From c043375ae37b79ce2639294b1d1bc81927dbba56 Mon Sep 17 00:00:00 2001 From: Robin Mueller Date: Wed, 11 May 2022 11:13:00 +0200 Subject: [PATCH] RW Refactoring - FSFW update: SPI device is part of ComIF now - Only set RW mode (speed is set a side effect but not necessary) once - Release SPI bus in the 70 ms delay duration --- bsp_q7s/callbacks/rwSpiCallback.cpp | 98 +++++++++++++++++------- bsp_q7s/callbacks/rwSpiCallback.h | 9 --- bsp_q7s/core/ObjectFactory.cpp | 58 +++++++------- fsfw | 2 +- linux/ObjectFactory.cpp | 29 ++++--- mission/devices/GyroADIS1650XHandler.cpp | 2 +- mission/devices/PayloadPcduHandler.cpp | 3 +- 7 files changed, 117 insertions(+), 84 deletions(-) diff --git a/bsp_q7s/callbacks/rwSpiCallback.cpp b/bsp_q7s/callbacks/rwSpiCallback.cpp index 90ff4f6f..5f9015c3 100644 --- a/bsp_q7s/callbacks/rwSpiCallback.cpp +++ b/bsp_q7s/callbacks/rwSpiCallback.cpp @@ -10,6 +10,22 @@ namespace rwSpiCallback { +namespace { +static bool MODE_SET = false; + +ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId, + MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs, + int& fd); +/** + * @brief This function closes a spi session. Pulls the chip select to high an releases the + * mutex. + * @param gpioId Gpio ID of chip select + * @param gpioIF Pointer to gpio interface to drive the chip select + * @param mutex The spi mutex + */ +void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex); +} // namespace + ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData, size_t sendLen, void* args) { // Stopwatch watch; @@ -35,34 +51,27 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen } int fileDescriptor = 0; - std::string device = cookie->getSpiDevice(); - UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback::spiCallback"); - if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl; - return SpiComIF::OPENING_FILE_FAILED; - } - spi::SpiModes spiMode = spi::SpiModes::MODE_0; - uint32_t spiSpeed = 0; - cookie->getSpiParameters(spiMode, spiSpeed, nullptr); - comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); - - result = mutex->lockMutex(timeoutType, timeoutMs); + const std::string& dev = comIf->getSpiDev(); + result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor); if (result != HasReturnvaluesIF::RETURN_OK) { - sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl; return result; } - /** Sending frame start sign */ - writeBuffer[0] = 0x7E; - writeSize = 1; - - // 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::spiCallback: Failed to pull chip select low" << std::endl; - } + spi::SpiModes spiMode = spi::SpiModes::MODE_0; + uint32_t spiSpeed = 0; + cookie->getSpiParameters(spiMode, spiSpeed, nullptr); + // We are in protected section, so we can use the static variable here without issues. + // We don't need to set the speed because a SPI core is used, but the mode has to be set once + // correctly for all RWs + if (not MODE_SET) { + comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); + MODE_SET = true; } + /** Sending frame start sign */ + writeBuffer[0] = FLAG_BYTE; + writeSize = 1; + if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl; closeSpi(gpioId, gpioIF, mutex); @@ -97,7 +106,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen } /** Sending frame end sign */ - writeBuffer[0] = 0x7E; + writeBuffer[0] = FLAG_BYTE; writeSize = 1; if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { @@ -115,8 +124,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen size_t replyBufferSize = cookie->getMaxBufferSize(); - /** There must be a delay of at least 20 ms after sending the command */ + // 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(gpioId, gpioIF, mutex); usleep(RwDefinitions::SPI_REPLY_DELAY); + result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor); + if (result != HasReturnvaluesIF::RETURN_OK) { + return result; + } /** * The reaction wheel responds with empty frames while preparing the reply data. @@ -204,8 +219,9 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen result = RwHandler::SPI_READ_FAILURE; break; } - if (byteRead != 0x7E) { - sif::error << "rwSpiCallback::spiCallback: Missing end sign 0x7E" << std::endl; + if (byteRead != FLAG_BYTE) { + sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast(FLAG_BYTE) + << std::endl; decodedFrameLen--; result = RwHandler::MISSING_END_SIGN; break; @@ -221,6 +237,33 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen return result; } +namespace { + +ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId, + MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs, + int& fd) { + ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl; + return result; + } + + fd = open(devname.c_str(), flags); + if (fd < 0) { + sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl; + return SpiComIF::OPENING_FILE_FAILED; + } + + // Pull SPI CS low. For now, no support for active high given + if (gpioId != gpio::NO_GPIO) { + result = gpioIF->pullLow(gpioId); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl; + return result; + } + } + return HasReturnvaluesIF::RETURN_OK; +} void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) { if (gpioId != gpio::NO_GPIO) { if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { @@ -232,4 +275,7 @@ void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) { ; } } + +} // namespace + } // namespace rwSpiCallback diff --git a/bsp_q7s/callbacks/rwSpiCallback.h b/bsp_q7s/callbacks/rwSpiCallback.h index 843d5b80..4a5389a3 100644 --- a/bsp_q7s/callbacks/rwSpiCallback.h +++ b/bsp_q7s/callbacks/rwSpiCallback.h @@ -33,14 +33,5 @@ static constexpr uint8_t FLAG_BYTE = 0x7E; ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData, size_t sendLen, void* args); -/** - * @brief This function closes a spi session. Pulls the chip select to high an releases the - * mutex. - * @param gpioId Gpio ID of chip select - * @param gpioIF Pointer to gpio interface to drive the chip select - * @param mutex The spi