Robin Mueller
3354f2a696
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103 lines
3.3 KiB
C++
103 lines
3.3 KiB
C++
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
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#define LINUX_BOARDTEST_SPITESTCLASS_H_
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#include "OBSWConfig.h"
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#if defined(XIPHOS_Q7S)
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#include "busConf.h"
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#endif
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include <test/testtasks/TestTask.h>
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#include <vector>
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class SpiTestClass: public TestTask {
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public:
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enum TestModes {
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NONE,
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MGM_LIS3MDL,
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MGM_RM3100,
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GYRO_L3GD20H,
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};
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TestModes testMode;
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SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
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ReturnValue_t performOneShotAction() override;
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ReturnValue_t performPeriodicAction() override;
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private:
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GpioIF* gpioIF;
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std::array<uint8_t, 128> recvBuffer;
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std::array<uint8_t, 128> sendBuffer;
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struct spi_ioc_transfer spiTransferStruct = {};
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void performRm3100Test(uint8_t mgmId);
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void performLis3MdlTest(uint8_t lis3Id);
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void performL3gTest(uint8_t l3gId);
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/* ACS board specific code which pulls all GPIOs high */
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void acsInit();
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/* ACS board specific variables */
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#ifdef RASPBERRY_PI
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uint8_t mgm0Lis3mdlChipSelect = 0;
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uint8_t mgm1Rm3100ChipSelect = 1;
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uint8_t gyro0AdisChipSelect = 5;
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uint8_t gyro1L3gd20ChipSelect = 6;
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uint8_t gyro2L3gd20ChipSelect = 4;
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uint8_t mgm2Lis3mdlChipSelect = 17;
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uint8_t mgm3Rm3100ChipSelect = 27;
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#elif defined(XIPHOS_Q7S)
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uint8_t mgm0Lis3mdlChipSelect = q7s::GPIO_MGM_0_LIS3_CS;
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uint8_t mgm1Rm3100ChipSelect = q7s::GPIO_MGM_1_RM3100_CS;
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uint8_t gyro0AdisChipSelect = q7s::GPIO_GYRO_0_ADIS_CS;
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uint8_t gyro2AdisChipSelect = q7s::GPIO_GYRO_2_ADIS_CS;
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uint8_t gyro1L3gd20ChipSelect = q7s::GPIO_GYRO_1_L3G_CS;
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uint8_t gyro3L3gd20ChipSelect = q7s::GPIO_GYRO_3_L3G_CS;
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uint8_t mgm2Lis3mdlChipSelect = q7s::GPIO_MGM_2_LIS3_CS;
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uint8_t mgm3Rm3100ChipSelect = q7s::GPIO_MGM_3_RM3100_CS;
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#else
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uint8_t mgm0Lis3mdlChipSelect = 0;
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uint8_t mgm1Rm3100ChipSelect = 0;
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uint8_t gyro0AdisResetLine = 0;
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uint8_t gyro0AdisChipSelect = 0;
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uint8_t gyro1L3gd20ChipSelect = 0;
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uint8_t gyro2L3gd20ChipSelect = 0;
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uint8_t mgm2Lis3mdlChipSelect = 0;
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uint8_t mgm3Rm3100ChipSelect = 0;
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#endif
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static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
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static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
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static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
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void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
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void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
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bool autoIncrement);
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void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
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size_t len);
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void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
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size_t len);
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void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
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uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
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uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
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uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
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void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
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size_t len);
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void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
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uint8_t* reply, size_t len);
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};
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#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */
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