484 lines
18 KiB
C++
484 lines
18 KiB
C++
#include "SpiTestClass.h"
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#include <fcntl.h>
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#include <fsfw/globalfunctions/arrayprinter.h>
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfw/timemanager/Stopwatch.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <fsfw_hal/common/gpio/gpioDefinitions.h>
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#include <fsfw_hal/linux/UnixFileGuard.h>
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#include <fsfw_hal/linux/utility.h>
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#include <linux/spi/spidev.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <bitset>
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#include "devices/gpioIds.h"
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SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF *gpioIF)
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: TestTask(objectId), gpioIF(gpioIF) {
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if (gpioIF == nullptr) {
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sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
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}
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testMode = TestModes::MGM_LIS3MDL;
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spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
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spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
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}
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ReturnValue_t SpiTestClass::performOneShotAction() {
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switch (testMode) {
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case (TestModes::NONE): {
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break;
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}
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case (TestModes::MGM_LIS3MDL): {
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performLis3MdlTest(mgm0Lis3mdlChipSelect);
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break;
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}
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case (TestModes::MGM_RM3100): {
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performRm3100Test(mgm1Rm3100ChipSelect);
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break;
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}
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case (TestModes::GYRO_L3GD20H): {
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performL3gTest(gyro1L3gd20ChipSelect);
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break;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SpiTestClass::performPeriodicAction() { return HasReturnvaluesIF::RETURN_OK; }
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void SpiTestClass::performRm3100Test(uint8_t mgmId) {
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/* Configure all SPI chip selects and pull them high */
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acsInit();
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/* Adapt accordingly */
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if (mgmId != mgm1Rm3100ChipSelect and mgmId != mgm3Rm3100ChipSelect) {
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sif::warning << "SpiTestClass::performRm3100Test: Invalid MGM ID!" << std::endl;
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}
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gpioId_t currentGpioId = 0;
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uint8_t chipSelectPin = mgmId;
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if (chipSelectPin == mgm1Rm3100ChipSelect) {
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currentGpioId = gpioIds::MGM_1_RM3100_CS;
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} else {
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currentGpioId = gpioIds::MGM_3_RM3100_CS;
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}
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uint32_t rm3100speed = 976'000;
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uint8_t rm3100revidReg = 0x36;
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spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
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#ifdef RASPBERRY_PI
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std::string deviceName = "/dev/spidev0.0";
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#else
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std::string deviceName = "/dev/spidev2.0";
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#endif
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int fileDescriptor = 0;
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UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
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if (fileHelper.getOpenResult()) {
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sif::error << "SpiTestClass::performRm3100Test: File descriptor could not be opened!"
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<< std::endl;
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return;
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}
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setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
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uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
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sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId)
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<< std::endl;
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/* Write configuration to CMM register */
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writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
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uint8_t cmmRegister = readRm3100Register(fileDescriptor, currentGpioId, 0x01);
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sif::info << "SpiTestClass::performRm3100Test: CMM register value: " << std::hex << "0x"
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<< static_cast<int>(cmmRegister) << std::dec << std::endl;
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/* Read the cycle count registers */
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uint8_t cycleCountsRaw[6];
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readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
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uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
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uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
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uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
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sif::info << "Cycle count X: " << cycleCountX << std::endl;
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sif::info << "Cycle count Y: " << cycleCountY << std::endl;
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sif::info << "Cycle count z: " << cycleCountZ << std::endl;
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writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x96);
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uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
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sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " << std::hex << "0x"
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<< static_cast<int>(tmrcReg) << std::dec << std::endl;
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TaskFactory::delayTask(10);
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uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
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sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" << std::bitset<8>(statusReg)
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<< std::endl;
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/* This means that data is not ready */
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if ((statusReg & 0b1000'0000) == 0) {
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sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
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TaskFactory::delayTask(10);
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uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
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if ((statusReg & 0b1000'0000) == 0) {
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return;
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}
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}
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uint32_t rm3100DefaultCycleCout = 0xC8;
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/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
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float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
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float scaleFactor = 1 / rm3100Gain;
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uint8_t rawValues[9];
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readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
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/* The sensor generates 24 bit signed values */