mutex - */ -void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex); - } // namespace rwSpiCallback #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */ diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp index a3a21b3c..ff1e78cc 100644 --- a/bsp_q7s/core/ObjectFactory.cpp +++ b/bsp_q7s/core/ObjectFactory.cpp @@ -150,8 +150,8 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, Ua new CspComIF(objects::CSP_COM_IF); *i2cComIF = new I2cComIF(objects::I2C_COM_IF); *uartComIF = new UartComIF(objects::UART_COM_IF); - *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, *gpioComIF); - *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, *gpioComIF); + *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, *gpioComIF); + *spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF); /* Adding gpios for chip select decoding to the gpioComIf */ q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF); } @@ -211,9 +211,9 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) { gpioCookieRadSensor->addGpio(gpioIds::ENABLE_RADFET, gpio); gpioChecker(gpioComIF->addGpios(gpioCookieRadSensor), "RAD sensor"); - SpiCookie* spiCookieRadSensor = new SpiCookie( - addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV), - RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); + SpiCookie* spiCookieRadSensor = + new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, RAD_SENSOR::READ_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED); auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_MAIN_COM_IF, spiCookieRadSensor, gpioComIF); static_cast(radSensor); @@ -332,8 +332,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #if OBSW_ADD_ACS_HANDLERS == 1 std::string spiDev = q7s::SPI_DEFAULT_DEV; SpiCookie* spiCookie = - new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, - MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, + spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY); fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER); @@ -347,8 +347,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI mgmLis3Handler->enablePeriodicPrintouts(true, 10); #endif spiCookie = - new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, - RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE, + spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::RM3100_TRANSITION_DELAY); @@ -364,8 +364,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI mgmRm3100Handler->enablePeriodicPrintouts(true, 10); #endif spiCookie = - new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev, - MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); + new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE, + spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED); mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY); fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER); @@ -380,8 +380,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI mgmLis3Handler->enablePeriodicPrintouts(true, 10); #endif spiCookie = - new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev, - RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); + new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE, + spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED); mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::RM3100_TRANSITION_DELAY); fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER); @@ -396,9 +396,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI #endif // Commented until ACS board V2 in in clean room again // Gyro 0 Side A - spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev, - ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, - spi::DEFAULT_ADIS16507_SPEED); + spiCookie = + new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE, + spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED); auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, ADIS1650X::Type::ADIS16505); @@ -414,9 +414,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI adisHandler->enablePeriodicPrintouts(true, 10); #endif // Gyro 1 Side A - spiCookie = - new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE, - spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, + spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); auto gyroL3gHandler = new GyroHandlerL3GD20H( objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER); @@ -431,9 +430,9 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI gyroL3gHandler->enablePeriodicPrintouts(true, 10); #endif // Gyro 2 Side B - spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev, - ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE, - spi::DEFAULT_ADIS16507_SPEED); + spiCookie = + new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE, + spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED); adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, ADIS1650X::Type::ADIS16505); fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER); @@ -444,9 +443,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI adisHandler->setToGoToNormalModeImmediately(); #endif // Gyro 3 Side B - spiCookie = - new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE, - spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); + spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE, + spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED); gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY); fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER); @@ -661,8 +659,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF, std::array rws = {}; for (uint8_t idx = 0; idx < rwCookies.size(); idx++) { rwCookies[idx] = new SpiCookie(rwCookieParams[idx].first, rwCookieParams[idx].second, - q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, - spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr); + RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, + &rwSpiCallback::spiCallback, nullptr); rws[idx] = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF, rwGpioIds[idx]); rwCookies[idx]->setCallbackArgs(rws[idx]); @@ -837,9 +835,9 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* gpio::Levels::HIGH); plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio); gpioChecker(gpioComIF->addGpios(plPcduGpios), "PL PCDU"); - SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, - q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE, - spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED); + SpiCookie* spiCookie = + new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS, plpcdu::MAX_ADC_REPLY_SIZE, + spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED); // Create device handler components auto plPcduHandler = new PayloadPcduHandler( objects::PLPCDU_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, gpioComIF, diff --git a/fsfw b/fsfw index d72b212f..e06c4577 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit d72b212fa629029924d9862e3e862d0388911f8e +Subproject commit e06c457743991b2a0c2d84de9e169508ac428aa8 diff --git a/linux/ObjectFactory.cpp b/linux/ObjectFactory.cpp index 8996c23d..269b0f79 100644 --- a/linux/ObjectFactory.cpp +++ b/linux/ObjectFactory.cpp @@ -67,16 +67,15 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo #if OBSW_ADD_SUN_SENSORS == 1 SusFdir* fdir = nullptr; std::array susHandlers = {}; - SpiCookie* spiCookie = - new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE, - spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); + SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE, + spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[0] = new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie); fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF); susHandlers[0]->setParent(objects::SUS_BOARD_ASS); susHandlers[0]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[1] = new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie); @@ -84,7 +83,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[1]->setParent(objects::SUS_BOARD_ASS); susHandlers[1]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[2] = new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie); @@ -92,7 +91,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[2]->setParent(objects::SUS_BOARD_ASS); susHandlers[2]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[3] = new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie); @@ -100,7 +99,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[3]->setParent(objects::SUS_BOARD_ASS); susHandlers[3]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[4] = new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie); @@ -108,7 +107,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[4]->setParent(objects::SUS_BOARD_ASS); susHandlers[4]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[5] = new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie); @@ -116,7 +115,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[5]->setParent(objects::SUS_BOARD_ASS); susHandlers[5]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[6] = new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie); @@ -124,7 +123,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[6]->setParent(objects::SUS_BOARD_ASS); susHandlers[6]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[7] = new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie); @@ -132,7 +131,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[7]->setParent(objects::SUS_BOARD_ASS); susHandlers[7]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[8] = new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie); @@ -140,7 +139,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[8]->setParent(objects::SUS_BOARD_ASS); susHandlers[8]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[9] = new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie); @@ -148,7 +147,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[9]->setParent(objects::SUS_BOARD_ASS); susHandlers[9]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[10] = new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie); @@ -156,7 +155,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo susHandlers[10]->setParent(objects::SUS_BOARD_ASS); susHandlers[10]->setCustomFdir(fdir); - spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE, + spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ); susHandlers[11] = new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie); @@ -286,7 +285,7 @@ void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF, RtdFdir* rtdFdir = nullptr; for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) { rtdCookies[idx] = - new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev, + new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED); rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]); rtds[idx]->setParent(objects::TCS_BOARD_ASS); diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp index 3b525287..ed9dd777 100644 --- a/mission/devices/GyroADIS1650XHandler.cpp +++ b/mission/devices/GyroADIS1650XHandler.cpp @@ -408,7 +408,7 @@ ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie * int retval = 0; // Prepare transfer int fileDescriptor = 0; - std::string device = cookie->getSpiDevice(); + std::string device = comIf->getSpiDev(); UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return SpiComIF::OPENING_FILE_FAILED; diff --git a/mission/devices/PayloadPcduHandler.cpp b/mission/devices/PayloadPcduHandler.cpp index 28ce0772..05e8edec 100644 --- a/mission/devices/PayloadPcduHandler.cpp +++ b/mission/devices/PayloadPcduHandler.cpp @@ -697,8 +697,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook int retval = 0; // Prepare transfer int fileDescriptor = 0; - std::string device = cookie->getSpiDevice(); - UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); + UnixFileGuard fileHelper(comIf->getSpiDev(), &fileDescriptor, O_RDWR, "SpiComIF::sendMessage"); if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { return SpiComIF::OPENING_FILE_FAILED; }