sending the command.
// Delay for 70 ms here and release the SPI bus for that duration.
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
usleep(RwDefinitions::SPI_REPLY_DELAY);
usleep(rws::SPI_REPLY_DELAY);
result = openSpi(dev, O_RDWR, &gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
if (result != returnvalue::OK) {
return result;
@ -143,13 +143,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::NO_START_MARKER;
return rws::NO_START_MARKER;
}
}
@ -160,7 +160,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (idx == 9) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
return RwHandler::NO_REPLY;
return rws::NO_REPLY;
}
}
@ -175,7 +175,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
byteRead = 0;
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
result = rws::SPI_READ_FAILURE;
break;
}
}
@ -186,7 +186,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
} else if (byteRead == 0x7D) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
result = rws::SPI_READ_FAILURE;
break;
}
if (byteRead == 0x5E) {
@ -200,7 +200,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(fileDescriptor, gpioId, &gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
result = rws::INVALID_SUBSTITUTE;
break;
}
} else {
@ -217,14 +217,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
if (decodedFrameLen == replyBufferSize) {
if (read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
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 = RwHandler::MISSING_END_SIGN;
result = rws::MISSING_END_SIGN;
break;
}
}

8
bsp_q7s/core/ObjectFactory.cpp
View File

@ -58,6 +58,7 @@
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/SyrlinksHandler.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <sstream>
@ -94,7 +95,6 @@
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/objects/AcsBoardAssembly.h"
@ -679,9 +679,9 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
gpioIds::EN_RW4};
std::array<DeviceHandlerBase*, 4> rws = {};
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
&rwSpiCallback::spiCallback, nullptr);
rwCookies[idx] =
new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second, rws::MAX_REPLY_SIZE,
spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx], idx);
rwCookies[idx]->setCallbackArgs(rwHandler);