eive/eive-obsw
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This commit is contained in:
Robin Müller
2023-02-16 16:08:17 +01:00
parent 6be54a9485
commit feb59d321c
8 changed files with 50 additions and 157 deletions
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30
linux/devices/RwPollingTask.cpp
View File

@ -5,18 +5,19 @@
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/common/spi/spiCommon.h>
#include <fsfw_hal/linux/utility.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include "devConf.h"
#include "mission/devices/devicedefinitions/rwHelpers.h"
RwPollingTask::RwPollingTask(object_id_t objectId, SpiComIF* spiIF)
: SystemObject(objectId), spiIF(spiIF) {
RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
: SystemObject(objectId), spiDev(spiDev), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
spiLock = spiIF->getCsMutex();
spiDev = spiIF->getSpiDev().c_str();
spiLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
@ -79,13 +80,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::initialize() {
if (spiDev == nullptr) {
sif::error << "SPI device is invalid" << std::endl;
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::initialize() { return returnvalue::OK; }
ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
// We don't need to set the speed because a SPI core is used, but the mode has to be set once
@ -96,7 +91,16 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
sif::error << "could not open RW SPI bus" << std::endl;
return returnvalue::FAILED;
}
spiIF->setSpiSpeedAndMode(fd, spi::RW_MODE, spi::RW_SPEED);
spi::SpiModes mode = spi::RW_MODE;
int retval = ioctl(fd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi::RW_SPEED);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
close(fd);
modeAndSpeedWasSet = true;
}
@ -201,7 +205,6 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
ReturnValue_t result = returnvalue::OK;
int fd = 0;
gpioId_t gpioId = rwCookie.getChipSelectPin();
GpioIF& gpioIF = spiIF->getGpioInterface();
pullCsLow(gpioId, spiLock, gpioIF);
uint8_t byteRead = 0;
for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
@ -439,7 +442,6 @@ void RwPollingTask::closeSpi(int fd) {
ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
gpioId_t gpioId = rwCookie.getChipSelectPin();
GpioIF& gpioIF = spiIF->getGpioInterface();
if (spiLock == nullptr) {
sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
return returnvalue::FAILED;

5
linux/devices/RwPollingTask.h
View File

@ -5,6 +5,7 @@
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
@ -30,7 +31,7 @@ class RwCookie : public SpiCookie {
class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
public:
RwPollingTask(object_id_t objectId, SpiComIF* spiIF);
RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
@ -43,7 +44,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
MutexIF* ipcLock;
MutexIF* spiLock;
const char* spiDev;
SpiComIF* spiIF;
GpioIF& gpioIF;
std::array<bool, 4> skipCommandingForRw;
std::array<DeviceCommandId_t, 4> specialRequestIds;
std::array<RwCookie*, 4> rwCookies;