eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

added spi mux functionality to the rwSpiCallback

Browse Source
This commit is contained in:
Jakob Meier
2021-07-01 10:53:50 +02:00
parent d3198af5e9
commit 8e98de6f3c
6 changed files with 117 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

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;
}
}
}