284 lines
9.2 KiB
C++
284 lines
9.2 KiB
C++
#include "rwSpiCallback.h"
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#include <fsfw/timemanager/Stopwatch.h>
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#include "devices/gpioIds.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "mission/devices/RwHandler.h"
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namespace rwSpiCallback {
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namespace {
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static bool MODE_SET = false;
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ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
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MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
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int& fd);
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/**
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* @brief This function closes a spi session. Pulls the chip select to high an releases the
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* mutex.
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* @param gpioId Gpio ID of chip select
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* @param gpioIF Pointer to gpio interface to drive the chip select
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* @param mutex The spi mutex
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*/
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void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
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} // namespace
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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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// Stopwatch watch;
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ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
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RwHandler* handler = reinterpret_cast<RwHandler*>(args);
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if (handler == nullptr) {
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sif::error << "rwSpiCallback::spiCallback: Pointer to handler is invalid" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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uint8_t writeBuffer[2] = {};
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uint8_t writeSize = 0;
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gpioId_t gpioId = cookie->getChipSelectPin();
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GpioIF* gpioIF = comIf->getGpioInterface();
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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uint32_t timeoutMs = 0;
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cookie->getMutexParams(timeoutType, timeoutMs);
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MutexIF* mutex = comIf->getCsMutex();
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if (mutex == nullptr or gpioIF == nullptr) {
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sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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int fileDescriptor = 0;
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const std::string& dev = comIf->getSpiDev();
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result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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spi::SpiModes spiMode = spi::SpiModes::MODE_0;
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uint32_t spiSpeed = 0;
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cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
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// We are in protected section, so we can use the static variable here without issues.
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// We don't need to set the speed because a SPI core is used, but the mode has to be set once
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// correctly for all RWs
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if (not MODE_SET) {
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comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
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MODE_SET = true;
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}
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/** Sending frame start sign */
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writeBuffer[0] = FLAG_BYTE;
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writeSize = 1;
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if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
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sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::SPI_WRITE_FAILURE;
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}
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/** Encoding and sending command */
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size_t idx = 0;
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while (idx < sendLen) {
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switch (*(sendData + idx)) {
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case 0x7E:
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writeBuffer[0] = 0x7D;
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writeBuffer[1] = 0x5E;
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writeSize = 2;
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break;
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case 0x7D:
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writeBuffer[0] = 0x7D;
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writeBuffer[1] = 0x5D;
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writeSize = 2;
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break;
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default:
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writeBuffer[0] = *(sendData + idx);
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writeSize = 1;
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break;
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}
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if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
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sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::SPI_WRITE_FAILURE;
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}
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idx++;
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}
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/** Sending frame end sign */
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writeBuffer[0] = FLAG_BYTE;
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writeSize = 1;
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if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
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sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::SPI_WRITE_FAILURE;
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}
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uint8_t* rxBuf = nullptr;
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result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return result;
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}
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size_t replyBufferSize = cookie->getMaxBufferSize();
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// There must be a delay of at least 20 ms after sending the command.
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// Delay for 70 ms here and release the SPI bus for that duration.
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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usleep(RwDefinitions::SPI_REPLY_DELAY);
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result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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return result;
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}
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/**
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* The reaction wheel responds with empty frames while preparing the reply data.
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* However, receiving more than 5 empty frames will be interpreted as an error.
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*/
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uint8_t byteRead = 0;
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for (int idx = 0; idx < 10; idx++) {
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if (read(fileDescriptor, &byteRead, 1) != 1) {
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sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::SPI_READ_FAILURE;
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}
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if (idx == 0) {
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if (byteRead != FLAG_BYTE) {
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sif::error << "Invalid data, expected start marker" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::NO_START_MARKER;
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}
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}
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if (byteRead != FLAG_BYTE) {
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break;
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}
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if (idx == 9) {
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sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return RwHandler::NO_REPLY;
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}
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}
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#if FSFW_HAL_SPI_WIRETAPPING == 1
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sif::info << "RW start marker detected" << std::endl;
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#endif
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size_t decodedFrameLen = 0;
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while (decodedFrameLen < replyBufferSize) {
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/** First byte already read in */
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if (decodedFrameLen != 0) {
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byteRead = 0;
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if (read(fileDescriptor, &byteRead, 1) != 1) {
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sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
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result = RwHandler::SPI_READ_FAILURE;
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break;
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}
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}
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if (byteRead == FLAG_BYTE) {
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/** Reached end of frame */
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break;
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} else if (byteRead == 0x7D) {
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if (read(fileDescriptor, &byteRead, 1) != 1) {
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sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
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result = RwHandler::SPI_READ_FAILURE;
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break;
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}
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if (byteRead == 0x5E) {
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*(rxBuf + decodedFrameLen) = 0x7E;
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decodedFrameLen++;
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continue;
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} else if (byteRead == 0x5D) {
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*(rxBuf + decodedFrameLen) = 0x7D;
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decodedFrameLen++;
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continue;
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} else {
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sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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result = RwHandler::INVALID_SUBSTITUTE;
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break;
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}
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} else {
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*(rxBuf + decodedFrameLen) = byteRead;
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decodedFrameLen++;
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continue;
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}
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/**
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* There might be the unlikely case that each byte in a get-telemetry reply has been
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* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
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* Otherwise there might be something wrong.
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*/
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if (decodedFrameLen == replyBufferSize) {
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if (read(fileDescriptor, &byteRead, 1) != 1) {
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sif::error << "rwSpiCallback::spiCallback: Failed to read last byte" << std::endl;
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result = RwHandler::SPI_READ_FAILURE;
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break;
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}
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if (byteRead != FLAG_BYTE) {
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sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
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<< std::endl;
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decodedFrameLen--;
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result = RwHandler::MISSING_END_SIGN;
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break;
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}
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}
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result = HasReturnvaluesIF::RETURN_OK;
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}
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cookie->setTransferSize(decodedFrameLen);
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closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
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return result;
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}
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namespace {
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ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpioId_t gpioId,
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MutexIF* mutex, MutexIF::TimeoutType timeoutType, uint32_t timeoutMs,
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int& fd) {
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ReturnValue_t result = mutex->lockMutex(timeoutType, timeoutMs);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
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return result;
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}
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fd = open(devname.c_str(), flags);
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if (fd < 0) {
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sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
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return SpiComIF::OPENING_FILE_FAILED;
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}
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// Pull SPI CS low. For now, no support for active high given
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if (gpioId != gpio::NO_GPIO) {
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result = gpioIF->pullLow(gpioId);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
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return result;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
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close(fd);
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if (gpioId != gpio::NO_GPIO) {
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if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "closeSpi: Failed to pull chip select high" << std::endl;
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}
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}
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if (mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
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;
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}
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}
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} // namespace
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} // namespace rwSpiCallback
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