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heading towards completion for low level rw polling task
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This commit is contained in:
Robin Müller
2023-02-15 19:16:42 +01:00
parent 8b0eceb072
commit 8c001b6443
3 changed files with 205 additions and 117 deletions
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28
linux/devices/RwPollingTask.h
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@ -14,15 +14,16 @@ class RwCookie : public SpiCookie {
friend class RwPollingTask;
public:
static constexpr size_t REPLY_BUF_LEN = 524;
RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
private:
std::array<uint8_t, 524> replyBuf{};
std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
int32_t currentRwSpeed = 0;
uint16_t currentRampTime = 0;
rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::NONE;
rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
uint8_t rwIdx;
};
@ -39,24 +40,26 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
bool debugMode = false;
bool modeAndSpeedWasSet = false;
MutexIF* ipcLock;
MutexIF* spiLock;
const char* spiDev;
SpiComIF* spiIF;
std::array<RwCookie*, 4> rwCookies;
std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
size_t writeLen = 0;
std::array<uint8_t, 256> processingBuf;
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
static constexpr uint32_t TIMEOUT_MS = 20;
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
ReturnValue_t writeAndReadAllRws(const uint8_t* sendData, size_t sendDataLen);
ReturnValue_t writeOneRw(uint8_t rwIdx);
ReturnValue_t readAllRws(int fd, MutexIF* spiLock, const char* dev);
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie, MutexIF* spiLock, const uint8_t* data,
size_t dataLen);
ReturnValue_t readNextReply(const char* spiDev, RwCookie& rwCookie, MutexIF* spiLock,
uint8_t* replyBuf);
ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
ReturnValue_t readAllRws(int fd, DeviceCommandId_t id);
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -66,11 +69,14 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t openSpi(const std::string& devname, int flags, int& fd);
ReturnValue_t openSpi(int flags, int& fd);
ReturnValue_t pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
void prepareSimpleCommand(DeviceCommandId_t id);
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
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 closeSpi(int);
};