Merge remote-tracking branch 'origin/development' into mueller/update-changelog
This commit is contained in:
commit
51add8a8ad
@ -1,50 +1,48 @@
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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GpioCookie::GpioCookie() {
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}
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GpioCookie::GpioCookie() {}
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ReturnValue_t GpioCookie::addGpio(gpioId_t gpioId, GpioBase* gpioConfig) {
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if (gpioConfig == nullptr) {
|
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if (gpioConfig == nullptr) {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
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sif::warning << "GpioCookie::addGpio: gpioConfig is nullpointer" << std::endl;
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#else
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sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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auto gpioMapIter = gpioMap.find(gpioId);
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if(gpioMapIter == gpioMap.end()) {
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auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
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if (statusPair.second == false) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId <<
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" to GPIO map" << std::endl;
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#else
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sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
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#endif
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
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#else
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sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
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#endif
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sif::printWarning("GpioCookie::addGpio: gpioConfig is nullpointer\n");
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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auto gpioMapIter = gpioMap.find(gpioId);
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if (gpioMapIter == gpioMap.end()) {
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auto statusPair = gpioMap.emplace(gpioId, gpioConfig);
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if (statusPair.second == false) {
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GpioCookie::addGpio: Failed to add GPIO " << gpioId << " to GPIO map"
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<< std::endl;
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#else
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sif::printWarning("GpioCookie::addGpio: Failed to add GPIO %d to GPIO map\n", gpioId);
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#endif
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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#if FSFW_VERBOSE_LEVEL >= 1
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::warning << "GpioCookie::addGpio: GPIO already exists in GPIO map " << std::endl;
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#else
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sif::printWarning("GpioCookie::addGpio: GPIO already exists in GPIO map\n");
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#endif
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#endif
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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GpioMap GpioCookie::getGpioMap() const {
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return gpioMap;
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}
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GpioMap GpioCookie::getGpioMap() const { return gpioMap; }
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GpioCookie::~GpioCookie() {
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for(auto& config: gpioMap) {
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delete(config.second);
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}
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for (auto& config : gpioMap) {
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delete (config.second);
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}
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}
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|
@ -1,12 +1,12 @@
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#ifndef COMMON_GPIO_GPIOCOOKIE_H_
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#define COMMON_GPIO_GPIOCOOKIE_H_
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#include "GpioIF.h"
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#include "gpioDefinitions.h"
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include "GpioIF.h"
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#include "gpioDefinitions.h"
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/**
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* @brief Cookie for the GpioIF. Allows the GpioIF to determine which
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* GPIOs to initialize and whether they should be configured as in- or
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@ -17,25 +17,24 @@
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*
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||||
* @author J. Meier
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*/
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class GpioCookie: public CookieIF {
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public:
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class GpioCookie : public CookieIF {
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public:
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GpioCookie();
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GpioCookie();
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virtual ~GpioCookie();
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virtual ~GpioCookie();
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ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
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ReturnValue_t addGpio(gpioId_t gpioId, GpioBase* gpioConfig);
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/**
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* @brief Get map with registered GPIOs.
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*/
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GpioMap getGpioMap() const;
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/**
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* @brief Get map with registered GPIOs.
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*/
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GpioMap getGpioMap() const;
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private:
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/**
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* Returns a copy of the internal GPIO map.
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*/
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GpioMap gpioMap;
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private:
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/**
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* Returns a copy of the internal GPIO map.
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||||
*/
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GpioMap gpioMap;
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};
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#endif /* COMMON_GPIO_GPIOCOOKIE_H_ */
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|
@ -1,9 +1,10 @@
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#ifndef COMMON_GPIO_GPIOIF_H_
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#define COMMON_GPIO_GPIOIF_H_
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#include "gpioDefinitions.h"
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include "gpioDefinitions.h"
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class GpioCookie;
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|
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@ -13,42 +14,41 @@ class GpioCookie;
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* @author J. Meier
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*/
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class GpioIF : public HasReturnvaluesIF {
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public:
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public:
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virtual ~GpioIF(){};
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virtual ~GpioIF() {};
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/**
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* @brief Called by the GPIO using object.
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* @param cookie Cookie specifying informations of the GPIOs required
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* by a object.
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*/
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virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
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/**
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* @brief Called by the GPIO using object.
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* @param cookie Cookie specifying informations of the GPIOs required
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* by a object.
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*/
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virtual ReturnValue_t addGpios(GpioCookie* cookie) = 0;
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/**
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* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
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*
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* @param gpioId A unique number which specifies the GPIO to drive.
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||||
* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
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*/
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virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
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/**
|
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* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to high logic level.
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||||
*
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||||
* @param gpioId A unique number which specifies the GPIO to drive.
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* @return Returns RETURN_OK for success. This should never return RETURN_FAILED.
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||||
*/
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virtual ReturnValue_t pullHigh(gpioId_t gpioId) = 0;
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/**
|
||||
* @brief By implementing this function a child must provide the
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||||
* functionality to pull a certain GPIO to low logic level.
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||||
*
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||||
* @param gpioId A unique number which specifies the GPIO to drive.
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||||
*/
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||||
virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
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||||
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/**
|
||||
* @brief By implementing this function a child must provide the
|
||||
* functionality to pull a certain GPIO to low logic level.
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*
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||||
* @param gpioId A unique number which specifies the GPIO to drive.
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||||
*/
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virtual ReturnValue_t pullLow(gpioId_t gpioId) = 0;
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/**
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* @brief This function requires a child to implement the functionality to read the state of
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* an ouput or input gpio.
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*
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* @param gpioId A unique number which specifies the GPIO to read.
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* @param gpioState State of GPIO will be written to this pointer.
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*/
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virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
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/**
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* @brief This function requires a child to implement the functionality to read the state of
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* an ouput or input gpio.
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*
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* @param gpioId A unique number which specifies the GPIO to read.
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* @param gpioState State of GPIO will be written to this pointer.
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*/
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virtual ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) = 0;
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};
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#endif /* COMMON_GPIO_GPIOIF_H_ */
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|
@ -1,44 +1,34 @@
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#ifndef COMMON_GPIO_GPIODEFINITIONS_H_
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#define COMMON_GPIO_GPIODEFINITIONS_H_
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#include <map>
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#include <string>
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#include <unordered_map>
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#include <map>
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using gpioId_t = uint16_t;
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namespace gpio {
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enum Levels: uint8_t {
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LOW = 0,
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HIGH = 1,
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NONE = 99
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};
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enum Levels : uint8_t { LOW = 0, HIGH = 1, NONE = 99 };
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enum Direction: uint8_t {
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IN = 0,
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OUT = 1
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};
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enum Direction : uint8_t { IN = 0, OUT = 1 };
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enum GpioOperation {
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READ,
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WRITE
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};
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enum GpioOperation { READ, WRITE };
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enum class GpioTypes {
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NONE,
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GPIO_REGULAR_BY_CHIP,
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GPIO_REGULAR_BY_LABEL,
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GPIO_REGULAR_BY_LINE_NAME,
|
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CALLBACK
|
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NONE,
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GPIO_REGULAR_BY_CHIP,
|
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GPIO_REGULAR_BY_LABEL,
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GPIO_REGULAR_BY_LINE_NAME,
|
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CALLBACK
|
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};
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static constexpr gpioId_t NO_GPIO = -1;
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using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
|
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void* args);
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using gpio_cb_t = void (*)(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
|
||||
void* args);
|
||||
|
||||
}
|
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} // namespace gpio
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|
||||
/**
|
||||
* @brief Struct containing information about the GPIO to use. This is
|
||||
@ -55,78 +45,71 @@ using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::L
|
||||
* pointer.
|
||||
*/
|
||||
class GpioBase {
|
||||
public:
|
||||
public:
|
||||
GpioBase() = default;
|
||||
|
||||
GpioBase() = default;
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue)
|
||||
: gpioType(gpioType), consumer(consumer), direction(direction), initValue(initValue) {}
|
||||
|
||||
GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue):
|
||||
gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
|
||||
virtual ~GpioBase(){};
|
||||
|
||||
virtual~ GpioBase() {};
|
||||
|
||||
// Can be used to cast GpioBase to a concrete child implementation
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
gpio::Levels initValue = gpio::Levels::NONE;
|
||||
// Can be used to cast GpioBase to a concrete child implementation
|
||||
gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
|
||||
std::string consumer;
|
||||
gpio::Direction direction = gpio::Direction::IN;
|
||||
gpio::Levels initValue = gpio::Levels::NONE;
|
||||
};
|
||||
|
||||
class GpiodRegularBase: public GpioBase {
|
||||
public:
|
||||
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue, int lineNum):
|
||||
GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
|
||||
}
|
||||
class GpiodRegularBase : public GpioBase {
|
||||
public:
|
||||
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue, int lineNum)
|
||||
: GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {}
|
||||
|
||||
// line number will be configured at a later point for the open by line name configuration
|
||||
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
|
||||
}
|
||||
// line number will be configured at a later point for the open by line name configuration
|
||||
GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
|
||||
gpio::Levels initValue)
|
||||
: GpioBase(gpioType, consumer, direction, initValue) {}
|
||||
|
||||
int lineNum = 0;
|
||||
struct gpiod_line* lineHandle = nullptr;
|
||||
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) {
|
||||
}
|
||||
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_, gpio::Levels initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
|
||||
consumer_, direction_, initValue_, lineNum_),
|
||||
chipname(chipname_){
|
||||
}
|
||||
GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, gpio::Levels 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_) {
|
||||
}
|
||||
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;
|
||||
std::string chipname;
|
||||
};
|
||||
|
||||
class GpiodRegularByLabel: public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, gpio::Levels initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
|
||||
direction_, initValue_, lineNum_),
|
||||
label(label_) {
|
||||
}
|
||||
class GpiodRegularByLabel : public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
|
||||
gpio::Direction direction_, gpio::Levels 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_) {
|
||||
}
|
||||
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;
|
||||
std::string label;
|
||||
};
|
||||
|
||||
/**
|
||||
@ -134,34 +117,34 @@ public:
|
||||
* line name. This line name can be set in the device tree and must be unique. Otherwise
|
||||
* the driver will open the first line with the given name.
