eive/fsfw
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Merge remote-tracking branch 'origin/development' into mueller/master

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This commit is contained in:
Robin Müller 2021-09-28 15:45:03 +02:00
commit 2c785ff187
11 changed files with 189 additions and 75 deletions
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64
hal/src/fsfw_hal/common/gpio/gpioDefinitions.h
View File

@ -26,7 +26,8 @@ enum GpioOperation {
enum GpioTypes {
NONE,
GPIO_REGULAR,
GPIO_REGULAR_BY_CHIP,
GPIO_REGULAR_BY_LABEL,
CALLBACK
};
@ -68,28 +69,57 @@ public:
int initValue = 0;
};
class GpiodRegular: public GpioBase {
class GpiodRegularBase: public GpioBase {
public:
GpiodRegular() :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, std::string(), gpio::Direction::IN, 0) {
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
lineNum(lineNum) {
}
;
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, direction_, initValue_),
chipname(chipname_), lineNum(lineNum_) {
}
GpiodRegular(std::string chipname_, int lineNum_, std::string consumer_) :
GpioBase(gpio::GpioTypes::GPIO_REGULAR, consumer_, gpio::Direction::IN, 0),
chipname(chipname_), lineNum(lineNum_) {
}
std::string chipname;
int lineNum = 0;
struct gpiod_line* lineHandle = nullptr;
};
class GpiodRegularByChip: public GpiodRegularBase {
public:
GpiodRegularByChip() :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
std::string(), gpio::Direction::IN, gpio::LOW, 0) {
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
consumer_, direction_, initValue_, lineNum_),
chipname(chipname_){
}
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
chipname(chipname_) {
}
std::string chipname;
};
class GpiodRegularByLabel: public GpiodRegularBase {
public:
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
gpio::Direction direction_, int initValue_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
direction_, initValue_, lineNum_),
label(label_) {
}
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_) :
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
gpio::Direction::IN, gpio::LOW, lineNum_),
label(label_) {
}
std::string label;
};
class GpioCallback: public GpioBase {
public:
GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,

4
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
View File

@ -1,7 +1,9 @@
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "GyroL3GD20Handler.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include <cmath>
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),

2
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
View File

@ -5,6 +5,8 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
#include <cmath>
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, uint32_t transitionDelay):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),

19
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
View File

@ -89,9 +89,16 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
break;
}
default:
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
// Might be a configuration error
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state" << std::endl;
#else
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
"Unknown internal state\n");
#endif
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -342,12 +349,18 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" << std::endl;
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif
}
#endif

127
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -20,7 +20,7 @@ LinuxLibgpioIF::~LinuxLibgpioIF() {
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t result;
if(gpioCookie == nullptr) {
sif::error << "LinuxLibgpioIF::initialize: Invalid cookie" << std::endl;
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
return RETURN_FAILED;
}
@ -45,16 +45,25 @@ ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
auto& gpioType = gpioConfig.second->gpioType;
switch(gpioType) {
case(gpio::GpioTypes::NONE): {
return GPIO_INVALID_INSTANCE;
}
case(gpio::GpioTypes::GPIO_REGULAR): {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureRegularGpio(gpioConfig.first, regularGpio);
configureGpioByChip(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):{
auto regularGpio = dynamic_cast<GpiodRegularByLabel*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_INVALID_INSTANCE;
}
configureGpioByLabel(gpioConfig.first, *regularGpio);
break;
}
case(gpio::GpioTypes::CALLBACK): {
@ -70,41 +79,59 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
return RETURN_OK;
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular *regularGpio) {
std::string chipname;
ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
GpiodRegularByLabel &gpioByLabel) {
std::string& label = gpioByLabel.label;
struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
<< "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "label: " + label;
return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
GpiodRegularByChip &gpioByChip) {
std::string& chipname = gpioByChip.chipname;
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
if (chip == nullptr) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
std::string failOutput = "chipname: " + chipname;
return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
}
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
unsigned int lineNum;
struct gpiod_chip *chip;
gpio::Direction direction;
std::string consumer;
struct gpiod_line *lineHandle;
int result = 0;
chipname = regularGpio->chipname;
chip = gpiod_chip_open_by_name(chipname.c_str());
if (!chip) {
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
<< chipname << ". Gpio ID: " << gpioId << std::endl;
return RETURN_FAILED;
}
lineNum = regularGpio->lineNum;
lineNum = regularGpio.lineNum;
lineHandle = gpiod_chip_get_line(chip, lineNum);
if (!lineHandle) {
sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", chipname: " << chipname << std::endl;
sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
sif::warning << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
", " << failOutput << std::endl;
sif::warning << "Check if Linux GPIO configuration has changed. " << std::endl;
gpiod_chip_close(chip);
return RETURN_FAILED;
}
direction = regularGpio->direction;
consumer = regularGpio->consumer;
direction = regularGpio.direction;
consumer = regularGpio.consumer;
/* Configure direction and add a description to the GPIO */
switch (direction) {
case(gpio::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
regularGpio->initValue);
regularGpio.initValue);
if (result < 0) {
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
" from GPIO instance with ID: " << gpioId << std::endl;
@ -134,7 +161,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
* Write line handle to GPIO configuration instance so it can later be used to set or
* read states of GPIOs.
*/
regularGpio->lineHandle = lineHandle;
regularGpio.lineHandle = lineHandle;
return RETURN_OK;
}
@ -145,8 +172,14 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 1);
auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -167,8 +200,14 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
return driveGpio(gpioId, dynamic_cast<GpiodRegular*>(gpioMapIter->second), 0);
auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
return driveGpio(gpioId, *regularGpio, gpio::LOW);
}
else {
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
@ -183,12 +222,8 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
}
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
GpiodRegular* regularGpio, unsigned int logicLevel) {
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
int result = gpiod_line_set_value(regularGpio->lineHandle, logicLevel);
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
if (result < 0) {
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
" to logic level " << logicLevel << std::endl;
@ -204,9 +239,10 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
return UNKNOWN_GPIO_ID;
}
if(gpioMapIter->second->gpioType == gpio::GpioTypes::GPIO_REGULAR) {
GpiodRegular* regularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
auto gpioType = gpioMapIter->second->gpioType;
if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
@ -225,13 +261,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
for(auto& gpioConfig: mapToAdd) {
switch(gpioConfig.second->gpioType) {
case(gpio::GpioTypes::GPIO_REGULAR): {
auto regularGpio = dynamic_cast<GpiodRegular*>(gpioConfig.second);
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
if(regularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}
/* Check for conflicts and remove duplicates if necessary */
result = checkForConflictsRegularGpio(gpioConfig.first, regularGpio, mapToAdd);
result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
if(result != HasReturnvaluesIF::RETURN_OK) {
status = result;
}
@ -259,17 +296,19 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
GpiodRegular* gpioToCheck, GpioMap& mapToAdd) {
GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
/* Cross check with private map */
gpioMapIter = gpioMap.find(gpioIdToCheck);
if(gpioMapIter != gpioMap.end()) {
if(gpioMapIter->second->gpioType != gpio::GpioTypes::GPIO_REGULAR) {
auto& gpioType = gpioMapIter->second->gpioType;
if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
"GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
mapToAdd.erase(gpioIdToCheck);
return HasReturnvaluesIF::RETURN_OK;
}
auto ownRegularGpio = dynamic_cast<GpiodRegular*>(gpioMapIter->second);
auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
if(ownRegularGpio == nullptr) {
return GPIO_TYPE_FAILURE;
}

