92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
|
|
#define LINUX_DEVICES_RWPOLLINGTASK_H_
|
|
|
|
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
|
#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>
|
|
|
|
#include "mission/acs/rwHelpers.h"
|
|
|
|
class RwCookie : public SpiCookie {
|
|
friend class RwPollingTask;
|
|
|
|
public:
|
|
static constexpr size_t REPLY_BUF_LEN = 524;
|
|
RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
|
|
spi::SpiModes spiMode, uint32_t spiSpeed)
|
|
: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {
|
|
bufLock = MutexFactory::instance()->createMutex();
|
|
}
|
|
|
|
private:
|
|
std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
|
|
std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
|
|
MutexIF* bufLock;
|
|
bool setSpeed = true;
|
|
int32_t currentRwSpeed = 0;
|
|
uint16_t currentRampTime = 0;
|
|
rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
|
|
uint8_t rwIdx;
|
|
};
|
|
|
|
class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
|
|
public:
|
|
RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF);
|
|
|
|
ReturnValue_t performOperation(uint8_t operationCode) override;
|
|
ReturnValue_t initialize() override;
|
|
|
|
private:
|
|
enum class InternalState { IDLE, IS_BUSY } state = InternalState::IDLE;
|
|
SemaphoreIF* semaphore;
|
|
bool debugMode = false;
|
|
bool modeAndSpeedWasSet = false;
|
|
MutexIF* ipcLock;
|
|
MutexIF* spiLock;
|
|
const char* spiDev;
|
|
GpioIF& gpioIF;
|
|
std::array<bool, 4> skipCommandingForRw;
|
|
std::array<DeviceCommandId_t, 4> specialRequestIds;
|
|
std::array<RwCookie*, 4> rwCookies;
|
|
std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
|
|
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
|
|
|
|
size_t writeLen = 0;
|
|
static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
|
|
static constexpr uint32_t TIMEOUT_MS = 20;
|
|
static constexpr uint8_t MAX_RETRIES_REPLY = 5;
|
|
|
|
// DeviceCommunicationIF overrides
|
|
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
|
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
|
|
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
|
|
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
|
|
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
|
|
|
|
ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
|
|
ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
|
|
ReturnValue_t readAllRws(DeviceCommandId_t id);
|
|
|
|
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
|
|
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
|
|
void handleSpecialRequests();
|
|
|
|
ReturnValue_t openSpi(int flags, int& fd);
|
|
ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
|
|
void prepareSimpleCommand(DeviceCommandId_t id);
|
|
ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
|
|
|
|
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
|
|
void fillSpecialRequestArray();
|
|
void setAllReadFlagsFalse();
|
|
|
|
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
|
|
void closeSpi(int);
|
|
};
|
|
|
|
#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */
|