Robin Mueller
8c001b6443
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85 lines
3.2 KiB
C++
85 lines
3.2 KiB
C++
#ifndef LINUX_DEVICES_RWPOLLINGTASK_H_
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#define LINUX_DEVICES_RWPOLLINGTASK_H_
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/tasks/SemaphoreIF.h>
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#include <fsfw_hal/linux/spi/SpiComIF.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include "mission/devices/devicedefinitions/rwHelpers.h"
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class RwCookie : public SpiCookie {
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friend class RwPollingTask;
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public:
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static constexpr size_t REPLY_BUF_LEN = 524;
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RwCookie(uint8_t rwIdx, address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
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spi::SpiModes spiMode, uint32_t spiSpeed)
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: SpiCookie(spiAddress, chipSelect, maxSize, spiMode, spiSpeed), rwIdx(rwIdx) {}
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private:
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std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
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int32_t currentRwSpeed = 0;
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uint16_t currentRampTime = 0;
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rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
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uint8_t rwIdx;
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};
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class RwPollingTask : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
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public:
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RwPollingTask(object_id_t objectId, SpiComIF* spiIF);
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ReturnValue_t performOperation(uint8_t operationCode) override;
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ReturnValue_t initialize() override;
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private:
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enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
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SemaphoreIF* semaphore;
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bool debugMode = false;
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bool modeAndSpeedWasSet = false;
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MutexIF* ipcLock;
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MutexIF* spiLock;
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const char* spiDev;
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SpiComIF* spiIF;
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std::array<RwCookie*, 4> rwCookies;
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std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
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std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;
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size_t writeLen = 0;
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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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static constexpr MutexIF::TimeoutType TIMEOUT_TYPE = MutexIF::TimeoutType::WAITING;
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static constexpr uint32_t TIMEOUT_MS = 20;
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static constexpr uint8_t MAX_RETRIES_REPLY = 5;
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ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
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ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
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ReturnValue_t readAllRws(int fd, DeviceCommandId_t id);
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ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
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ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);
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ReturnValue_t initializeInterface(CookieIF* cookie) override;
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ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF* cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
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ReturnValue_t openSpi(int flags, int& fd);
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ReturnValue_t pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
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void prepareSimpleCommand(DeviceCommandId_t id);
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ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
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size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
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void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
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void pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
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void closeSpi(int);
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};
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#endif /* LINUX_DEVICES_RWPOLLINGTASK_H_ */
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