11
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h
View File

@ -6,6 +6,7 @@
#include <fsfw/objectmanager/SystemObject.h>
class GpioCookie;
class GpiodRegularIF;
/**
* @brief This class implements the GpioIF for a linux based system. The
@ -47,9 +48,13 @@ private:
* @param gpioId The GPIO ID of the GPIO to drive.
* @param logiclevel The logic level to set. O or 1.
*/
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegular* regularGpio, unsigned int logiclevel);
ReturnValue_t driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
gpio::Levels logicLevel);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, GpiodRegular* regularGpio);
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
/**
* @brief This function checks if GPIOs are already registered and whether
@ -62,7 +67,7 @@ private:
*/
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegular* regularGpio,
ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
GpioMap& mapToAdd);
ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
GpioMap& mapToAdd);

2
hal/src/fsfw_hal/linux/rpi/GpioRPi.cpp
View File

@ -12,7 +12,7 @@ ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int
return HasReturnvaluesIF::RETURN_FAILED;
}
GpiodRegular* config = new GpiodRegular();
auto config = new GpiodRegularByChip();
/* Default chipname for Raspberry Pi. There is still gpiochip1 for expansion, but most users
will not need this */
config->chipname = "gpiochip0";

26
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(sendLen > spiCookie->getMaxBufferSize()) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
"larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
"larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
"than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),
@ -197,12 +197,26 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
#endif
#endif
return result;
}
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
#endif
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
/* Execute transfer */
@ -213,7 +227,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
#if FSFW_HAL_SPI_WIRETAPPING == 1
performSpiWiretapping(spiCookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
@ -384,11 +398,11 @@ GpioIF* SpiComIF::getGpioInterface() {
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
}
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
if(retval != 0) {
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI speed failed!");
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
}
}

5
src/fsfw/FSFW.h.in
View File

@ -16,6 +16,11 @@
#cmakedefine FSFW_ADD_MONITORING
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
// Can be used for low-level debugging of the SPI bus
#ifndef FSFW_HAL_SPI_WIRETAPPING
#define FSFW_HAL_SPI_WIRETAPPING 0
#endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */

2
src/fsfw/events/fwSubsystemIdRanges.h
View File

@ -29,6 +29,8 @@ enum: uint8_t {
PUS_SERVICE_9 = 89,
PUS_SERVICE_17 = 97,
PUS_SERVICE_23 = 103,
MGM_LIS3MDL = 106,
MGM_RM3100 = 107,
FW_SUBSYSTEM_ID_RANGE
};

2
src/fsfw/returnvalues/FwClassIds.h
View File

@ -77,6 +77,8 @@ enum: uint8_t {
HAL_UART, //HURT
HAL_I2C, //HI2C
HAL_GPIO, //HGIO
MGM_LIS3MDL, //MGMLIS3
MGM_RM3100, //MGMRM3100
FW_CLASS_ID_COUNT // [EXPORT] : [END]
};