|
||||
*/
|
||||
class GpiodRegularByLineName: public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
|
||||
gpio::Levels initValue_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
|
||||
initValue_), lineName(lineName_) {
|
||||
}
|
||||
class GpiodRegularByLineName : public GpiodRegularBase {
|
||||
public:
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
|
||||
gpio::Levels initValue_)
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
|
||||
initValue_),
|
||||
lineName(lineName_) {}
|
||||
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
|
||||
GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
|
||||
gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
|
||||
}
|
||||
GpiodRegularByLineName(std::string lineName_, std::string consumer_)
|
||||
: GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, gpio::Direction::IN,
|
||||
gpio::LOW),
|
||||
lineName(lineName_) {}
|
||||
|
||||
std::string lineName;
|
||||
std::string lineName;
|
||||
};
|
||||
|
||||
class GpioCallback: public GpioBase {
|
||||
public:
|
||||
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
|
||||
gpio::gpio_cb_t callback, void* callbackArgs):
|
||||
GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
|
||||
callback(callback), callbackArgs(callbackArgs) {}
|
||||
class GpioCallback : public GpioBase {
|
||||
public:
|
||||
GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
|
||||
gpio::gpio_cb_t callback, void* callbackArgs)
|
||||
: GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
|
||||
callback(callback),
|
||||
callbackArgs(callbackArgs) {}
|
||||
|
||||
gpio::gpio_cb_t callback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
gpio::gpio_cb_t callback = nullptr;
|
||||
void* callbackArgs = nullptr;
|
||||
};
|
||||
|
||||
|
||||
using GpioMap = std::map<gpioId_t, GpioBase*>;
|
||||
using GpioUnorderedMap = std::unordered_map<gpioId_t, GpioBase*>;
|
||||
using GpioMapIter = GpioMap::iterator;
|
||||
|
@ -5,12 +5,7 @@
|
||||
|
||||
namespace spi {
|
||||
|
||||
enum SpiModes: uint8_t {
|
||||
MODE_0,
|
||||
MODE_1,
|
||||
MODE_2,
|
||||
MODE_3
|
||||
};
|
||||
enum SpiModes : uint8_t { MODE_0, MODE_1, MODE_2, MODE_3 };
|
||||
|
||||
}
|
||||
|
||||
|
@ -1,287 +1,274 @@
|
||||
#include "GyroL3GD20Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs), dataset(this) {
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
transitionDelayMs(transitionDelayMs),
|
||||
dataset(this) {
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
|
||||
|
||||
void GyroHandlerL3GD20H::doStartUp() {
|
||||
if(internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
if (internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CONFIGURE) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
if (internalState == InternalState::CONFIGURE) {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if(goNormalModeImmediately) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
commandExecuted = false;
|
||||
}
|
||||
if (internalState == InternalState::CHECK_REGS) {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if (goNormalModeImmediately) {
|
||||
setMode(MODE_NORMAL);
|
||||
} else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
void GyroHandlerL3GD20H::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
switch (internalState) {
|
||||
case (InternalState::NONE):
|
||||
case (InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command [5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
case (InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command[5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
command[1] = L3GD20H::CTRL_REG_2_VAL;
|
||||
command[2] = L3GD20H::CTRL_REG_3_VAL;
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
}
|
||||
case(InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
case (InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
/* Might be a configuration error. */
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
sif::printDebug(
|
||||
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (L3GD20H::READ_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = L3GD20H::READ_LEN + 1;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if(commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
|
||||
if (commandData == nullptr or commandDataLen != 5) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
ctrlReg1Value = commandData[0];
|
||||
ctrlReg2Value = commandData[1];
|
||||
ctrlReg3Value = commandData[2];
|
||||
ctrlReg4Value = commandData[3];
|
||||
ctrlReg5Value = commandData[4];
|
||||
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
|
||||
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
|
||||
|
||||
if(not fsH and not fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
}
|
||||
else if(not fsH and fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
}
|
||||
else {
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
if (not fsH and not fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
} else if (not fsH and fsL) {
|
||||
sensitivity = L3GD20H::SENSITIVITY_01;
|
||||
} else {
|
||||
sensitivity = L3GD20H::SENSITIVITY_11;
|
||||
}
|
||||
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
commandBuffer[1] = ctrlReg1Value;
|
||||
commandBuffer[2] = ctrlReg2Value;
|
||||
commandBuffer[3] = ctrlReg3Value;
|
||||
commandBuffer[4] = ctrlReg4Value;
|
||||
commandBuffer[5] = ctrlReg5Value;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
|
||||
L3GD20H::READ_MASK;
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
|
||||
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
std::memset(commandBuffer + 1, 0, 5);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 6;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// For SPI, the ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// For SPI, the ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch (id) {
|
||||
case (L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
}
|
||||
case (L3GD20H::READ_CTRL_REGS): {
|
||||
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
} else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
|
||||
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
|
||||
packet[5] == ctrlReg5Value) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_REGS): {
|
||||
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
else {
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
case (L3GD20H::READ_REGS): {
|
||||
if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
} else {
|
||||
if (internalState == InternalState::CHECK_REGS) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
|
||||
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
|
||||
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
|
||||
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
|
||||
float angVelocX = angVelocXRaw * sensitivity;
|
||||
float angVelocY = angVelocYRaw * sensitivity;
|
||||
float angVelocZ = angVelocZRaw * sensitivity;
|
||||
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
|
||||
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
|
||||
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
|
||||
float angVelocX = angVelocXRaw * sensitivity;
|
||||
float angVelocY = angVelocYRaw * sensitivity;
|
||||
float angVelocZ = angVelocZRaw * sensitivity;
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
if (debugDivider->checkAndIncrement()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
#else
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
|
||||
sif::printInfo("X: %f\n", angVelocX);
|
||||
sif::printInfo("Y: %f\n", angVelocY);
|
||||
sif::printInfo("Z: %f\n", angVelocZ);
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
|
||||
sif::printInfo("X: %f\n", angVelocX);
|
||||
sif::printInfo("Y: %f\n", angVelocY);
|
||||
sif::printInfo("Z: %f\n", angVelocZ);
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocZ) < this->absLimitZ) {
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.temperature = temperature;
|
||||
dataset.temperature.setValid(true);
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if (std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
} else {
|
||||
dataset.angVelocX.setValid(false);
|
||||
}
|
||||
break;
|
||||
|
||||
if (std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
} else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if (std::abs(angVelocZ) < this->absLimitZ) {
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
|
||||
} else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.temperature = temperature;
|
||||
dataset.temperature.setValid(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelayMs;
|
||||
return this->transitionDelayMs;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
|
||||
this->goNormalModeImmediately = true;
|
||||
}
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }
|
||||
|
||||
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
}
|
||||
|
@ -1,12 +1,12 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
@ -16,84 +16,73 @@
|
||||
*
|
||||
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
*/
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
class GyroHandlerL3GD20H : public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
protected:
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
protected:
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) override;
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
CHECK_REGS,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
|
||||
uint8_t statusReg = 0;
|
||||
bool goNormalModeImmediately = false;
|
||||
uint8_t statusReg = 0;
|
||||
bool goNormalModeImmediately = false;
|
||||
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
|
||||
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
|
||||
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
|
||||
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
|
||||
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
|
||||
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
|
||||
// Set default value
|
||||
float sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
// Set default value
|
||||
float sensitivity = L3GD20H::SENSITIVITY_00;
|
||||
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
PeriodicOperationDivider *debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */
|
||||
|
@ -8,513 +8,477 @@
|
||||
#include <cmath>
|
||||
|
||||
MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelay):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this), transitionDelay(transitionDelay) {
|
||||
CookieIF *comCookie, uint32_t transitionDelay)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this),
|
||||
transitionDelay(transitionDelay) {
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
// Set to default values right away
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
}
|
||||
|
||||
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {
|
||||
// Set to default values right away
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
}
|
||||
|
||||
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
|
||||
|
||||
void MgmLIS3MDLHandler::doStartUp() {
|
||||
switch (internalState) {
|
||||
case(InternalState::STATE_NONE): {
|
||||
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||
break;
|
||||
switch (internalState) {
|
||||
case (InternalState::STATE_NONE): {
|
||||
internalState = InternalState::STATE_FIRST_CONTACT;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_FIRST_CONTACT): {
|
||||
/* Will be set by checking device ID (WHO AM I register) */
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
internalState = InternalState::STATE_SETUP;
|
||||
case (InternalState::STATE_FIRST_CONTACT): {
|
||||
/* Will be set by checking device ID (WHO AM I register) */
|
||||
if (commandExecuted) {
|
||||
commandExecuted = false;
|
||||
internalState = InternalState::STATE_SETUP;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_SETUP): {
|
||||
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_CHECK_REGISTERS): {
|
||||
/* Set up cached registers which will be used to configure the MGM. */
|
||||
if (commandExecuted) {
|
||||
commandExecuted = false;
|
||||
if (goToNormalMode) {
|
||||
setMode(MODE_NORMAL);
|
||||
} else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_SETUP): {
|
||||
internalState = InternalState::STATE_CHECK_REGISTERS;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
/* Set up cached registers which will be used to configure the MGM. */
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
if(goToNormalMode) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
void MgmLIS3MDLHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch (internalState) {
|
||||
case (InternalState::STATE_NONE):
|
||||
case (InternalState::STATE_NORMAL): {
|
||||
return DeviceHandlerBase::NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::STATE_FIRST_CONTACT): {
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
case (InternalState::STATE_FIRST_CONTACT): {
|
||||
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_SETUP): {
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
case (InternalState::STATE_SETUP): {
|
||||
*id = MGMLIS3MDL::SETUP_MGM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CHECK_REGISTERS): {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
case (InternalState::STATE_CHECK_REGISTERS): {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
/* might be a configuration error. */
|
||||
/* might be a configuration error. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
|
||||
command |= (1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
command |= (1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
}
|
||||
|
||||
uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
|
||||
command &= ~(1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
command &= ~(1 << MGMLIS3MDL::RW_BIT);
|
||||
if (continuousCom == true) {
|
||||
command |= (1 << MGMLIS3MDL::MS_BIT);
|
||||
}
|
||||
return command;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setupMgm() {
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
|
||||
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
|
||||
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
|
||||
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
|
||||
|
||||
prepareCtrlRegisterWrite();
|
||||
prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if(communicationStep == CommunicationStep::DATA) {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
else {
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
// Data/config register will be read in an alternating manner.
