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added spi mux functionality to the rwSpiCallback

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This commit is contained in:
Jakob Meier 2021-07-01 10:53:50 +02:00
parent caebb4a4f4
commit 8dbe77d4a5
6 changed files with 117 additions and 40 deletions
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37
bsp_q7s/ObjectFactory.cpp
View File

@ -521,12 +521,6 @@ void ObjectFactory::produce(void* args){
Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
<<<<<<< HEAD
rtdIc3->setStartUpImmediately();
=======
rtdIc17->setStartUpImmediately();
>>>>>>> develop
// rtdIc4->setStartUpImmediately();
(void) rtdIc3;
(void) rtdIc4;
@ -542,7 +536,7 @@ void ObjectFactory::produce(void* args){
(void) rtdIc14;
(void) rtdIc15;
(void) rtdIc16;
// (void) rtdIc17;
(void) rtdIc17;
(void) rtdIc18;
#endif /* Q7S_ADD_RTD_DEVICES == 1 */
@ -582,16 +576,29 @@ void ObjectFactory::produce(void* args){
std::string("Enable reaction wheel 4"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4);
/**
* This GPIO is only internally connected to the SPI MUX module and responsible to disconnect
* the PS SPI peripheral from the SPI interface and route out the SPI lines of the AXI SPI core.
* Per default the PS SPI is selected (EMIO = 0).
*/
GpiodRegular* spiMux = new GpiodRegular(std::string("gpiochip11"), 54,
std::string("EMIO 0 SPI Mux"), gpio::OUT, 0);
gpioCookieRw->addGpio(gpioIds::SPI_MUX, spiMux);
gpioComIF->addGpios(gpioCookieRw);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev2.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev2.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev2.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev2.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev3.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
nullptr);
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);

9
bsp_q7s/spi/Q7sSpiComIF.cpp Normal file
View File

@ -0,0 +1,9 @@
#include <bsp_q7s/spi/Q7sSpiComIF.h>
Q7sSpiComIF::Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF) :
SpiComIF(objectId, gpioComIF) {
}
Q7sSpiComIF::~Q7sSpiComIF() {
}

33
bsp_q7s/spi/Q7sSpiComIF.h Normal file
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@ -0,0 +1,33 @@
#ifndef BSP_Q7S_SPI_Q7SSPICOMIF_H_
#define BSP_Q7S_SPI_Q7SSPICOMIF_H_
#include <fsfw_hal/linux/spi/SpiComIF.h>
/**
* @brief This additional communication interface is required because the SPI busses behind the
* devices "/dev/spi2.0" and "dev/spidev3.0" are multiplexed to one SPI interface.
* This was necessary because the processing system spi (/dev/spi2.0) does not support
* frequencies lower than 650 kHz. To reach lower frequencies also the CPU frequency must
* be reduced which leads to other effects compromising kernel drivers.
* The nano avionics reaction wheels require a spi frequency between 150 kHz and 300 kHz
* why an additional AXI SPI core has been implemented in the programmable logic. However,
* the spi frequency of the AXI SPI core is not configurable during runtime. Therefore,
* this communication interface multiplexes either the hard-wired SPI or the AXI SPI to
* the SPI interface. The multiplexing is performed via a GPIO connected to a VHDL
* module responsible for switching between the to SPI peripherals.
*/
class Q7sSpiComIF: public SpiComIF {
public:
/**
* @brief Constructor
*
* @param objectId
* @param gpioComIF
* @param gpioSwitchId The gpio ID of the GPIO connected to the SPI mux module in the PL.
*/
Q7sSpiComIF(object_id_t objectId, GpioIF* gpioComIF, gpioId_t gpioSwitchId);
virtual ~Q7sSpiComIF();
};
#endif /* BSP_Q7S_SPI_Q7SSPICOMIF_H_ */

58
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
View File

@ -3,15 +3,18 @@
#include <mission/devices/RwHandler.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include "devices/gpioIds.h"
ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
namespace rwSpiCallback {
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void* args) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
RwHandler* handler = reinterpret_cast<RwHandler*>(args);
if(handler == nullptr) {
sif::error << "rwSpiCallback: Pointer to handler is invalid"
sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid"
<< std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -21,9 +24,9 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback: ");
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to open device file" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
@ -37,16 +40,19 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
sif::debug << "rwSpiCallback: Mutex or GPIO interface invalid" << std::endl;
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
}
if(gpioId != gpio::NO_GPIO) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback: Failed to lock mutex" << std::endl;
return result;
}
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
return result;
}
/** Disconnect PS SPI peripheral and select AXI SPI core */
if(gpioIF->pullHigh(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio high" << std::endl;
}
/** Sending frame start sign */
@ -56,12 +62,12 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
// Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) {
if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to pull chip select low" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
}
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback: Write failed!" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
@ -86,7 +92,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
break;
}
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback: Write failed!" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
@ -98,7 +104,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
writeSize = 1;
if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
sif::error << "rwSpiCallback: Write failed!" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_WRITE_FAILURE;
}
@ -122,7 +128,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
uint8_t byteRead = 0;
for (int idx = 0; idx < 10; idx++) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback: Read failed" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
@ -132,7 +138,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
}
if (idx == 9) {
sif::error << "rwSpiCallback: Empty frame timeout" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_REPLY;
}
@ -145,7 +151,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
if (decodedFrameLen != 0) {
byteRead = 0;
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback: Read failed" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
@ -157,7 +163,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
}
else if (byteRead == 0x7D) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback: Read failed" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
@ -172,7 +178,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
continue;
}
else {
sif::error << "rwSpiCallback: Invalid substitute" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
result = RwHandler::INVALID_SUBSTITUTE;
break;
@ -191,12 +197,12 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
*/
if (decodedFrameLen == replyBufferSize) {
if(read(fileDescriptor, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback: Failed to read last byte" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
result = RwHandler::SPI_READ_FAILURE;
break;
}
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback: Missing end sign 0x7E" << std::endl;
sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl;
decodedFrameLen--;
result = RwHandler::MISSING_END_SIGN;
break;
@ -219,6 +225,12 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "closeSpi: Failed to unlock mutex" << std::endl;;
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;;
}
/** Route SPI interface again to PS SPI peripheral */
if(gpioIF->pullLow(gpioIds::SPI_MUX) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull spi mux gpio low" << std::endl;
}
}
}

16
bsp_q7s/spiCallbacks/rwSpiCallback.h
View File

@ -3,6 +3,10 @@
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
namespace rwSpiCallback {
/**
* @brief This is the callback function to send commands to the nano avionics reaction wheels and
@ -14,8 +18,17 @@
* Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
* Each command entails exactly one reply which will also be read in and decoded by this
* function.
* Because the reaction wheels require a spi clock frequency of maximum 300 kHZ and minimum
* 150 kHz which is not supported by the processing system SPI peripheral an AXI SPI core
* has been implemented in the programmable logic. This AXI SPI core works with a fixed
* frequency of 250 kHz.
* To allow the parallel usage of the same physical SPI bus, a VHDL module has been
* implemented which is able to disconnect the hard-wired SPI peripheral of the PS and
* route the AXI SPI to the SPI lines.
* To switch between the to SPI peripherals, an EMIO is used which will also be controlled
* by this function.
*/
ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void* args);
/**
@ -27,4 +40,5 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
*/
void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
}
#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */

4
linux/fsfwconfig/devices/gpioIds.h
View File

@ -80,7 +80,9 @@ namespace gpioIds {
CS_RW3,
CS_RW4,
EN_RW_CS
EN_RW_CS,
SPI_MUX
};
}