Robin Mueller
55608f0660
Some checks failed
EIVE/eive-obsw/pipeline/pr-develop There was a failure building this commit
128 lines
4.2 KiB
C++
128 lines
4.2 KiB
C++
#ifndef LINUX_BOARDTEST_SPITESTCLASS_H_
|
|
#define LINUX_BOARDTEST_SPITESTCLASS_H_
|
|
|
|
#include "OBSWConfig.h"
|
|
|
|
#ifdef XIPHOS_Q7S
|
|
#include "busConf.h"
|
|
#endif
|
|
|
|
#ifdef RASPBERRY_PI
|
|
#include <bsp_linux_board/definitions.h>
|
|
#endif
|
|
|
|
#include <fsfw_hal/common/gpio/GpioIF.h>
|
|
#include <fsfw_hal/linux/spi/SpiCookie.h>
|
|
#include <test/TestTask.h>
|
|
|
|
#include <vector>
|
|
|
|
#include "devices/gpioIds.h"
|
|
|
|
struct SusTestCfg {
|
|
SusTestCfg(bool doTest, gpioId_t gpioId) : gpioId(gpioId) {}
|
|
bool doTest = false;
|
|
const gpioId_t gpioId;
|
|
bool intConv = true;
|
|
bool extConv = false;
|
|
};
|
|
|
|
struct Max1227TestCfg {
|
|
bool testRadSensorExtConvWithDelay = false;
|
|
bool testRadSensorIntConv = false;
|
|
bool plPcduAdcExtConv = false;
|
|
bool plPcduAdcExtConvAsOne = false;
|
|
bool plPcduAdcIntConv = false;
|
|
bool vbatSwitch = true;
|
|
|
|
SusTestCfg testSus[12] = {
|
|
{false, gpioIds::CS_SUS_0}, {false, gpioIds::CS_SUS_1}, {false, gpioIds::CS_SUS_2},
|
|
{false, gpioIds::CS_SUS_3}, {false, gpioIds::CS_SUS_4}, {false, gpioIds::CS_SUS_5},
|
|
{false, gpioIds::CS_SUS_6}, {false, gpioIds::CS_SUS_7}, {false, gpioIds::CS_SUS_8},
|
|
{false, gpioIds::CS_SUS_9}, {false, gpioIds::CS_SUS_10}, {false, gpioIds::CS_SUS_11},
|
|
};
|
|
};
|
|
class SpiTestClass : public TestTask {
|
|
public:
|
|
enum TestModes { NONE, MGM_LIS3MDL, MGM_RM3100, GYRO_L3GD20H, MAX1227 };
|
|
|
|
TestModes testMode;
|
|
|
|
SpiTestClass(object_id_t objectId, GpioIF* gpioIF);
|
|
|
|
ReturnValue_t performOneShotAction() override;
|
|
ReturnValue_t performPeriodicAction() override;
|
|
|
|
private:
|
|
GpioIF* gpioIF;
|
|
Max1227TestCfg adcCfg = {};
|
|
|
|
std::array<uint8_t, 128> recvBuffer;
|
|
std::array<uint8_t, 128> sendBuffer;
|
|
struct spi_ioc_transfer spiTransferStruct[6] = {};
|
|
|
|
void performRm3100Test(uint8_t mgmId);
|
|
void performLis3MdlTest(uint8_t lis3Id);
|
|
void performL3gTest(uint8_t l3gId);
|
|
void performOneShotMax1227Test();
|
|
void performPeriodicMax1227Test();
|
|
void performMax1227Test();
|
|
|
|
/* ACS board specific code which pulls all GPIOs high */
|
|
void acsInit();
|
|
|
|
/* ACS board specific variables */
|
|
#ifdef RASPBERRY_PI
|
|
uint8_t mgm0Lis3mdlChipSelect = gpio::MGM_0_BCM_PIN;
|
|
uint8_t mgm1Rm3100ChipSelect = gpio::MGM_1_BCM_PIN;
|
|
uint8_t mgm2Lis3mdlChipSelect = gpio::MGM_2_BCM_PIN;
|
|
uint8_t mgm3Rm3100ChipSelect = gpio::MGM_3_BCM_PIN;
|
|
|
|
uint8_t gyro0AdisChipSelect = gpio::GYRO_0_BCM_PIN;
|
|
uint8_t gyro1L3gd20ChipSelect = gpio::GYRO_1_BCM_PIN;
|
|
uint8_t gyro2AdisChipSelect = gpio::GYRO_2_BCM_PIN;
|
|
uint8_t gyro3L3gd20ChipSelect = gpio::GYRO_3_BCM_PIN;
|
|
#else
|
|
|
|
uint8_t mgm0Lis3mdlChipSelect = 0;
|
|
uint8_t mgm1Rm3100ChipSelect = 0;
|
|
uint8_t gyro0AdisResetLine = 0;
|
|
uint8_t gyro0AdisChipSelect = 0;
|
|
uint8_t gyro1L3gd20ChipSelect = 0;
|
|
uint8_t gyro2L3gd20ChipSelect = 0;
|
|
uint8_t mgm2Lis3mdlChipSelect = 0;
|
|
uint8_t mgm3Rm3100ChipSelect = 0;
|
|
#endif
|
|
|
|
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
|
|
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
|
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
|
|
|
void shiftOutZeros();
|
|
void setSendBuffer();
|
|
|
|
void max1227RadSensorTest(int fd);
|
|
void max1227SusTest(int fd, SusTestCfg& cfg);
|
|
void max1227PlPcduTest(int fd);
|
|
|
|
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
|
|
|
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
|
bool autoIncrement);
|
|
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
|
|
size_t len);
|
|
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
|
|
size_t len);
|
|
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
|
|
ReturnValue_t transfer(int fd, gpioId_t chipSelect);
|
|
|
|
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
|
|
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
|
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
|
|
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply,
|
|
size_t len);
|
|
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* reply, size_t len);
|
|
};
|
|
|
|
#endif /* LINUX_BOARDTEST_SPITESTCLASS_H_ */
|