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int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
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int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
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int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
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float fieldStrengthX = rawX * scaleFactor;
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float fieldStrengthY = rawY * scaleFactor;
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float fieldStrengthZ = rawZ * scaleFactor;
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sif::info << "RM3100 measured field strengths in microtesla:" << std::endl;
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sif::info << "Field Strength X: " << fieldStrengthX << " uT" << std::endl;
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sif::info << "Field Strength Y: " << fieldStrengthY << " uT" << std::endl;
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sif::info << "Field Strength Z: " << fieldStrengthZ << " uT" << std::endl;
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}
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void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
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/* Configure all SPI chip selects and pull them high */
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acsInit();
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/* Adapt accordingly */
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if (lis3Id != mgm0Lis3mdlChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
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sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
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}
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gpioId_t currentGpioId = 0;
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uint8_t chipSelectPin = lis3Id;
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uint8_t whoAmIReg = 0b0000'1111;
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uint8_t whoAmIRegExpectedVal = 0b0011'1101;
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if (chipSelectPin == mgm0Lis3mdlChipSelect) {
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currentGpioId = gpioIds::MGM_0_LIS3_CS;
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} else {
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currentGpioId = gpioIds::MGM_2_LIS3_CS;
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}
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uint32_t spiSpeed = 10'000'000;
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spi::SpiModes spiMode = spi::SpiModes::MODE_0;
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#ifdef RASPBERRY_PI
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std::string deviceName = "/dev/spidev0.0";
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#else
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std::string deviceName = "/dev/spidev2.0";
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#endif
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int fileDescriptor = 0;
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UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
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if (fileHelper.getOpenResult()) {
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sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
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<< std::endl;
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return;
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}
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setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
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spiTransferStruct.delay_usecs = 0;
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uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
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sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
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<< std::bitset<8>(whoAmIRegVal) << std::endl;
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if (whoAmIRegVal != whoAmIRegExpectedVal) {
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sif::warning << "SpiTestClass::performLis3MdlTest: WHO AM I register invalid!" << std::endl;
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}
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}
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void SpiTestClass::performL3gTest(uint8_t l3gId) {
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/* Configure all SPI chip selects and pull them high */
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acsInit();
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gpioId_t currentGpioId = 0;
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uint8_t chipSelectPin = l3gId;
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uint8_t whoAmIReg = 0b0000'1111;
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uint8_t whoAmIRegExpectedVal = 0b1101'0111;
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if (chipSelectPin == gyro1L3gd20ChipSelect) {
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currentGpioId = gpioIds::GYRO_1_L3G_CS;
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} else {
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currentGpioId = gpioIds::GYRO_3_L3G_CS;
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}
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uint32_t spiSpeed = 3'900'000;
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spi::SpiModes spiMode = spi::SpiModes::MODE_3;
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#ifdef RASPBERRY_PI
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std::string deviceName = "/dev/spidev0.0";
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#else
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std::string deviceName = "/dev/spidev2.0";
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#endif
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int fileDescriptor = 0;
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UnixFileGuard fileHelper(deviceName, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
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if (fileHelper.getOpenResult()) {
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sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
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<< std::endl;
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return;
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}
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setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
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uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
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sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b"
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<< std::bitset<8>(whoAmIRegVal) << std::endl;
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if (whoAmIRegVal != whoAmIRegExpectedVal) {
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sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" << std::endl;
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}
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uint8_t ctrlReg1Addr = 0b0010'0000;
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{
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uint8_t commandRegs[5];
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commandRegs[0] = 0b0000'1111;
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commandRegs[1] = 0x0;
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commandRegs[2] = 0x0;
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/* Configure big endian data format */
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commandRegs[3] = 0b0100'0000;
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commandRegs[4] = 0x0;
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writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
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sizeof(commandRegs));
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uint8_t readRegs[5];
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readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs, sizeof(readRegs));
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for (uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
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if (readRegs[idx] != commandRegs[0]) {
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sif::warning << "SpiTestClass::performL3gTest: Read control register "
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<< static_cast<int>(idx + 1) << " not equal to configured value" << std::endl;
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}
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}
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}
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uint8_t readOutBuffer[14];
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readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
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sizeof(readOutBuffer));
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uint8_t statusReg = readOutBuffer[7];
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sif::info << "SpiTestClass::performL3gTest: Status Register 0b" << std::bitset<8>(statusReg)
