gpio bugfix

linux/boardtest/SpiTestClass.cpp

@@ -1,8 +1,91 @@
-#include <linux/boardtest/SpiTestClass.h>
+#include "SpiTestClass.h"
 
-SpiTestClass::SpiTestClass(object_id_t objectId): TestTask(objectId) {
+#include <fsfwconfig/devices/gpioIds.h>
+#include <fsfw/serviceinterface/ServiceInterface.h>
+
+#include <linux/spi/spidev.h>
+#include <fcntl.h>
+#include <linux/gpio/gpioDefinitions.h>
+#include <linux/gpio/GpioCookie.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+
+SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objectId),
+        gpioIF(gpioIF) {
+    if(gpioIF == nullptr) {
+        sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
+    }
+    testMode = TestModes::MGM_RM3100;
+    spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
+    spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
+}
+
+ReturnValue_t SpiTestClass::performOneShotAction() {
+    switch(testMode) {
+    case(TestModes::MGM_LIS3MDL): {
+        break;
+    }
+    case(TestModes::MGM_RM3100): {
+        performRm3100Test();
+        break;
+    }
+    case(TestModes::GYRO_L3GD20H): {
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
 }
 
 ReturnValue_t SpiTestClass::performPeriodicAction() {
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void SpiTestClass::performRm3100Test() {
+    /* Adapt accordingly */
+    uint8_t chipSelectPin = mgm1Rm3100ChipSelect;
+    acsInit();
+}
+
+void SpiTestClass::acsInit() {
+    GpioCookie* gpioCookie = new GpioCookie();
+    std::string rpiGpioName = "gpiochip0";
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), mgm0Lis3ChipSelect, "MGM_0_LIS3",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), mgm1Rm3100ChipSelect, "MGM_1_RM3100",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), gyro0AdisChipSelect, "GYRO_0_ADIS",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), gyro1L3gd20ChipSelect, "GYRO_1_L3G",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), gyro2L3gd20ChipSelect, "GYRO_2_L3G",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
+    }
+    {
+        GpiodRegular gpio(rpiGpioName.c_str(), mgm3Rm3100ChipSelect, "MGM_3_RM3100",
+                gpio::Direction::OUT, 1);
+        gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
+    }
+    if(gpioIF != nullptr) {
+        gpioIF->addGpios(gpioCookie);
+    }
+}

linux/boardtest/SpiTestClass.h

@@ -1,15 +1,47 @@
 #ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
 #define LINUX_BOARDTEST_SPITESTCLASS_H_
 
+#include <linux/gpio/GpioIF.h>
+#include <linux/spi/SpiCookie.h>
 #include <test/testtasks/TestTask.h>
 
+#include <vector>
+
 class SpiTestClass: public TestTask {
 public:
-    SpiTestClass(object_id_t objectId);
+    enum TestModes {
+        MGM_LIS3MDL,
+        MGM_RM3100,
+        GYRO_L3GD20H,
+    };
 
+    TestModes testMode;
+
+    SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
+
+    ReturnValue_t performOneShotAction() override;
     ReturnValue_t performPeriodicAction() override;
 private:
 
+    GpioIF* gpioIF;
+
+    std::array<uint8_t, 128> recvBuffer;
+    std::array<uint8_t, 128> sendBuffer;
+    struct spi_ioc_transfer spiTransferStruct;
+
+    void performRm3100Test();
+    /* ACS board specific code which pulls all GPIOs high */
+    void acsInit();
+
+    /* ACS board specific variables */
+    uint8_t mgm0Lis3ChipSelect = 0;
+    uint8_t mgm1Rm3100ChipSelect = 1;
+    uint8_t gyro0AdisChipSelect = 5;
+    uint8_t gyro1L3gd20ChipSelect = 6;
+    uint8_t gyro2L3gd20ChipSelect = 4;
+    uint8_t mgm2Lis3mdlChipSelect = 17;
+    uint8_t mgm3Rm3100ChipSelect = 27;
+
 };