|
||||
if (communicationStep == CommunicationStep::DATA) {
|
||||
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
communicationStep = CommunicationStep::TEMPERATURE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
} else {
|
||||
*id = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
communicationStep = CommunicationStep::DATA;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
|
||||
std::memset(commandBuffer, 0, sizeof(commandBuffer));
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
case (MGMLIS3MDL::READ_TEMPERATURE): {
|
||||
std::memset(commandBuffer, 0, 3);
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 3;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
case (MGMLIS3MDL::IDENTIFY_DEVICE): {
|
||||
return identifyDevice();
|
||||
}
|
||||
case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
|
||||
return enableTemperatureSensor(commandData, commandDataLen);
|
||||
}
|
||||
case(MGMLIS3MDL::SETUP_MGM): {
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
case (MGMLIS3MDL::SETUP_MGM): {
|
||||
setupMgm();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
|
||||
return setOperatingMode(commandData, commandDataLen);
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
|
||||
commandBuffer[1] = 0x00;
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or
|
||||
start[3] != registers[2] or start[4] != registers[3] or
|
||||
start[5] != registers[4]) {
|
||||
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
|
||||
// Check validity by checking config registers
|
||||
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
|
||||
start[4] != registers[3] or start[5] != registers[4]) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
|
||||
#endif
|
||||
#endif
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
if (mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
|
||||
}
|
||||
else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
}
|
||||
else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
}
|
||||
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = getPendingCommand();
|
||||
if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
|
||||
if(start[1] != MGMLIS3MDL::DEVICE_ID) {
|
||||
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
|
||||
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = MGMLIS3MDL::SETUP_MGM;
|
||||
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
|
||||
*foundLen = len;
|
||||
*foundId = getPendingCommand();
|
||||
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
|
||||
if (start[1] != MGMLIS3MDL::DEVICE_ID) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!" << std::endl;
|
||||
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!\n");
|
||||
sif::printWarning(
|
||||
"MGMHandlerLIS3MDL::scanForReply: "
|
||||
"Device identification failed!\n");
|
||||
#endif
|
||||
#endif
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
}
|
||||
|
||||
/* Data with SPI Interface always has this answer */
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
if (mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
/* Data with SPI Interface always has this answer */
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
} else {
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
}
|
||||
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
|
||||
switch (id) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
||||
switch (id) {
|
||||
case MGMLIS3MDL::IDENTIFY_DEVICE: {
|
||||
break;
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::SETUP_MGM: {
|
||||
break;
|
||||
break;
|
||||
}
|
||||
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
|
||||
// TODO: Store configuration in new local datasets.
|
||||
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
|
||||
// TODO: Store configuration in new local datasets.
|
||||
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
|
||||
|
||||
int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
|
||||
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
|
||||
int16_t mgmMeasurementRawX =
|
||||
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
|
||||
int16_t mgmMeasurementRawY =
|
||||
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
|
||||
int16_t mgmMeasurementRawZ =
|
||||
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
|
||||
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
|
||||
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
/* Target value in microtesla */
|
||||
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
|
||||
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
|
||||
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
if (debugDivider->checkAndIncrement()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
sif::info << "X: " << mgmX << " uT" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " uT" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " uT" << std::endl;
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
" microtesla:"
|
||||
<< std::endl;
|
||||
sif::info << "X: " << mgmX << " uT" << std::endl;
|
||||
sif::info << "Y: " << mgmY << " uT" << std::endl;
|
||||
sif::info << "Z: " << mgmZ << " uT" << std::endl;
|
||||
#else
|
||||
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
|
||||
sif::printInfo("X: %f uT\n", mgmX);
|
||||
sif::printInfo("Y: %f uT\n", mgmY);
|
||||
sif::printInfo("Z: %f uT\n", mgmZ);
|
||||
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
|
||||
sif::printInfo("X: %f uT\n", mgmX);
|
||||
sif::printInfo("Y: %f uT\n", mgmY);
|
||||
sif::printInfo("Z: %f uT\n", mgmZ);
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
|
||||
}
|
||||
}
|
||||
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if(std::abs(mgmX) < absLimitX) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(mgmY) < absLimitY) {
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(mgmZ) < absLimitZ) {
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.fieldStrengthZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.fieldStrengthZ.setValid(false);
|
||||
}
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
if (std::abs(mgmX) < absLimitX) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthX.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthX.setValid(false);
|
||||
}
|
||||
break;
|
||||
|
||||
if (std::abs(mgmY) < absLimitY) {
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
dataset.fieldStrengthY.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthY.setValid(false);
|
||||
}
|
||||
|
||||
if (std::abs(mgmZ) < absLimitZ) {
|
||||
dataset.fieldStrengthZ = mgmZ;
|
||||
dataset.fieldStrengthZ.setValid(true);
|
||||
} else {
|
||||
dataset.fieldStrengthZ.setValid(false);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
case MGMLIS3MDL::READ_TEMPERATURE: {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if(debugDivider->check()) {
|
||||
int16_t tempValueRaw = packet[2] << 8 | packet[1];
|
||||
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
if (debugDivider->check()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
|
||||
std::endl;
|
||||
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
|
||||
#else
|
||||
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
|
||||
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif
|
||||
ReturnValue_t result = dataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
ReturnValue_t result = dataset.read();
|
||||
if (result == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.temperature = tempValue;
|
||||
dataset.commit();
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
default: {
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
|
||||
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
|
||||
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
|
||||
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
|
||||
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
|
||||
|
||||
if (fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_16;
|
||||
else if (!fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_12;
|
||||
else if (fs0Set && !fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_8;
|
||||
else
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_4;
|
||||
if (fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_16;
|
||||
else if (!fs0Set && fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_12;
|
||||
else if (fs0Set && !fs1Set)
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_8;
|
||||
else
|
||||
return MGMLIS3MDL::Sensitivies::GAUSS_4;
|
||||
}
|
||||
|
||||
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
|
||||
switch(sens) {
|
||||
case(MGMLIS3MDL::GAUSS_4): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
switch (sens) {
|
||||
case (MGMLIS3MDL::GAUSS_4): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_8): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_8): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_12): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_12): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
|
||||
}
|
||||
case(MGMLIS3MDL::GAUSS_16): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
|
||||
case (MGMLIS3MDL::GAUSS_16): {
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
|
||||
}
|
||||
default: {
|
||||
// Should never happen
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
// Should never happen
|
||||
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
uint32_t size = 2;
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
|
||||
if (commandDataLen > 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
switch (*commandData) {
|
||||
case (MGMLIS3MDL::ON): {
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
commandBuffer[1] = registers[0] | (1 << 7);
|
||||
break;
|
||||
}
|
||||
case (MGMLIS3MDL::OFF): {
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
commandBuffer[1] = registers[0] & ~(1 << 7);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
return INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
registers[0] = commandBuffer[1];
|
||||
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = size;
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
size_t commandDataLen) {
|
||||
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
|
||||
if (commandDataLen != 1) {
|
||||
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
|
||||
}
|
||||
|
||||
switch (commandData[0]) {
|
||||
switch (commandData[0]) {
|
||||
case MGMLIS3MDL::LOW:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
case MGMLIS3MDL::MEDIUM:
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::HIGH:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
|
||||
break;
|
||||
|
||||
case MGMLIS3MDL::ULTRA:
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
|
||||
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return prepareCtrlRegisterWrite();
|
||||
return prepareCtrlRegisterWrite();
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
|
||||
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) {
|
||||
this->goToNormalMode = enable;
|
||||
}
|
||||
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
|
||||
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
|
||||
commandBuffer[i + 1] = registers[i];
|
||||
}
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
|
||||
|
||||
// We dont have to check if this is working because we just did i
|
||||
return RETURN_OK;
|
||||
// We dont have to check if this is working because we just did i
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {}
|
||||
|
||||
}
|
||||
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
|
||||
|
||||
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return transitionDelay;
|
||||
}
|
||||
void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE_NONE; }
|
||||
|
||||
void MgmLIS3MDLHandler::modeChanged(void) {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
|
||||
new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
|
||||
this->absLimitX = xLimit;
|
||||
this->absLimitY = yLimit;
|
||||
this->absLimitZ = zLimit;
|
||||
this->absLimitX = xLimit;
|
||||
this->absLimitY = yLimit;
|
||||
this->absLimitZ = zLimit;
|
||||
}
|
||||
|
@ -1,10 +1,9 @@
|
||||
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
|
||||
|
||||
#include "events/subsystemIdRanges.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
class PeriodicOperationDivider;
|
||||
@ -18,168 +17,158 @@ class PeriodicOperationDivider;
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
|
||||
* @author L. Loidold, R. Mueller
|
||||
*/
|
||||
class MgmLIS3MDLHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep {
|
||||
DATA,
|
||||
TEMPERATURE
|
||||
};
|
||||
class MgmLIS3MDLHandler : public DeviceHandlerBase {
|
||||
public:
|
||||
enum class CommunicationStep { DATA, TEMPERATURE };
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
//Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
|
||||
// Notifies a command to change the setup parameters
|
||||
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
|
||||
|
||||
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmLIS3MDLHandler();
|
||||
MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmLIS3MDLHandler();
|
||||
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
|
||||
* be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
|
||||
void setToGoToNormalMode(bool enable);
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
|
||||
* be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
protected:
|
||||
protected:
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) override;
|
||||
/**
|
||||
* This implementation is tailored towards space applications and will flag values larger
|
||||
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
|
||||
* @param id
|
||||
* @param packet
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
/** DeviceHandlerBase overrides */
|
||||
void doShutDown() override;
|
||||
void doStartUp() override;
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
/**
|
||||
* This implementation is tailored towards space applications and will flag values larger
|
||||
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
|
||||
* @param id
|
||||
* @param packet
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
// Length a single command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
|
||||
private:
|
||||
MGMLIS3MDL::MgmPrimaryDataset dataset;
|
||||
//Length a single command SPI answer
|
||||
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
|
||||
uint32_t transitionDelay;
|
||||
// Single SPI command has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
// Has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
|
||||
uint32_t transitionDelay;
|
||||
// Single SPI command has 2 bytes, first for adress, second for content
|
||||
size_t singleComandSize = 2;
|
||||
// Has the size for all adresses of the lis3mdl + the continous write bit
|
||||
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
|
||||
float absLimitX = 100;
|
||||
float absLimitY = 100;
|
||||
float absLimitZ = 150;
|
||||
|
||||
float absLimitX = 100;
|
||||
float absLimitY = 100;
|
||||
float absLimitZ = 150;
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
* registers when we want to change something.
|
||||
* --> everytime we change set a register we have to save it
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
|
||||
/**
|
||||
* We want to save the registers we set, so we dont have to read the
|
||||
* registers when we want to change something.
|
||||
* --> everytime we change set a register we have to save it
|
||||
*/
|
||||
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
|
||||
uint8_t statusRegister = 0;
|
||||
bool goToNormalMode = false;
|
||||
|
||||
uint8_t statusRegister = 0;
|
||||
bool goToNormalMode = false;
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_FIRST_CONTACT,
|
||||
STATE_SETUP,
|
||||
STATE_CHECK_REGISTERS,
|
||||
STATE_NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
CommunicationStep communicationStep = CommunicationStep::DATA;
|
||||
bool commandExecuted = false;
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Sets the read bit for the command
|
||||
* @param single command to set the read-bit at
|
||||
* @param boolean to select a continuous read bit, default = false
|
||||
*/
|
||||
uint8_t readCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device specific commands and variables */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Sets the read bit for the command
|
||||
* @param single command to set the read-bit at
|
||||
* @param boolean to select a continuous read bit, default = false
|
||||
*/
|
||||
uint8_t readCommand(uint8_t command, bool continuousCom = false);
|
||||
/**
|
||||
* Sets the write bit for the command
|
||||
* @param single command to set the write-bit at
|
||||
* @param boolean to select a continuous write bit, default = false
|
||||
*/
|
||||
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
|
||||
|
||||
/**
|
||||
* Sets the write bit for the command
|
||||
* @param single command to set the write-bit at
|
||||
* @param boolean to select a continuous write bit, default = false
|
||||
*/
|
||||
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
|
||||
|
||||
/**
|
||||
* This Method gets the full scale for the measurement range
|
||||
* e.g.: +- 4 gauss. See p.25 datasheet.
