128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
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#define LINUX_BOARDTEST_SPITESTCLASS_H_
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#include "OBSWConfig.h"
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#ifdef XIPHOS_Q7S
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#include "busConf.h"
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#endif
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#ifdef RASPBERRY_PI
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#include <bsp_linux_board/definitions.h>
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#endif
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#include <fsfw_hal/common/gpio/GpioIF.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include <test/testtasks/TestTask.h>
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#include <vector>
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#include "devices/gpioIds.h"
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struct SusTestCfg {
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SusTestCfg(bool doTest, gpioId_t gpioId) : gpioId(gpioId) {}
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bool doTest = false;
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const gpioId_t gpioId;
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bool intConv = true;
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bool extConv = false;
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};
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struct Max1227TestCfg {
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bool testRadSensorExtConvWithDelay = false;
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bool testRadSensorIntConv = false;
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bool plPcduAdcExtConv = false;
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bool plPcduAdcExtConvAsOne = false;
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bool plPcduAdcIntConv = false;
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bool vbatSwitch = true;
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SusTestCfg testSus[12] = {
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{false, gpioIds::CS_SUS_0}, {false, gpioIds::CS_SUS_1}, {false, gpioIds::CS_SUS_2},
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{false, gpioIds::CS_SUS_3}, {false, gpioIds::CS_SUS_4}, {false, gpioIds::CS_SUS_5},
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{false, gpioIds::CS_SUS_6}, {false, gpioIds::CS_SUS_7}, {false, gpioIds::CS_SUS_8},
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{false, gpioIds::CS_SUS_9}, {false, gpioIds::CS_SUS_10}, {false, gpioIds::CS_SUS_11},
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};
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};
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class SpiTestClass : public TestTask {
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public:
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enum TestModes { NONE, MGM_LIS3MDL, MGM_RM3100, GYRO_L3GD20H, MAX1227 };
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TestModes testMode;
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SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
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ReturnValue_t performOneShotAction() override;
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ReturnValue_t performPeriodicAction() override;
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private:
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GpioIF* gpioIF;
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Max1227TestCfg adcCfg = {};
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std::array<uint8_t, 128> recvBuffer;
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std::array<uint8_t, 128> sendBuffer;
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struct spi_ioc_transfer spiTransferStruct[6] = {};
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void performRm3100Test(uint8_t mgmId);
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void performLis3MdlTest(uint8_t lis3Id);
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void performL3gTest(uint8_t l3gId);
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void performOneShotMax1227Test();
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void performPeriodicMax1227Test();
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void performMax1227Test();
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/* ACS board specific code which pulls all GPIOs high */
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void acsInit();
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/* ACS board specific variables */
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#ifdef RASPBERRY_PI
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uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
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uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
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uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
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uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
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uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
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uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
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uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
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uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
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#else
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uint8_t mgm0Lis3mdlChipSelect = 0;
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uint8_t mgm1Rm3100ChipSelect = 0;
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uint8_t gyro0AdisResetLine = 0;
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uint8_t gyro0AdisChipSelect = 0;
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uint8_t gyro1L3gd20ChipSelect = 0;
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uint8_t gyro2L3gd20ChipSelect = 0;
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uint8_t mgm2Lis3mdlChipSelect = 0;
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uint8_t mgm3Rm3100ChipSelect = 0;
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#endif
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static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
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static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
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static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
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void shiftOutZeros();
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void setSendBuffer();
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void max1227RadSensorTest(int fd);
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void max1227SusTest(int fd, SusTestCfg& cfg);
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void max1227PlPcduTest(int fd);
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void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
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void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
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bool autoIncrement);
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void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
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size_t len);
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void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
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size_t len);
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void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
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ReturnValue_t transfer(int fd, gpioId_t chipSelect);
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uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
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uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
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uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
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void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply,
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size_t len);
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void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
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};
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#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */
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