eive/eive-obsw
eive/eive-obsw
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adis handler continued

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This commit is contained in:
Robin Müller 2021-05-25 12:45:51 +02:00
parent 6cc825f3da
commit d864b8abf9
3 changed files with 84 additions and 7 deletions
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2
fsfw_hal

@ -1 +1 @@
Subproject commit 73a427d7e0605519aecfa53fa289b94e0143394f
Subproject commit 2893da047bc695fcb02b0f9567cef0366a37793a

2
linux/fsfwconfig/OBSWConfig.h
View File

@ -21,6 +21,8 @@ debugging. */
#define OBSW_ADD_TEST_CODE 1
#define OBSW_ADD_TEST_PST 1
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 1
#define TEST_SUS_HANDLER 1

87
mission/devices/GyroADIS16507Handler.cpp
View File

@ -1,17 +1,20 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/linux/utility.h>
#include "GyroADIS16507Handler.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#endif
#include "fsfw_hal/linux/UnixFileGuard.h"
#include <sys/ioctl.h>
#include <unistd.h>
#endif
GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF * comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
configDataset(this) {
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
configDataset(this) {
#if OBSW_ADIS16507_LINUX_COM_IF == 1
SpiCookie* cookie = dynamic_cast<SpiCookie*>(comCookie);
if(cookie != nullptr) {
@ -260,8 +263,80 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
case(ADIS16507::READ_SENSOR_DATA): {
return comIf->performRegularSendOperation(cookie, sendData, sendLen);
}
case(ADIS16507::READ_OUT_CONFIG): {
usleep(ADIS16507::STALL_TIME_MICROSECONDS);
case(ADIS16507::READ_OUT_CONFIG):
default: {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = cookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
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);
cookie->assignWriteBuffer(sendData);
cookie->assignTransferSize(2);
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF* gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
if(mutex == nullptr or gpioIF == nullptr) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;
#endif
}
size_t idx = 0;
while(idx < sendLen) {
// Pull SPI CS low. For now, no support for active high given
if(gpioId != gpio::NO_GPIO) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
return result;
}
gpioIF->pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
if(retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if(gpioId != gpio::NO_GPIO) {
gpioIF->pullHigh(gpioId);
result = mutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
#endif
return result;
}
}
idx += 2;
if(idx < sendLen) {
usleep(ADIS16507::STALL_TIME_MICROSECONDS);
}
sendData += 2;
cookie->getTransferStructHandle()->rx_buf += 2;
}
}
}
return HasReturnvaluesIF::RETURN_OK;