|
||||
* @return The ReturnValue does not contain the sign of the value
|
||||
*/
|
||||
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
|
||||
/**
|
||||
* The 16 bit value needs to be multiplied with a sensitivity factor
|
||||
* which depends on the sensitivity configuration
|
||||
*
|
||||
* @param sens Configured sensitivity of the LIS3 device
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
|
||||
|
||||
/**
|
||||
* The 16 bit value needs to be multiplied with a sensitivity factor
|
||||
* which depends on the sensitivity configuration
|
||||
*
|
||||
* @param sens Configured sensitivity of the LIS3 device
|
||||
* @return Multiplication factor to get the sensor value from raw data.
|
||||
*/
|
||||
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
|
||||
/**
|
||||
* This Command detects the device ID
|
||||
*/
|
||||
ReturnValue_t identifyDevice();
|
||||
virtual void setupMgm();
|
||||
|
||||
virtual void setupMgm();
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Enables/Disables the integrated Temperaturesensor
|
||||
* @param commandData On or Off
|
||||
* @param length of the commandData: has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Non normal commands */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/**
|
||||
* Enables/Disables the integrated Temperaturesensor
|
||||
* @param commandData On or Off
|
||||
* @param length of the commandData: has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t enableTemperatureSensor(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
/**
|
||||
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||
* @param length of the command, has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* Sets the accuracy of the measurement of the axis. The noise is changing.
|
||||
* @param commandData LOW, MEDIUM, HIGH, ULTRA
|
||||
* @param length of the command, has to be 1
|
||||
*/
|
||||
virtual ReturnValue_t setOperatingMode(const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
/**
|
||||
* We always update all registers together, so this method updates
|
||||
* the rawpacket and rawpacketLen, so we just manipulate the local
|
||||
* saved register
|
||||
*
|
||||
*/
|
||||
ReturnValue_t prepareCtrlRegisterWrite();
|
||||
|
||||
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider *debugDivider;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
@ -1,376 +1,367 @@
|
||||
#include "MgmRM3100Handler.h"
|
||||
|
||||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
#include "fsfw/globalfunctions/bitutility.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
|
||||
#include "fsfw/globalfunctions/bitutility.h"
|
||||
#include "fsfw/objectmanager/SystemObjectIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
|
||||
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
primaryDataset(this), transitionDelay(transitionDelay) {
|
||||
MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie, uint32_t transitionDelay)
|
||||
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
primaryDataset(this),
|
||||
transitionDelay(transitionDelay) {
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
MgmRM3100Handler::~MgmRM3100Handler() {}
|
||||
|
||||
void MgmRM3100Handler::doStartUp() {
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE): {
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
break;
|
||||
switch (internalState) {
|
||||
case (InternalState::NONE): {
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::CONFIGURE_CMM): {
|
||||
internalState = InternalState::READ_CMM;
|
||||
break;
|
||||
case (InternalState::CONFIGURE_CMM): {
|
||||
internalState = InternalState::READ_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::READ_CMM): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
case (InternalState::READ_CMM): {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_CONFIGURE_TMRC): {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::STATE_READ_TMRC;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (InternalState::STATE_READ_TMRC): {
|
||||
if (commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if (goToNormalModeAtStartup) {
|
||||
setMode(MODE_NORMAL);
|
||||
} else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_READ_TMRC;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_TMRC): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
if(goToNormalModeAtStartup) {
|
||||
setMode(MODE_NORMAL);
|
||||
}
|
||||
else {
|
||||
setMode(_MODE_TO_ON);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
break;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
void MgmRM3100Handler::doShutDown() { setMode(_MODE_POWER_DOWN); }
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
size_t commandLen = 0;
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
size_t commandLen = 0;
|
||||
switch (internalState) {
|
||||
case (InternalState::NONE):
|
||||
case (InternalState::NORMAL): {
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::CONFIGURE_CMM): {
|
||||
*id = RM3100::CONFIGURE_CMM;
|
||||
break;
|
||||
case (InternalState::CONFIGURE_CMM): {
|
||||
*id = RM3100::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::READ_CMM): {
|
||||
*id = RM3100::READ_CMM;
|
||||
break;
|
||||
case (InternalState::READ_CMM): {
|
||||
*id = RM3100::READ_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
|
||||
commandLen = 1;
|
||||
*id = RM3100::CONFIGURE_TMRC;
|
||||
break;
|
||||
case (InternalState::STATE_CONFIGURE_TMRC): {
|
||||
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
|
||||
commandLen = 1;
|
||||
*id = RM3100::CONFIGURE_TMRC;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_TMRC): {
|
||||
*id = RM3100::READ_TMRC;
|
||||
break;
|
||||
case (InternalState::STATE_READ_TMRC): {
|
||||
*id = RM3100::READ_TMRC;
|
||||
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;
|
||||
// Might be a configuration error
|
||||
sif::warning << "MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state"
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state\n");
|
||||
sif::printWarning(
|
||||
"MgmRM3100Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state\n");
|
||||
#endif
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
return buildCommandFromCommand(*id, commandBuffer, commandLen);
|
||||
return buildCommandFromCommand(*id, commandBuffer, commandLen);
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(RM3100::CONFIGURE_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER;
|
||||
commandBuffer[1] = RM3100::CMM_VALUE;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch (deviceCommand) {
|
||||
case (RM3100::CONFIGURE_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER;
|
||||
commandBuffer[1] = RM3100::CMM_VALUE;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
case (RM3100::READ_CMM): {
|
||||
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::CONFIGURE_TMRC): {
|
||||
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||
case (RM3100::CONFIGURE_TMRC): {
|
||||
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||
}
|
||||
case(RM3100::READ_TMRC): {
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
case (RM3100::READ_TMRC): {
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
|
||||
commandBuffer[1] = 0;
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 2;
|
||||
break;
|
||||
}
|
||||
case(RM3100::CONFIGURE_CYCLE_COUNT): {
|
||||
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||
case (RM3100::CONFIGURE_CYCLE_COUNT): {
|
||||
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
|
||||
}
|
||||
case(RM3100::READ_CYCLE_COUNT): {
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 6);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 7;
|
||||
break;
|
||||
case (RM3100::READ_CYCLE_COUNT): {
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 6);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 7;
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_DATA): {
|
||||
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 9);
|
||||
rawPacketLen = 10;
|
||||
break;
|
||||
case (RM3100::READ_DATA): {
|
||||
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 9);
|
||||
rawPacketLen = 10;
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
*id = RM3100::READ_DATA;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = RM3100::READ_DATA;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) {
|
||||
|
||||
// For SPI, ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = len;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// For SPI, ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = len;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(RM3100::CONFIGURE_CMM):
|
||||
case(RM3100::CONFIGURE_CYCLE_COUNT):
|
||||
case(RM3100::CONFIGURE_TMRC): {
|
||||
// We can only check whether write was successful with read operation
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
break;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch (id) {
|
||||
case (RM3100::CONFIGURE_CMM):
|
||||
case (RM3100::CONFIGURE_CYCLE_COUNT):
|
||||
case (RM3100::CONFIGURE_TMRC): {
|
||||
// We can only check whether write was successful with read operation
|
||||
if (mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CMM): {
|
||||
uint8_t cmmValue = packet[1];
|
||||
// We clear the seventh bit in any case
|
||||
// because this one is zero sometimes for some reason
|
||||
bitutil::clear(&cmmValue, 6);
|
||||
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
case (RM3100::READ_CMM): {
|
||||
uint8_t cmmValue = packet[1];
|
||||
// We clear the seventh bit in any case
|
||||
// because this one is zero sometimes for some reason
|
||||
bitutil::clear(&cmmValue, 6);
|
||||
if (cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
|
||||
commandExecuted = true;
|
||||
} else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_TMRC): {
|
||||
if(packet[1] == tmrcRegValue) {
|
||||
commandExecuted = true;
|
||||
// Reading TMRC was commanded. Trigger event to inform ground
|
||||
if(mode != _MODE_START_UP) {
|
||||
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||
}
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CYCLE_COUNT): {
|
||||
uint16_t cycleCountX = packet[1] << 8 | packet[2];
|
||||
uint16_t cycleCountY = packet[3] << 8 | packet[4];
|
||||
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
|
||||
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
|
||||
cycleCountZ != cycleCountRegValueZ) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
case (RM3100::READ_TMRC): {
|
||||
if (packet[1] == tmrcRegValue) {
|
||||
commandExecuted = true;
|
||||
// Reading TMRC was commanded. Trigger event to inform ground
|
||||
if(mode != _MODE_START_UP) {
|
||||
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
||||
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||
if (mode != _MODE_START_UP) {
|
||||
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||
}
|
||||
break;
|
||||
} else {
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_DATA): {
|
||||
result = handleDataReadout(packet);
|
||||
break;
|
||||
case (RM3100::READ_CYCLE_COUNT): {
|
||||
uint16_t cycleCountX = packet[1] << 8 | packet[2];
|
||||
uint16_t cycleCountY = packet[3] << 8 | packet[4];
|
||||
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
|
||||
if (cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
|
||||
cycleCountZ != cycleCountRegValueZ) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
// Reading TMRC was commanded. Trigger event to inform ground
|
||||
if (mode != _MODE_START_UP) {
|
||||
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
||||
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||
}
|
||||
break;
|
||||
}
|
||||
case (RM3100::READ_DATA): {
|
||||
result = handleDataReadout(packet);
|
||||
break;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
if(commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
if (commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
// Set cycle count
|
||||
if(commandDataLen == 2) {
|
||||
handleCycleCommand(true, commandData, commandDataLen);
|
||||
}
|
||||
else if(commandDataLen == 6) {
|
||||
handleCycleCommand(false, commandData, commandDataLen);
|
||||
}
|
||||
else {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
// Set cycle count
|
||||
if (commandDataLen == 2) {
|
||||
handleCycleCommand(true, commandData, commandDataLen);
|
||||
} else if (commandDataLen == 6) {
|
||||
handleCycleCommand(false, commandData, commandDataLen);
|
||||
} else {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
|
||||
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
|
||||
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
|
||||
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
|
||||
rawPacketLen = 7;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
|
||||
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
|
||||
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
|
||||
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
|
||||
rawPacketLen = 7;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
RM3100::CycleCountCommand command(oneCycleValue);
|
||||
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
|
||||
SerializeIF::Endianness::BIG);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
RM3100::CycleCountCommand command(oneCycleValue);
|
||||
ReturnValue_t result =
|
||||
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
|
||||
if(command.cycleCountX > 450 ) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
// Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts."
