bsp_rpi/ObjectFactory.cpp

@@ -51,10 +51,10 @@ void ObjectFactory::produce(){
 			objects::TM_STORE, objects::TC_STORE);
 	new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);
 
-    new LinuxLibgpioIF(objects::GPIO_IF);
+    GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
 
 #if RPI_ADD_SPI_TEST == 1
-	new SpiTestClass(objects::SPI_TEST);
+	new SpiTestClass(objects::SPI_TEST, gpioIF);
 #endif
 
 #if RPI_LOOPBACK_TEST_GPIO == 1

fsfwconfig/devices/gpioIds.h

@@ -15,6 +15,15 @@ namespace gpioIds {
 		HEATER_7,
 		DEPLSA1,
 		DEPLSA2,
+
+		MGM_0_LIS3_CS,
+		MGM_1_RM3100_CS,
+		GYRO_0_ADIS_CS,
+		GYRO_1_L3G_CS,
+		GYRO_2_L3G_CS,
+		MGM_2_LIS3_CS,
+		MGM_3_RM3100_CS,
+
 		TEST_ID_0,
 		TEST_ID_1
 	};

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;
+
 };
 
 

linux/gpio/LinuxLibgpioIF.cpp

@@ -24,6 +24,7 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
 
     GpioMap mapToAdd = gpioCookie->getGpioMap();
 
+    /* Check whether this ID already exists in the map and remove duplicates */
     result = checkForConflicts(mapToAdd);
     if (result != RETURN_OK){
         return result;
@@ -48,6 +49,9 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
         }
         case(gpio::GpioTypes::GPIOD_REGULAR): {
             GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
             configureRegularGpio(gpioConfig.first, regularGpio);
             break;
         }
@@ -57,7 +61,7 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
                 return GPIO_INVALID_INSTANCE;
             }
             gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
-                    0, gpioCallback->callbackArgs);
+                    gpioCallback->initValue, gpioCallback->callbackArgs);
         }
         }
     }
@@ -219,7 +223,20 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
-            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio);
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
+            if(callbackGpio == nullptr)  {
+                return GPIO_TYPE_FAILURE;
+            }
+            /* Check for conflicts and remove duplicates if necessary */
+            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -235,29 +252,53 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
 
 
 ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
-        GpiodRegular* gpioToCheck) {
+        GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
     /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
-        if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIOD_REGULAR) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIOD_REGULAR) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
         auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
         if(ownRegularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
         }
         /* An entry for this GPIO already exists. Check if configuration
          * of direction is equivalent */
-            if (gpioToCheck->direction != ownRegularGpio->direction){
+        if (gpioToCheck->direction != ownRegularGpio->direction) {
-                sif::error << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: Detected conflict for GPIO " <<
                     gpioIdToCheck << std::endl;
-                return RETURN_FAILED;
-
-            }
         }
 
         /* Remove element from map to add because a entry for this GPIO
-         * already exists */
+        already exists */
-        gpioMap.erase(gpioIdToCheck);
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
-
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
+    /* Cross check with private map */
+    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    if(gpioMapIter != gpioMap.end()) {
+        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            mapToAdd.erase(gpioIdToCheck);
+            return HasReturnvaluesIF::RETURN_OK;
+        }
+
+        /* Remove element from map to add because a entry for this GPIO
+        already exists */
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+                << " detected. Duplicate will be removed from map to add." << std::endl;
+        mapToAdd.erase(gpioIdToCheck);
     }
     return HasReturnvaluesIF::RETURN_OK;
 }

linux/gpio/LinuxLibgpioIF.h

@@ -62,7 +62,10 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio);
+	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
+	        GpioMap& mapToAdd);
+    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
+            GpioMap& mapToAdd);
 
 	/**
 	 * @brief   Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.