38 lines
1.8 KiB
C++
38 lines
1.8 KiB
C++
#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
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#define BSP_Q7S_RW_SPI_CALLBACK_H_
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#include "fsfw/returnvalues/returnvalue.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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namespace rwSpiCallback {
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//! This is the end and start marker of the frame datalinklayer
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static constexpr uint8_t FLAG_BYTE = 0x7E;
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/**
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* @brief This is the callback function to send commands to the nano avionics reaction wheels and
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* receive the replies.
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*
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* @details The data to sent are additionally encoded according to the HDLC framing defined in the
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* datasheet of the reaction wheels:
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* https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
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* Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
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* Each command entails exactly one reply which will also be read in and decoded by this
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* function.
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* Because the reaction wheels require a spi clock frequency of maximum 300 kHZ and minimum
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* 150 kHz which is not supported by the processing system SPI peripheral an AXI SPI core
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* has been implemented in the programmable logic. This AXI SPI core works with a fixed
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* frequency of 250 kHz.
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* To allow the parallel usage of the same physical SPI bus, a VHDL module has been
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* implemented which is able to disconnect the hard-wired SPI peripheral of the PS and
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* route the AXI SPI to the SPI lines.
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* To switch between the to SPI peripherals, an EMIO is used which will also be controlled
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* by this function.
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*/
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ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
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size_t sendLen, void* args);
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} // namespace rwSpiCallback
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#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */
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