|
||||
if (command.cycleCountX > 450) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
if (not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
cycleCountRegValueX = command.cycleCountX;
|
||||
cycleCountRegValueY = command.cycleCountY;
|
||||
cycleCountRegValueZ = command.cycleCountZ;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
cycleCountRegValueX = command.cycleCountX;
|
||||
cycleCountRegValueY = command.cycleCountY;
|
||||
cycleCountRegValueZ = command.cycleCountZ;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
if(commandData == nullptr or commandDataLen != 1) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
if (commandData == nullptr or commandDataLen != 1) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
||||
commandBuffer[1] = commandData[0];
|
||||
tmrcRegValue = commandData[0];
|
||||
rawPacketLen = 2;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
commandBuffer[0] = RM3100::TMRC_REGISTER;
|
||||
commandBuffer[1] = commandData[0];
|
||||
tmrcRegValue = commandData[0];
|
||||
rawPacketLen = 2;
|
||||
rawPacket = commandBuffer;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
||||
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
|
||||
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
|
||||
|
||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
||||
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::modeChanged(void) {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
void MgmRM3100Handler::modeChanged(void) { internalState = InternalState::NONE; }
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return this->transitionDelay;
|
||||
return this->transitionDelay;
|
||||
}
|
||||
|
||||
void MgmRM3100Handler::setToGoToNormalMode(bool enable) {
|
||||
goToNormalModeAtStartup = enable;
|
||||
}
|
||||
void MgmRM3100Handler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
|
||||
|
||||
ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
|
||||
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
||||
// trickery here to calculate the raw values first
|
||||
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
||||
// Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
||||
// trickery here to calculate the raw values first
|
||||
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
||||
|
||||
// Now scale to physical value in microtesla
|
||||
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
||||
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
||||
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
||||
// Now scale to physical value in microtesla
|
||||
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
||||
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
||||
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
||||
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
if (debugDivider->checkAndIncrement()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "MgmRM3100Handler: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
|
||||
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
|
||||
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
|
||||
sif::info << "MgmRM3100Handler: Magnetic field strength in"
|
||||
" microtesla:"
|
||||
<< std::endl;
|
||||
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);
|
||||
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
|
||||
|
||||
// TODO: Sanity check on values?
|
||||
PoolReadGuard readGuard(&primaryDataset);
|
||||
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||
primaryDataset.setValidity(true, true);
|
||||
}
|
||||
return RETURN_OK;
|
||||
// TODO: Sanity check on values?
|
||||
PoolReadGuard readGuard(&primaryDataset);
|
||||
if (readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||
primaryDataset.setValidity(true, true);
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
@ -1,8 +1,8 @@
|
||||
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
|
||||
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
@ -16,94 +16,90 @@
|
||||
* Flight manual:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
|
||||
*/
|
||||
class MgmRM3100Handler: public DeviceHandlerBase {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
|
||||
class MgmRM3100Handler : public DeviceHandlerBase {
|
||||
public:
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
|
||||
|
||||
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
|
||||
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
|
||||
0x00, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
|
||||
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
|
||||
|
||||
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
|
||||
//! P1: Second two bytes new Cycle Count Y
|
||||
//! P2: New cycle count Z
|
||||
static constexpr Event cycleCountersSet = event::makeEvent(
|
||||
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
|
||||
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
|
||||
//! P1: Second two bytes new Cycle Count Y
|
||||
//! P2: New cycle count Z
|
||||
static constexpr Event cycleCountersSet =
|
||||
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
|
||||
|
||||
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, uint32_t transitionDelay);
|
||||
virtual ~MgmRM3100Handler();
|
||||
MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
|
||||
uint32_t transitionDelay);
|
||||
virtual ~MgmRM3100Handler();
|
||||
|
||||
/**
|
||||
* Configure device handler to go to normal mode after startup immediately
|
||||
* @param enable
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
/**
|
||||
* Configure device handler to go to normal mode after startup immediately
|
||||
* @param enable
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
|
||||
protected:
|
||||
protected:
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
ReturnValue_t buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) override;
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged(void) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
private:
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE_CMM,
|
||||
READ_CMM,
|
||||
// The cycle count states are propably not going to be used because
|
||||
// the default cycle count will be used.
|
||||
STATE_CONFIGURE_CYCLE_COUNT,
|
||||
STATE_READ_CYCLE_COUNT,
|
||||
STATE_CONFIGURE_TMRC,
|
||||
STATE_READ_TMRC,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
RM3100::Rm3100PrimaryDataset primaryDataset;
|
||||
|
||||
private:
|
||||
uint8_t commandBuffer[10];
|
||||
uint8_t commandBufferLen = 0;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE_CMM,
|
||||
READ_CMM,
|
||||
// The cycle count states are propably not going to be used because
|
||||
// the default cycle count will be used.
|
||||
STATE_CONFIGURE_CYCLE_COUNT,
|
||||
STATE_READ_CYCLE_COUNT,
|
||||
STATE_CONFIGURE_TMRC,
|
||||
STATE_READ_TMRC,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
RM3100::Rm3100PrimaryDataset primaryDataset;
|
||||
uint8_t cmmRegValue = RM3100::CMM_VALUE;
|
||||
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
|
||||
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
|
||||
float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
|
||||
uint8_t commandBuffer[10];
|
||||
uint8_t commandBufferLen = 0;
|
||||
bool goToNormalModeAtStartup = false;
|
||||
uint32_t transitionDelay;
|
||||
|
||||
uint8_t cmmRegValue = RM3100::CMM_VALUE;
|
||||
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
|
||||
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
|
||||
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
|
||||
float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
|
||||
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen);
|
||||
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
bool goToNormalModeAtStartup = false;
|
||||
uint32_t transitionDelay;
|
||||
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen);
|
||||
|
||||
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,size_t commandDataLen);
|
||||
ReturnValue_t handleCycleCommand(bool oneCycleValue,
|
||||
const uint8_t *commandData, size_t commandDataLen);
|
||||
|
||||
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData,size_t commandDataLen);
|
||||
|
||||
ReturnValue_t handleDataReadout(const uint8_t* packet);
|
||||
ReturnValue_t handleDataReadout(const uint8_t *packet);
|
||||
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
|
||||
PeriodicOperationDivider* debugDivider;
|
||||
PeriodicOperationDivider *debugDivider;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
@ -3,6 +3,7 @@
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
@ -36,8 +37,8 @@ static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
|
||||
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
|
||||
static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
static constexpr uint8_t CTRL_REG_1_VAL =
|
||||
SET_POWER_NORMAL_MODE | SET_Z_ENABLE | SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
/* Register 2 */
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
@ -104,40 +105,29 @@ static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
|
||||
|
||||
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
|
||||
|
||||
enum GyroPoolIds: lp_id_t {
|
||||
ANG_VELOC_X,
|
||||
ANG_VELOC_Y,
|
||||
ANG_VELOC_Z,
|
||||
TEMPERATURE
|
||||
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
|
||||
|
||||
} // namespace L3GD20H
|
||||
|
||||
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
|
||||
public:
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId)
|
||||
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
|
||||
|
||||
private:
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
|
||||
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<5> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::TEMPERATURE, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
|
||||
|
@ -1,26 +1,18 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
|
||||
enum Set {
|
||||
ON, OFF
|
||||
};
|
||||
enum OpMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
enum Set { ON, OFF };
|
||||
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
|
||||
|
||||
enum Sensitivies: uint8_t {
|
||||
GAUSS_4 = 4,
|
||||
GAUSS_8 = 8,
|
||||
GAUSS_12 = 12,
|
||||
GAUSS_16 = 16
|
||||
};
|
||||
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
|
||||
|
||||
/* Actually 15, we just round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
@ -54,7 +46,7 @@ static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adress returns identifier of device with default 0b00111101 */
|
||||
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
|
||||
/* Register adress to access register 1 */
|
||||
static const uint8_t CTRL_REG1 = 0b00100000;
|
||||
@ -105,74 +97,67 @@ static const uint8_t RW_BIT = 7;
|
||||
static const uint8_t MS_BIT = 6;
|
||||
|
||||
/* CTRL_REG1 bits */
|
||||
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
|
||||
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
|
||||
// Enable rates higher than 80 Hz enabled = 1
|
||||
static const uint8_t FAST_ODR = 1;
|
||||
static const uint8_t DO0 = 2; // Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; // Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
static const uint8_t DO0 = 2; // Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; // Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT =
|
||||
(1 << TEMP_EN) | (1 << OM1) | (1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
// reset configuration registers and user registers
|
||||
static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t REBOOT = 3; // reboot memory content
|
||||
static const uint8_t FSO = 5; // full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; // full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t MD0 = 0; // Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; // Operating mode bit 1
|
||||
// SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t LP = 5; // low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
// big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t OMZ0 = 2; // Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; // Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t BDU = 6; // Block data update
|
||||
static const uint8_t FAST_READ = 7; // Fast read enabled = 1
|
||||
static const uint8_t CTRL_REG5_DEFAULT = 0;
|
||||
|
||||
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
enum MgmPoolIds : lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<4> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
class MgmPrimaryDataset : public StaticLocalDataSet<4> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
MgmPrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
} // namespace MGMLIS3MDL
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
|
||||
|
@ -1,10 +1,11 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/serialize/SerialLinkedListAdapter.h>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace RM3100 {
|
||||
@ -24,8 +25,8 @@ static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
|
||||
static constexpr uint8_t SET_CMM_START = 1;
|
||||
static constexpr uint8_t CMM_REGISTER = 0x01;
|
||||
|
||||
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||
SET_CMM_DRDM | SET_CMM_START;
|
||||
static constexpr uint8_t CMM_VALUE =
|
||||
SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX | SET_CMM_DRDM | SET_CMM_START;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Cycle count register */
|
||||
@ -33,8 +34,7 @@ static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||
// Default value (200)
|
||||
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
|
||||
|
||||
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
|
||||
100 * 38;
|
||||
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) / 100 * 38;
|
||||
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
@ -67,66 +67,58 @@ static constexpr DeviceCommandId_t READ_TMRC = 4;
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
|
||||
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
|
||||
|
||||
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
|
||||
public:
|
||||
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
|
||||
setLinks(oneCycleCount);
|
||||
}
|
||||
class CycleCountCommand : public SerialLinkedListAdapter<SerializeIF> {
|
||||
public:
|
||||
CycleCountCommand(bool oneCycleCount = true) : oneCycleCount(oneCycleCount) {
|
||||
setLinks(oneCycleCount);
|
||||
}
|
||||
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) override {
|
||||
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
|
||||
size, streamEndianness);
|
||||
if(oneCycleCount) {
|
||||
cycleCountY = cycleCountX;
|
||||
cycleCountZ = cycleCountX;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) override {
|
||||
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer, size, streamEndianness);
|
||||
if (oneCycleCount) {
|
||||
cycleCountY = cycleCountX;
|
||||
cycleCountZ = cycleCountX;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
SerializeElement<uint16_t> cycleCountX;
|
||||
SerializeElement<uint16_t> cycleCountY;
|
||||
SerializeElement<uint16_t> cycleCountZ;
|
||||
SerializeElement<uint16_t> cycleCountX;
|
||||
SerializeElement<uint16_t> cycleCountY;
|
||||
SerializeElement<uint16_t> cycleCountZ;
|
||||
|
||||
private:
|
||||
void setLinks(bool oneCycleCount) {
|
||||
setStart(&cycleCountX);
|
||||
if(not oneCycleCount) {
|
||||
cycleCountX.setNext(&cycleCountY);
|
||||
cycleCountY.setNext(&cycleCountZ);
|
||||
}
|
||||
}
|
||||
private:
|
||||
void setLinks(bool oneCycleCount) {
|
||||
setStart(&cycleCountX);
|
||||
if (not oneCycleCount) {
|
||||
cycleCountX.setNext(&cycleCountY);
|
||||
cycleCountY.setNext(&cycleCountZ);
|
||||
}
|
||||
}
|
||||
|
||||
bool oneCycleCount;
|
||||
bool oneCycleCount;
|
||||
};
|
||||
|
||||
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
enum MgmPoolIds : lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
};
|
||||
|
||||
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
|
||||
Rm3100PrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
|
||||
Rm3100PrimaryDataset(object_id_t mgmId) : StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
|
||||
|
||||
// Field strengths in micro Tesla.
