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reaction wheels testing

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This commit is contained in:
Martin Zietz
2021-06-21 14:46:46 +02:00
parent 33a55d7114
commit d704b389e4
6 changed files with 42 additions and 9 deletions
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25
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
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@ -103,6 +103,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
}
return RwHandler::SPI_WRITE_FAILURE;
}
idx++;
}
/** Sending frame start sign */
@ -125,6 +126,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
uint8_t* rxBuf = nullptr;
result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
if(result != HasReturnvaluesIF::RETURN_OK) {
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl;
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to unlock mutex";
}
return result;
}
@ -133,6 +142,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
uint8_t byteRead = 0;
/** Reading the reply frame */
if(read(fileDescriptor, &byteRead, 1) != 1) {
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl;
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to unlock mutex";
}
sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl;
return RwHandler::SPI_READ_FAILURE;
}
@ -140,6 +157,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
/** First byte must be the start sign 0x7E */
if (byteRead != 0x7E) {
sif::error << "rwSpiCallback: First byte of reply is not 0x7E" << std::endl;
if(gpioId != gpio::NO_GPIO) {
if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl;
}
}
if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "rwSpiCallback: Failed to unlock mutex";
}
return RwHandler::MISSING_START_SIGN;
}