eive/eive-obsw
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spi com if finished

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This commit is contained in:
Robin Müller 2021-02-23 11:56:48 +01:00
parent 3550fb6ca7
commit e1e0c07746
5 changed files with 121 additions and 85 deletions
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1
fsfwconfig/returnvalues/classIds.h
View File

@ -14,6 +14,7 @@ enum {
MGM_LIS3MDL,
MGM_RM3100,
LINUX_LIBGPIO_IF,
LINUX_SPI_COM_IF,
PCDU_HANDLER,
HEATER_HANDLER,
SA_DEPL_HANDLER

69
linux/spi/SpiComIF.cpp
View File

@ -2,8 +2,6 @@
#include "spiDefinitions.h"
#include <linux/spi/SpiCookie.h>
#include <linux/utility/errorhandling.h>
#include <fsfw/ipc/MutexFactory.h>
#include <fcntl.h>
@ -12,6 +10,7 @@
#include <linux/spi/spidev.h>
#include <errno.h>
#include <fsfw/ipc/MutexHelper.h>
#include <linux/utility/utility.h>
#include <cstring>
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
@ -81,9 +80,10 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
int fileDescriptor = 0;
ReturnValue_t result = openDevice(spiCookie->getSpiDevice(), &fileDescriptor);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
utility::UnixFileHelper fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
int retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE, spiSpeed);
@ -138,6 +138,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
if(spiCookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
@ -160,9 +161,10 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
spiCookie->assignTransferSize(sendLen);
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
ReturnValue_t result = openDevice(device, &fileDescriptor);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
bool fullDuplex = spiCookie->isFullDuplex();
@ -180,8 +182,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval != 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
/* TODO: Better returnvalue */
return HasReturnvaluesIF::RETURN_FAILED;
result = FULL_DUPLEX_TRANSFER_FAILED;
}
}
else {
@ -189,15 +190,14 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
std::endl;
/* TODO: Better returnvalue */
return HasReturnvaluesIF::RETURN_FAILED;
result = HALF_DUPLEX_TRANSFER_FAILED;
}
}
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
}
return HasReturnvaluesIF::RETURN_OK;
return result;
}
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
@ -205,6 +205,7 @@ ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
}
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
@ -217,9 +218,10 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0;
ReturnValue_t result = openDevice(device, &fileDescriptor);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
utility::UnixFileHelper fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::requestReceiveMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
uint8_t* rxBuf = nullptr;
@ -237,9 +239,11 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
}
result = HALF_DUPLEX_TRANSFER_FAILED;
}
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
}
return HasReturnvaluesIF::RETURN_OK;
@ -261,33 +265,6 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::openDevice(std::string deviceFile, int *fileDescriptor, bool nonBlocking) {
if(fileDescriptor == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
int flags = O_RDWR;
if(nonBlocking) {
flags |= O_NONBLOCK;
}
*fileDescriptor = open(deviceFile.c_str(), flags);
if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF: Opening SPI device failed with error code " << errno << "." <<
std::endl;
sif::warning << "Error description: " << strerror(errno) << std::endl;
#else
sif::printError("SpiComIF: Opening SPI device failed with error code %d.\n");
sif::printWarning("Error description: %s\n", strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return HasReturnvaluesIF::RETURN_FAILED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
if(buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;

29
linux/spi/SpiComIF.h
View File

@ -4,6 +4,7 @@
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <linux/gpio/GpioIF.h>
#include <returnvalues/classIds.h>
#include <vector>
#include <unordered_map>
@ -16,6 +17,16 @@
*/
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
public:
static constexpr uint8_t spiRetvalId = CLASS_ID::LINUX_SPI_COM_IF;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
/* Full duplex (ioctl) transfer failure */
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
/* Half duplex (read/write) transfer failure */
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF * cookie) override;
@ -43,15 +54,15 @@ private:
SpiDeviceMap spiDeviceMap;
/**
* @brief This function opens an SPI device and binds the opened file
* to a specific SPI address.
* @param deviceFile The name of the device file. E.g. spi-0
* @param i2cAddress The address of the SPI slave device.
* @param fileDescriptor Pointer to device descriptor.
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
*/
ReturnValue_t openDevice(std::string deviceFile, int* fileDescriptor, bool nonBlocking = false);
// /**
// * @brief This function opens an SPI device and binds the opened file
// * to a specific SPI address.
// * @param deviceFile The name of the device file. E.g. spi-0
// * @param i2cAddress The address of the SPI slave device.
// * @param fileDescriptor Pointer to device descriptor.
// * @return RETURN_OK if successful, otherwise RETURN_FAILED.
// */
// ReturnValue_t openDevice(std::string deviceFile, int* fileDescriptor, bool nonBlocking = false);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
};

30
linux/utility/errorhandling.h
View File

@ -1,30 +0,0 @@
#ifndef LINUX_UTILITY_ERRORHANDLING_H_
#define LINUX_UTILITY_ERRORHANDLING_H_
#include <cerrno>
#include <cstring>
#include <fsfw/serviceinterface/ServiceInterface.h>
namespace utility {
void handleIoctlError(const char* const customPrintout) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(customPrintout != nullptr) {
sif::warning << customPrintout << std::endl;
}
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
std::endl;
#else
if(customPrintout != nullptr) {
sif::printWarning("%s\n", customPrintout);
}
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
}
#endif /* LINUX_UTILITY_ERRORHANDLING_H_ */

77
linux/utility/utility.h Normal file
View File

@ -0,0 +1,77 @@
#ifndef LINUX_UTILITY_UTILITY_H_
#define LINUX_UTILITY_UTILITY_H_
#include <cerrno>
#include <cstring>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fcntl.h>
#include <unistd.h>
namespace utility {
void handleIoctlError(const char* const customPrintout) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
if(customPrintout != nullptr) {
sif::warning << customPrintout << std::endl;
}
sif::warning << "handleIoctlError: Error code " << errno << ", "<< strerror(errno) <<
std::endl;
#else
if(customPrintout != nullptr) {
sif::printWarning("%s\n", customPrintout);
}
sif::printWarning("handleIoctlError: Error code %d, %s\n", errno, strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
class UnixFileHelper {
public:
static constexpr int READ_WRITE_FLAG = O_RDWR;
static constexpr int READ_ONLY_FLAG = O_RDONLY;
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
UnixFileHelper(std::string device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = ""):
fileDescriptor(fileDescriptor) {
if(fileDescriptor == nullptr) {
return;
}
*fileDescriptor = open(device.c_str(), flags);
if (*fileDescriptor < 0) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
"." << std::endl;
sif::warning << "Error description: " << strerror(errno) << std::endl;
#else
sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
sif::printWarning("Error description: %s\n", strerror(errno));
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
openStatus = OPEN_FILE_FAILED;
}
}
virtual~ UnixFileHelper() {
if(fileDescriptor != nullptr) {
close(*fileDescriptor);
}
}
ReturnValue_t getOpenResult() const {
return openStatus;
}
private:
int* fileDescriptor = nullptr;
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
};
}
#endif /* LINUX_UTILITY_UTILITY_H_ */