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
// Field strengths in micro Tesla.
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId, FIELD_STRENGTH_Z, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
} // namespace RM3100
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
|
||||
|
@ -1,213 +1,207 @@
|
||||
#include "CommandExecutor.h"
|
||||
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw/container/SimpleRingBuffer.h"
|
||||
#include "fsfw/container/DynamicFIFO.h"
|
||||
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
CommandExecutor::CommandExecutor(const size_t maxSize):
|
||||
readVec(maxSize) {
|
||||
waiter.events = POLLIN;
|
||||
#include "fsfw/container/DynamicFIFO.h"
|
||||
#include "fsfw/container/SimpleRingBuffer.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
CommandExecutor::CommandExecutor(const size_t maxSize) : readVec(maxSize) {
|
||||
waiter.events = POLLIN;
|
||||
}
|
||||
|
||||
ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
|
||||
if(state == States::PENDING) {
|
||||
return COMMAND_PENDING;
|
||||
}
|
||||
if (state == States::PENDING) {
|
||||
return COMMAND_PENDING;
|
||||
}
|
||||
|
||||
currentCmd = command;
|
||||
this->blocking = blocking;
|
||||
this->printOutput = printOutput;
|
||||
if(state == States::IDLE) {
|
||||
state = States::COMMAND_LOADED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
currentCmd = command;
|
||||
this->blocking = blocking;
|
||||
this->printOutput = printOutput;
|
||||
if (state == States::IDLE) {
|
||||
state = States::COMMAND_LOADED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CommandExecutor::execute() {
|
||||
if(state == States::IDLE) {
|
||||
return NO_COMMAND_LOADED_OR_PENDING;
|
||||
}
|
||||
else if(state == States::PENDING) {
|
||||
return COMMAND_PENDING;
|
||||
}
|
||||
currentCmdFile = popen(currentCmd.c_str(), "r");
|
||||
if(currentCmdFile == nullptr) {
|
||||
lastError = errno;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if(blocking) {
|
||||
ReturnValue_t result = executeBlocking();
|
||||
state = States::IDLE;
|
||||
return result;
|
||||
}
|
||||
else {
|
||||
currentFd = fileno(currentCmdFile);
|
||||
waiter.fd = currentFd;
|
||||
}
|
||||
state = States::PENDING;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
if (state == States::IDLE) {
|
||||
return NO_COMMAND_LOADED_OR_PENDING;
|
||||
} else if (state == States::PENDING) {
|
||||
return COMMAND_PENDING;
|
||||
}
|
||||
currentCmdFile = popen(currentCmd.c_str(), "r");
|
||||
if (currentCmdFile == nullptr) {
|
||||
lastError = errno;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (blocking) {
|
||||
ReturnValue_t result = executeBlocking();
|
||||
state = States::IDLE;
|
||||
return result;
|
||||
} else {
|
||||
currentFd = fileno(currentCmdFile);
|
||||
waiter.fd = currentFd;
|
||||
}
|
||||
state = States::PENDING;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t CommandExecutor::close() {
|
||||
if(state == States::PENDING) {
|
||||
// Attempt to close process, irrespective of if it is running or not
|
||||
if(currentCmdFile != nullptr) {
|
||||
pclose(currentCmdFile);
|
||||
}
|
||||
if (state == States::PENDING) {
|
||||
// Attempt to close process, irrespective of if it is running or not
|
||||
if (currentCmdFile != nullptr) {
|
||||
pclose(currentCmdFile);
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void CommandExecutor::printLastError(std::string funcName) const {
|
||||
if(lastError != 0) {
|
||||
if (lastError != 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
|
||||
strerror(lastError) << std::endl;
|
||||
sif::warning << funcName << " pclose failed with code " << lastError << ": "
|
||||
<< strerror(lastError) << std::endl;
|
||||
#else
|
||||
sif::printError("%s pclose failed with code %d: %s\n",
|
||||
funcName, lastError, strerror(lastError));
|
||||
sif::printError("%s pclose failed with code %d: %s\n", funcName, lastError,
|
||||
strerror(lastError));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
|
||||
DynamicFIFO<uint16_t>* sizesFifo) {
|
||||
this->ringBuffer = ringBuffer;
|
||||
this->sizesFifo = sizesFifo;
|
||||
void CommandExecutor::setRingBuffer(SimpleRingBuffer* ringBuffer,
|
||||
DynamicFIFO<uint16_t>* sizesFifo) {
|
||||
this->ringBuffer = ringBuffer;
|
||||
this->sizesFifo = sizesFifo;
|
||||
}
|
||||
|
||||
ReturnValue_t CommandExecutor::check(bool& replyReceived) {
|
||||
if(blocking) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
switch(state) {
|
||||
case(States::IDLE):
|
||||
case(States::COMMAND_LOADED): {
|
||||
return NO_COMMAND_LOADED_OR_PENDING;
|
||||
}
|
||||
case(States::PENDING): {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int result = poll(&waiter, 1, 0);
|
||||
switch(result) {
|
||||
case(0): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
break;
|
||||
}
|
||||
case(1): {
|
||||
if (waiter.revents & POLLIN) {
|
||||
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
|
||||
if(readBytes == 0) {
|
||||
// Should not happen
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecutor::check: No bytes read "
|
||||
"after poll event.." << std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
else if(readBytes > 0) {
|
||||
replyReceived = true;
|
||||
if(printOutput) {
|
||||
// It is assumed the command output is line terminated
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << currentCmd << " | " << readVec.data();
|
||||
#else
|
||||
sif::printInfo("%s | %s", currentCmd, readVec.data());
|
||||
#endif
|
||||
}
|
||||
if(ringBuffer != nullptr) {
|
||||
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
|
||||
readVec.data()), readBytes);
|
||||
}
|
||||
if(sizesFifo != nullptr) {
|
||||
if(not sizesFifo->full()) {
|
||||
sizesFifo->insert(readBytes);
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
// Should also not happen
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
|
||||
strerror(errno) << std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
if(waiter.revents & POLLERR) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecuter::check: Poll error\n");
|
||||
#endif
|
||||
return COMMAND_ERROR;
|
||||
}
|
||||
if(waiter.revents & POLLHUP) {
|
||||
result = pclose(currentCmdFile);
|
||||
ReturnValue_t retval = EXECUTION_FINISHED;
|
||||
if(result != 0) {
|
||||
lastError = result;
|
||||
retval = HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
state = States::IDLE;
|
||||
currentCmdFile = nullptr;
|
||||
currentFd = 0;
|
||||
return retval;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (blocking) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
switch (state) {
|
||||
case (States::IDLE):
|
||||
case (States::COMMAND_LOADED): {
|
||||
return NO_COMMAND_LOADED_OR_PENDING;
|
||||
}
|
||||
case (States::PENDING): {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
int result = poll(&waiter, 1, 0);
|
||||
switch (result) {
|
||||
case (0): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
break;
|
||||
}
|
||||
case (1): {
|
||||
if (waiter.revents & POLLIN) {
|
||||
ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
|
||||
if (readBytes == 0) {
|
||||
// Should not happen
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecutor::check: No bytes read "
|
||||
"after poll event.."