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<< std::endl;
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uint16_t l3gRange = 245;
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float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
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/* The sensor spits out little endian */
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int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
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int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
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int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
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float angVelocX = scaleFactor * angVelocRawX;
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float angVelocY = scaleFactor * angVelocRawY;
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float angVelocZ = scaleFactor * angVelocRawZ;
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sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
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sif::info << "X: " << angVelocX << std::endl;
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sif::info << "Y: " << angVelocY << std::endl;
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sif::info << "Z: " << angVelocZ << std::endl;
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}
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void SpiTestClass::acsInit() {
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GpioCookie *gpioCookie = new GpioCookie();
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#ifdef RASPBERRY_PI
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GpiodRegularByChip *gpio = nullptr;
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std::string rpiGpioName = "gpiochip0";
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gpio = new GpiodRegularByChip(rpiGpioName, mgm0Lis3mdlChipSelect, "MGM_0_LIS3", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, gyro3L3gd20ChipSelect, "GYRO_2_L3G", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
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gpio = new GpiodRegularByChip(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
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#elif defined(XIPHOS_Q7S)
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GpiodRegularByLineName *gpio = nullptr;
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gpio =
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new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, "MGM_0_LIS3", gpio::DIR_OUT, gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_1_RM3100", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
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gpio =
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new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, "MGM_2_LIS3", gpio::DIR_OUT, gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, "MGM_3_RM3100", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, "GYRO_0_ADIS", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, "GYRO_1_L3G", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, "GYRO_2_ADIS", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, "GYRO_3_L3G", gpio::DIR_OUT,
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gpio::HIGH);
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gpioCookie->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);
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// Enable pins must be pulled low for regular operations
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_0_ENABLE", gpio::DIR_OUT,
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gpio::LOW);
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gpioCookie->addGpio(gpioIds::GYRO_0_ENABLE, gpio);
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gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, "GYRO_2_ENABLE", gpio::DIR_OUT,
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gpio::LOW);
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gpioCookie->addGpio(gpioIds::GYRO_2_ENABLE, gpio);
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#endif
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if (gpioIF != nullptr) {
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gpioIF->addGpios(gpioCookie);
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}
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}
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void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
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int mode_test = SPI_MODE_3;
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int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test); // reinterpret_cast<uint8_t*>(&mode));
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if (retval != 0) {
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utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
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}
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retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
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if (retval != 0) {
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utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
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}
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}
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void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
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spiTransferStruct.len = 2;
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sendBuffer[0] = reg;
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sendBuffer[1] = value;
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if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
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gpioIF->pullLow(chipSelect);
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}
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int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
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if (retval < 0) {
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utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
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}
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if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
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gpioIF->pullHigh(chipSelect);
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}
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}
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void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
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bool autoIncrement) {
|
|
if (autoIncrement) {
|
|
reg |= STM_AUTO_INCR_MASK;
|
|
}
|
|
writeRegister(fd, chipSelect, reg, value);
|
|
}
|
|
|
|
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
|
uint8_t *values, size_t len) {
|
|
if (values == nullptr) {
|
|
return;
|
|
}
|
|
|
|
reg |= STM_AUTO_INCR_MASK;
|
|
/* Clear read mask */
|
|
reg &= ~STM_READ_MASK;
|
|
writeMultipleRegisters(fd, chipSelect, reg, values, len);
|
|
}
|
|
|
|
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
|
|
size_t len) {
|
|
if (values == nullptr) {
|
|
return;
|
|
}
|
|
|
|
sendBuffer[0] = reg;
|
|
std::memcpy(sendBuffer.data() + 1, values, len);
|
|
spiTransferStruct.len = len + 1;
|
|
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullLow(chipSelect);
|
|
}
|
|
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
|
if (retval < 0) {
|
|
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
|
}
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullHigh(chipSelect);
|
|
}
|
|
}
|
|
|
|
uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
|
|
return readStmRegister(fd, chipSelect, reg, false);
|
|
}
|
|
|
|
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
|
uint8_t *reply, size_t len) {
|
|
reg |= STM_AUTO_INCR_MASK;
|
|
readMultipleRegisters(fd, chipSelect, reg, reply, len);
|
|
}
|
|
|
|
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
|
size_t len) {
|
|
if (reply == nullptr) {
|
|
return;
|
|
}
|
|
|
|
spiTransferStruct.len = len + 1;
|
|
sendBuffer[0] = reg | STM_READ_MASK;
|
|
|
|
for (uint8_t idx = 0; idx < len; idx++) {
|
|
sendBuffer[idx + 1] = 0;
|
|
}
|
|
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullLow(chipSelect);
|
|
}
|
|
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
|
if (retval < 0) {
|
|
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
|
}
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullHigh(chipSelect);
|
|
}
|
|
std::memcpy(reply, recvBuffer.data() + 1, len);
|
|
}
|
|
|
|
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
|
|
bool autoIncrement) {
|
|
reg |= STM_READ_MASK;
|
|
if (autoIncrement) {
|
|
reg |= STM_AUTO_INCR_MASK;
|
|
}
|
|
return readRegister(fd, chipSelect, reg);
|
|
}
|
|
|
|
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
|
|
spiTransferStruct.len = 2;
|
|
sendBuffer[0] = reg;
|
|
sendBuffer[1] = 0;
|
|
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullLow(chipSelect);
|
|
}
|
|
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
|
if (retval < 0) {
|
|
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
|
}
|
|
if (gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
|
gpioIF->pullHigh(chipSelect);
|
|
}
|
|
return recvBuffer[1];
|
|
}
|