eive/eive-obsw
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Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into develop
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This commit is contained in:
Markus Koller
2022-01-13 14:02:51 +01:00
parent 5c1c0dc515 470e834b80
commit d0807ed262
79 changed files with 7386 additions and 966 deletions
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25
bsp_q7s/callbacks/rwSpiCallback.cpp
View File

@ -51,11 +51,6 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
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 */
writeBuffer[0] = 0x7E;
writeSize = 1;
@ -133,8 +128,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE;
}
if(idx == 0) {
if(byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
closeSpi(gpioId, gpioIF, mutex);
return RwHandler::NO_START_MARKER;
}
}
if (byteRead != 0x7E) {
if (byteRead != FLAG_BYTE) {
break;
}
@ -145,6 +147,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
}
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
#endif
size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) {
@ -158,7 +164,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
}
}
if (byteRead == 0x7E) {
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
break;
}
@ -227,10 +233,5 @@ void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
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;
}
}
}

3
bsp_q7s/callbacks/rwSpiCallback.h
View File

@ -8,6 +8,9 @@
namespace rwSpiCallback {
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
/**
* @brief This is the callback function to send commands to the nano avionics reaction wheels and
* receive the replies.