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
|
||||
#endif
|
||||
break;
|
||||
} else if (readBytes > 0) {
|
||||
replyReceived = true;
|
||||
if (printOutput) {
|
||||
// It is assumed the command output is line terminated
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << currentCmd << " | " << readVec.data();
|
||||
#else
|
||||
sif::printInfo("%s | %s", currentCmd, readVec.data());
|
||||
#endif
|
||||
}
|
||||
if (ringBuffer != nullptr) {
|
||||
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(readVec.data()), readBytes);
|
||||
}
|
||||
if (sizesFifo != nullptr) {
|
||||
if (not sizesFifo->full()) {
|
||||
sizesFifo->insert(readBytes);
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Should also not happen
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecutor::check: Error " << errno << ": " << strerror(errno)
|
||||
<< std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
|
||||
#endif
|
||||
}
|
||||
}
|
||||
if (waiter.revents & POLLERR) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "CommandExecuter::check: Poll error" << std::endl;
|
||||
#else
|
||||
sif::printWarning("CommandExecuter::check: Poll error\n");
|
||||
#endif
|
||||
return COMMAND_ERROR;
|
||||
}
|
||||
if (waiter.revents & POLLHUP) {
|
||||
result = pclose(currentCmdFile);
|
||||
ReturnValue_t retval = EXECUTION_FINISHED;
|
||||
if (result != 0) {
|
||||
lastError = result;
|
||||
retval = HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
state = States::IDLE;
|
||||
currentCmdFile = nullptr;
|
||||
currentFd = 0;
|
||||
return retval;
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void CommandExecutor::reset() {
|
||||
CommandExecutor::close();
|
||||
currentCmdFile = nullptr;
|
||||
currentFd = 0;
|
||||
state = States::IDLE;
|
||||
CommandExecutor::close();
|
||||
currentCmdFile = nullptr;
|
||||
currentFd = 0;
|
||||
state = States::IDLE;
|
||||
}
|
||||
|
||||
int CommandExecutor::getLastError() const {
|
||||
// See: https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
|
||||
return WEXITSTATUS(this->lastError);
|
||||
// See:
|
||||
// https://stackoverflow.com/questions/808541/any-benefit-in-using-wexitstatus-macro-in-c-over-division-by-256-on-exit-statu
|
||||
return WEXITSTATUS(this->lastError);
|
||||
}
|
||||
|
||||
CommandExecutor::States CommandExecutor::getCurrentState() const {
|
||||
return state;
|
||||
}
|
||||
CommandExecutor::States CommandExecutor::getCurrentState() const { return state; }
|
||||
|
||||
ReturnValue_t CommandExecutor::executeBlocking() {
|
||||
while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
|
||||
std::string output(readVec.data());
|
||||
if(printOutput) {
|
||||
while (fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
|
||||
std::string output(readVec.data());
|
||||
if (printOutput) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << currentCmd << " | " << output;
|
||||
sif::info << currentCmd << " | " << output;
|
||||
#else
|
||||
sif::printInfo("%s | %s", currentCmd, output);
|
||||
sif::printInfo("%s | %s", currentCmd, output);
|
||||
#endif
|
||||
}
|
||||
if(ringBuffer != nullptr) {
|
||||
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
|
||||
}
|
||||
if(sizesFifo != nullptr) {
|
||||
if(not sizesFifo->full()) {
|
||||
sizesFifo->insert(output.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
int result = pclose(currentCmdFile);
|
||||
if(result != 0) {
|
||||
lastError = result;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
if (ringBuffer != nullptr) {
|
||||
ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
if (sizesFifo != nullptr) {
|
||||
if (not sizesFifo->full()) {
|
||||
sizesFifo->insert(output.size());
|
||||
}
|
||||
}
|
||||
}
|
||||
int result = pclose(currentCmdFile);
|
||||
if (result != 0) {
|
||||
lastError = result;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
@ -1,16 +1,17 @@
|
||||
#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
|
||||
#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
|
||||
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/returnvalues/FwClassIds.h"
|
||||
|
||||
#include <poll.h>
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/returnvalues/FwClassIds.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
|
||||
class SimpleRingBuffer;
|
||||
template <typename T> class DynamicFIFO;
|
||||
template <typename T>
|
||||
class DynamicFIFO;
|
||||
|
||||
/**
|
||||
* @brief Helper class to execute shell commands in blocking and non-blocking mode
|
||||
@ -24,112 +25,105 @@ template <typename T> class DynamicFIFO;
|
||||
* has finished
|
||||
*/
|
||||
class CommandExecutor {
|
||||
public:
|
||||
enum class States {
|
||||
IDLE,
|
||||
COMMAND_LOADED,
|
||||
PENDING
|
||||
};
|
||||
public:
|
||||
enum class States { IDLE, COMMAND_LOADED, PENDING };
|
||||
|
||||
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
|
||||
static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
|
||||
|
||||
//! [EXPORT] : [COMMENT] Execution of the current command has finished
|
||||
static constexpr ReturnValue_t EXECUTION_FINISHED =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
|
||||
//! [EXPORT] : [COMMENT] Execution of the current command has finished
|
||||
static constexpr ReturnValue_t EXECUTION_FINISHED =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
|
||||
|
||||
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
|
||||
//! to load another command but a command is still pending
|
||||
static constexpr ReturnValue_t COMMAND_PENDING =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
|
||||
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
|
||||
static constexpr ReturnValue_t BYTES_READ =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
|
||||
//! [EXPORT] : [COMMENT] Command execution failed
|
||||
static constexpr ReturnValue_t COMMAND_ERROR =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
|
||||
//! [EXPORT] : [COMMENT]
|
||||
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
|
||||
static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
|
||||
//! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
|
||||
//! to load another command but a command is still pending
|
||||
static constexpr ReturnValue_t COMMAND_PENDING = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
|
||||
//! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
|
||||
static constexpr ReturnValue_t BYTES_READ = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
|
||||
//! [EXPORT] : [COMMENT] Command execution failed
|
||||
static constexpr ReturnValue_t COMMAND_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
|
||||
//! [EXPORT] : [COMMENT]
|
||||
static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
|
||||
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
|
||||
static constexpr ReturnValue_t PCLOSE_CALL_ERROR = HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
|
||||
|
||||
/**
|
||||
* Constructor. Is initialized with maximum size of internal buffer to read data from the
|
||||
* executed process.
|
||||
* @param maxSize
|
||||
*/
|
||||
CommandExecutor(const size_t maxSize);
|
||||
/**
|
||||
* Constructor. Is initialized with maximum size of internal buffer to read data from the
|
||||
* executed process.
|
||||
* @param maxSize
|
||||
*/
|
||||
CommandExecutor(const size_t maxSize);
|
||||
|
||||
/**
|
||||
* Load a new command which should be executed
|
||||
* @param command
|
||||
* @param blocking
|
||||
* @param printOutput
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
|
||||
/**
|
||||
* Execute the loaded command.
|
||||
* @return
|
||||
* - In blocking mode, it will return RETURN_FAILED if
|
||||
* the result of the system call was not 0. The error value can be accessed using
|
||||
* getLastError
|
||||
* - In non-blocking mode, this call will start
|
||||
* the execution and then return RETURN_OK
|
||||
*/
|
||||
ReturnValue_t execute();
|
||||
/**
|
||||
* Only used in non-blocking mode. Checks the currently running command.
|
||||
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
|
||||
* @return
|
||||
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
|
||||
* check again after this
|
||||
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
|
||||
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
|
||||
* - EXECUTION_FINISHED if the process was executed successfully
|
||||
* - NO_COMMAND_LOADED_OR_PENDING self-explanatory
|
||||
* - COMMAND_ERROR internal poll error
|
||||
*/
|
||||
ReturnValue_t check(bool& replyReceived);
|
||||
/**
|
||||
* Abort the current command. Should normally not be necessary, check can be used to find
|
||||
* out whether command execution was successful
|
||||
* @return RETURN_OK
|
||||
*/
|
||||
ReturnValue_t close();
|
||||
/**
|
||||
* Load a new command which should be executed
|
||||
* @param command
|
||||
* @param blocking
|
||||
* @param printOutput
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
|
||||
/**
|
||||
* Execute the loaded command.
|
||||
* @return
|
||||
* - In blocking mode, it will return RETURN_FAILED if
|
||||
* the result of the system call was not 0. The error value can be accessed using
|
||||
* getLastError
|
||||
* - In non-blocking mode, this call will start
|
||||
* the execution and then return RETURN_OK
|
||||
*/
|
||||
ReturnValue_t execute();
|
||||
/**
|
||||
* Only used in non-blocking mode. Checks the currently running command.
|
||||
* @param bytesRead Will be set to the number of bytes read, if bytes have been read
|
||||
* @return
|
||||
* - BYTES_READ if bytes have been read from the executing process. It is recommended to call
|
||||
* check again after this
|
||||
* - RETURN_OK execution is pending, but no bytes have been read from the executing process
|
||||
* - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
|
||||
* - EXECUTION_FINISHED if the process was executed successfully
|
||||
* - NO_COMMAND_LOADED_OR_PENDING self-explanatory
|
||||
* - COMMAND_ERROR internal poll error
|
||||
*/
|
||||
ReturnValue_t check(bool& replyReceived);
|
||||
/**
|
||||
* Abort the current command. Should normally not be necessary, check can be used to find
|
||||
* out whether command execution was successful
|
||||
* @return RETURN_OK
|
||||
*/
|
||||
ReturnValue_t close();
|
||||
|
||||
States getCurrentState() const;
|
||||
int getLastError() const;
|
||||
void printLastError(std::string funcName) const;
|
||||
States getCurrentState() const;
|
||||
int getLastError() const;
|
||||
void printLastError(std::string funcName) const;
|
||||
|
||||
/**
|
||||
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
|
||||
* read from the started process
|
||||
* @param ringBuffer
|
||||
* @param sizesFifo
|
||||
*/
|
||||
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
|
||||
/**
|
||||
* Assign a ring buffer and a FIFO which will be filled by the executor with the output
|
||||
* read from the started process
|
||||
* @param ringBuffer
|
||||
* @param sizesFifo
|
||||
*/
|
||||
void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
|
||||
|
||||
/**
|
||||
* Reset the executor. This calls close internally and then reset the state machine so new
|
||||
* commands can be loaded and executed
|
||||
*/
|
||||
void reset();
|
||||
private:
|
||||
std::string currentCmd;
|
||||
bool blocking = true;
|
||||
FILE* currentCmdFile = nullptr;
|
||||
int currentFd = 0;
|
||||
bool printOutput = true;
|
||||
std::vector<char> readVec;
|
||||
struct pollfd waiter {};
|
||||
SimpleRingBuffer* ringBuffer = nullptr;
|
||||
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
|
||||
/**
|
||||
* Reset the executor. This calls close internally and then reset the state machine so new
|
||||
* commands can be loaded and executed
|
||||
*/
|
||||
void reset();
|
||||
|
||||
States state = States::IDLE;
|
||||
int lastError = 0;
|
||||
private:
|
||||
std::string currentCmd;
|
||||
bool blocking = true;
|
||||
FILE* currentCmdFile = nullptr;
|
||||
int currentFd = 0;
|
||||
bool printOutput = true;
|
||||
std::vector<char> readVec;
|
||||
struct pollfd waiter {};
|
||||
SimpleRingBuffer* ringBuffer = nullptr;
|
||||
DynamicFIFO<uint16_t>* sizesFifo = nullptr;
|
||||
|
||||
ReturnValue_t executeBlocking();
|
||||
States state = States::IDLE;
|
||||
int lastError = 0;
|
||||
|
||||
ReturnValue_t executeBlocking();
|
||||
};
|
||||
|
||||
#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */
|
||||
|
@ -1,37 +1,36 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix):
|
||||
fileDescriptor(fileDescriptor) {
|
||||
if(fileDescriptor == nullptr) {
|
||||
return;
|
||||
}
|
||||
*fileDescriptor = open(device.c_str(), flags);
|
||||
if (*fileDescriptor < 0) {
|
||||
std::string diagnosticPrefix)
|
||||
: fileDescriptor(fileDescriptor) {
|
||||
if (fileDescriptor == nullptr) {
|
||||
return;
|
||||
}
|
||||
*fileDescriptor = open(device.c_str(), flags);
|
||||
if (*fileDescriptor < 0) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
|
||||
errno << ": " << strerror(errno) << std::endl;
|
||||
sif::warning << diagnosticPrefix << ": Opening device failed with error code " << errno << ": "
|
||||
<< strerror(errno) << std::endl;
|
||||
#else
|
||||
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
|
||||
diagnosticPrefix, errno, strerror(errno));
|
||||
sif::printWarning("%s: Opening device failed with error code %d: %s\n", diagnosticPrefix, errno,
