eive-obsw/bsp_q7s/callbacks/rwSpiCallback.h
Robin Mueller 77c45c0de9
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C++

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