Robin Mueller
a0f4b031be
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EIVE/eive-obsw/pipeline/head This commit looks good
102 lines
3.1 KiB
C++
102 lines
3.1 KiB
C++
#include "I2cTestClass.h"
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#include <errno.h>
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#include <fsfw_hal/linux/UnixFileGuard.h>
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#include <linux/i2c-dev.h>
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#include <sys/ioctl.h>
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#include "fsfw/globalfunctions/arrayprinter.h"
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#include "fsfw/serviceinterface.h"
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I2cTestClass::I2cTestClass(object_id_t objectId, std::string i2cdev)
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: TestTask(objectId), i2cdev(i2cdev) {
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mode = TestModes::BPX_BATTERY;
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}
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ReturnValue_t I2cTestClass::initialize() {
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if (mode == TestModes::BPX_BATTERY) {
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battInit();
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}
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return returnvalue::OK;
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}
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ReturnValue_t I2cTestClass::performPeriodicAction() {
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if (mode == TestModes::BPX_BATTERY) {
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battPeriodic();
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}
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return returnvalue::OK;
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}
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void I2cTestClass::battInit() {
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sif::info << "I2cTestClass: BPX Initialization" << std::endl;
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UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
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if (fileHelper.getOpenResult() != returnvalue::OK) {
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sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
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return;
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}
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if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
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sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
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}
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cmdBuf[0] = BpxBattery::PORT_PING;
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cmdBuf[1] = 0x42;
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sendLen = 2;
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ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
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if (result != returnvalue::OK) {
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return;
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}
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// Receive back port, error byte and ping reply
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recvLen = 3;
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result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
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if (result != returnvalue::OK) {
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return;
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}
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sif::info << "Ping reply:" << std::endl;
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arrayprinter::print(replyBuf.data(), recvLen);
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if (replyBuf[2] != 0x42) {
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sif::warning << "Received ping reply not expected value 0x42" << std::endl;
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}
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}
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void I2cTestClass::battPeriodic() {
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UnixFileGuard fileHelper(i2cdev, bpxInfo.fd, O_RDWR, "I2cTestClass::sendMessage");
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if (fileHelper.getOpenResult() != returnvalue::OK) {
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sif::error << "Opening I2C device" << i2cdev << " failed" << std::endl;
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return;
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}
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if (ioctl(bpxInfo.fd, I2C_SLAVE, bpxInfo.addr) < 0) {
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sif::error << "Failed to acquire bus access and/or talk to slave" << std::endl;
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}
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cmdBuf[0] = BpxBattery::PORT_GET_HK;
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sendLen = 1;
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ReturnValue_t result = i2cWrite(bpxInfo.fd, cmdBuf.data(), sendLen);
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if (result != returnvalue::OK) {
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return;
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}
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// Receive back HK set
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recvLen = 23;
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result = i2cRead(bpxInfo.fd, replyBuf.data(), recvLen);
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if (result != returnvalue::OK) {
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return;
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}
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sif::info << "HK reply:" << std::endl;
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arrayprinter::print(replyBuf.data(), recvLen);
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}
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ReturnValue_t I2cTestClass::i2cWrite(int fd, uint8_t* data, size_t len) {
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if (write(fd, data, len) != static_cast<ssize_t>(len)) {
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sif::error << "Failed to write to I2C bus" << std::endl;
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sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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ReturnValue_t I2cTestClass::i2cRead(int fd, uint8_t* data, size_t len) {
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if (read(fd, data, len) != static_cast<ssize_t>(len)) {
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sif::error << "Failed to read from I2C bus" << std::endl;
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sif::error << "Error " << errno << ": " << strerror(errno) << std::endl;
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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