eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

fully implemented special request handling
All checks were successful
EIVE/eive-obsw/pipeline/head This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller 2023-02-16 14:50:57 +01:00
parent bc2a0d875f
commit a026f5e2d0
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
2 changed files with 53 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
linux/devices/RwPollingTask.cpp
View File

@ -73,7 +73,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
continue;
}
// TODO: Special requests
handleSpecialRequests();
}
return returnvalue::OK;
@ -382,6 +382,54 @@ size_t RwPollingTask::idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx,
return rws::idToPacketLen(id);
}
void RwPollingTask::fillSpecialRequestArray() {
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (skipCommandingForRw[idx]) {
specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
continue;
}
switch (rwCookies[idx]->specialRequest) {
case (rws::SpecialRwRequest::GET_TM): {
specialRequestIds[idx] = rws::GET_TM;
break;
}
case (rws::SpecialRwRequest::INIT_RW_CONTROLLER): {
specialRequestIds[idx] = rws::INIT_RW_CONTROLLER;
break;
}
default: {
specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
}
}
}
}
void RwPollingTask::handleSpecialRequests() {
int fd = 0;
fillSpecialRequestArray();
ReturnValue_t result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
return;
}
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
continue;
}
prepareSimpleCommand(specialRequestIds[idx]);
writeOneRwCmd(idx, fd);
}
closeSpi(fd);
usleep(rws::SPI_REPLY_DELAY);
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
continue;
}
uint8_t* replyBuf;
size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
}
}
// This closes the SPI
void RwPollingTask::closeSpi(int fd) {
// This will perform the function to close the SPI

4
linux/devices/RwPollingTask.h
View File

@ -45,6 +45,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
const char* spiDev;
SpiComIF* spiIF;
std::array<bool, 4> skipCommandingForRw;
std::array<DeviceCommandId_t, 4> specialRequestIds;
std::array<RwCookie*, 4> rwCookies;
std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
@ -60,6 +61,8 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
void handleSpecialRequests();
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -75,6 +78,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
void fillSpecialRequestArray();
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
void closeSpi(int);