|
||||
strerror(errno));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
openStatus = OPEN_FILE_FAILED;
|
||||
}
|
||||
openStatus = OPEN_FILE_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
UnixFileGuard::~UnixFileGuard() {
|
||||
if(fileDescriptor != nullptr) {
|
||||
close(*fileDescriptor);
|
||||
}
|
||||
if (fileDescriptor != nullptr) {
|
||||
close(*fileDescriptor);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t UnixFileGuard::getOpenResult() const {
|
||||
return openStatus;
|
||||
}
|
||||
ReturnValue_t UnixFileGuard::getOpenResult() const { return openStatus; }
|
||||
|
@ -1,33 +1,30 @@
|
||||
#ifndef LINUX_UTILITY_UNIXFILEGUARD_H_
|
||||
#define LINUX_UTILITY_UNIXFILEGUARD_H_
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
|
||||
class UnixFileGuard {
|
||||
public:
|
||||
static constexpr int READ_WRITE_FLAG = O_RDWR;
|
||||
static constexpr int READ_ONLY_FLAG = O_RDONLY;
|
||||
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
|
||||
public:
|
||||
static constexpr int READ_WRITE_FLAG = O_RDWR;
|
||||
static constexpr int READ_ONLY_FLAG = O_RDONLY;
|
||||
static constexpr int NON_BLOCKING_IO_FLAG = O_NONBLOCK;
|
||||
|
||||
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
|
||||
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
|
||||
|
||||
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix = "");
|
||||
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix = "");
|
||||
|
||||
virtual~ UnixFileGuard();
|
||||
virtual ~UnixFileGuard();
|
||||
|
||||
ReturnValue_t getOpenResult() const;
|
||||
private:
|
||||
int* fileDescriptor = nullptr;
|
||||
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t getOpenResult() const;
|
||||
|
||||
private:
|
||||
int* fileDescriptor = nullptr;
|
||||
ReturnValue_t openStatus = HasReturnvaluesIF::RETURN_OK;
|
||||
};
|
||||
|
||||
|
||||
|
||||
#endif /* LINUX_UTILITY_UNIXFILEGUARD_H_ */
|
||||
|
@ -1,442 +1,446 @@
|
||||
#include "LinuxLibgpioIF.h"
|
||||
|
||||
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include <gpiod.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <utility>
|
||||
#include <unistd.h>
|
||||
#include <gpiod.h>
|
||||
|
||||
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {
|
||||
}
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
#include "fsfw_hal/common/gpio/gpioDefinitions.h"
|
||||
|
||||
LinuxLibgpioIF::LinuxLibgpioIF(object_id_t objectId) : SystemObject(objectId) {}
|
||||
|
||||
LinuxLibgpioIF::~LinuxLibgpioIF() {
|
||||
for(auto& config: gpioMap) {
|
||||
delete(config.second);
|
||||
}
|
||||
for (auto& config : gpioMap) {
|
||||
delete (config.second);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::addGpios(GpioCookie* gpioCookie) {
|
||||
ReturnValue_t result;
|
||||
if(gpioCookie == nullptr) {
|
||||
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
ReturnValue_t result;
|
||||
if (gpioCookie == nullptr) {
|
||||
sif::error << "LinuxLibgpioIF::addGpios: Invalid cookie" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
GpioMap mapToAdd = gpioCookie->getGpioMap();
|
||||
GpioMap mapToAdd = gpioCookie->getGpioMap();
|
||||
|
||||
/* Check whether this ID already exists in the map and remove duplicates */
|
||||
result = checkForConflicts(mapToAdd);
|
||||
if (result != RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
/* Check whether this ID already exists in the map and remove duplicates */
|
||||
result = checkForConflicts(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
result = configureGpios(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = configureGpios(mapToAdd);
|
||||
if (result != RETURN_OK) {
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
/* Register new GPIOs in gpioMap */
|
||||
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
|
||||
/* Register new GPIOs in gpioMap */
|
||||
gpioMap.insert(mapToAdd.begin(), mapToAdd.end());
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
|
||||
for(auto& gpioConfig: mapToAdd) {
|
||||
auto& gpioType = gpioConfig.second->gpioType;
|
||||
switch(gpioType) {
|
||||
case(gpio::GpioTypes::NONE): {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
for (auto& gpioConfig : mapToAdd) {
|
||||
auto& gpioType = gpioConfig.second->gpioType;
|
||||
switch (gpioType) {
|
||||
case (gpio::GpioTypes::NONE): {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularByChip*>(gpioConfig.second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
configureGpioByChip(gpioConfig.first, *regularGpio);
|
||||
break;
|
||||
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;
|
||||
}
|
||||
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::GPIO_REGULAR_BY_LINE_NAME):{
|
||||
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
configureGpioByLineName(gpioConfig.first, *regularGpio);
|
||||
break;
|
||||
}
|
||||
case(gpio::GpioTypes::CALLBACK): {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
|
||||
gpioCallback->initValue, gpioCallback->callbackArgs);
|
||||
configureGpioByLabel(gpioConfig.first, *regularGpio);
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
configureGpioByLineName(gpioConfig.first, *regularGpio);
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::CALLBACK): {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioConfig.first, gpio::GpioOperation::WRITE,
|
||||
gpioCallback->initValue, gpioCallback->callbackArgs);
|
||||
}
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
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::configureGpioByLabel: 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, chip, gpioByLabel, failOutput);
|
||||
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::configureGpioByLabel: 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, 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::configureGpioByChip: Failed to open chip "
|
||||
<< chipname << ". Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "chipname: " + chipname;
|
||||
return configureRegularGpio(gpioId, chip, gpioByChip, 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::configureGpioByChip: Failed to open chip " << chipname
|
||||
<< ". Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "chipname: " + chipname;
|
||||
return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
|
||||
GpiodRegularByLineName &gpioByLineName) {
|
||||
std::string& lineName = gpioByLineName.lineName;
|
||||
char chipname[MAX_CHIPNAME_LENGTH];
|
||||
unsigned int lineOffset;
|
||||
GpiodRegularByLineName& gpioByLineName) {
|
||||
std::string& lineName = gpioByLineName.lineName;
|
||||
char chipname[MAX_CHIPNAME_LENGTH];
|
||||
unsigned int lineOffset;
|
||||
|
||||
int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
|
||||
&lineOffset);
|
||||
if (result != LINE_FOUND) {
|
||||
parseFindeLineResult(result, lineName);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
int result =
|
||||
gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH, &lineOffset);
|
||||
if (result != LINE_FOUND) {
|
||||
parseFindeLineResult(result, lineName);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
gpioByLineName.lineNum = static_cast<int>(lineOffset);
|
||||
gpioByLineName.lineNum = static_cast<int>(lineOffset);
|
||||
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
|
||||
if (chip == nullptr) {
|
||||
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
|
||||
<< chipname << ". <Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "line name: " + lineName;
|
||||
return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
|
||||
struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
|
||||
if (chip == nullptr) {
|
||||
sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip " << chipname
|
||||
<< ". <Gpio ID: " << gpioId << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
std::string failOutput = "line name: " + lineName;
|
||||
return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
|
||||
GpiodRegularBase& regularGpio, std::string failOutput) {
|
||||
unsigned int lineNum;
|
||||
gpio::Direction direction;
|
||||
std::string consumer;
|
||||
struct gpiod_line *lineHandle;
|
||||
int result = 0;
|
||||
GpiodRegularBase& regularGpio,
|
||||
std::string failOutput) {
|
||||
unsigned int lineNum;
|
||||
gpio::Direction direction;
|
||||
std::string consumer;
|
||||
struct gpiod_line* lineHandle;
|
||||
int result = 0;
|
||||
|
||||
lineNum = regularGpio.lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
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;
|
||||
}
|
||||
lineNum = regularGpio.lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
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;
|
||||
/* 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);
|
||||
break;
|
||||
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);
|
||||
break;
|
||||
}
|
||||
case(gpio::IN): {
|
||||
result = gpiod_line_request_input(lineHandle, consumer.c_str());
|
||||
break;
|
||||
case (gpio::IN): {
|
||||
result = gpiod_line_request_input(lineHandle, consumer.c_str());
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified"
|
||||
<< std::endl;
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Invalid direction specified" << std::endl;
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
|
||||
if (result < 0) {
|
||||
if (result < 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
|
||||
lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
|
||||
sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum
|
||||
<< " from GPIO instance with ID: " << gpioId << std::endl;
|
||||
#else
|
||||
sif::printError("LinuxLibgpioIF::configureRegularGpio: "
|
||||
"Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
|
||||
sif::printError(
|
||||
"LinuxLibgpioIF::configureRegularGpio: "
|
||||
"Failed to request line %d from GPIO instance with ID: %d\n",
|
||||
lineNum, gpioId);
|
||||
#endif
|
||||
gpiod_line_release(lineHandle);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
}
|
||||
/**
|
||||
* Write line handle to GPIO configuration instance so it can later be used to set or
|
||||
* read states of GPIOs.
|
||||
*/
|
||||
regularGpio.lineHandle = lineHandle;
|
||||
return RETURN_OK;
|
||||
}
|
||||
}
|
||||
/**
|
||||
* Write line handle to GPIO configuration instance so it can later be used to set or
|
||||
* read states of GPIOs.
|
||||
*/
|
||||
regularGpio.lineHandle = lineHandle;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
sif::warning << "LinuxLibgpioIF::pullHigh: Unknown GPIO ID " << gpioId << std::endl;
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
auto gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
|
||||
auto gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
|
||||
gpio::Levels::HIGH, gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
return driveGpio(gpioId, *regularGpio, gpio::HIGH);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::HIGH,
|
||||
gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
|
||||
sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
|
||||
#else
|
||||
sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
|
||||
sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
|
||||
#endif
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
auto& gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
return driveGpio(gpioId, *regularGpio, gpio::LOW);
|
||||
auto& gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
|
||||
gpio::Levels::LOW, gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
return driveGpio(gpioId, *regularGpio, gpio::LOW);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE, gpio::Levels::LOW,
|
||||
gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
|
||||
GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
|
||||
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
|
||||
if (result < 0) {
|
||||
ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId, GpiodRegularBase& regularGpio,
|
||||
gpio::Levels logicLevel) {
|
||||
int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
|
||||
if (result < 0) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
|
||||
" to logic level " << logicLevel << std::endl;
|
||||
sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId
|
||||
<< " to logic level " << logicLevel << std::endl;
|
||||
#else
|
||||
sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
|
||||
"logic level %d\n", gpioId, logicLevel);
|
||||
sif::printWarning(
|
||||
"LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
|
||||
"logic level %d\n",
|
||||
gpioId, logicLevel);
|
||||
#endif
|
||||
return DRIVE_GPIO_FAILURE;
|
||||
}
|
||||
return DRIVE_GPIO_FAILURE;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()){
|
||||
gpioMapIter = gpioMap.find(gpioId);
|
||||
if (gpioMapIter == gpioMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
|
||||
#else
|
||||
sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
|
||||
sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
|
||||
#endif
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
return UNKNOWN_GPIO_ID;
|
||||
}
|
||||
|
||||
auto gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
|
||||
or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
|
||||
auto gpioType = gpioMapIter->second->gpioType;
|
||||
if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL or
|
||||
gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if(gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
|
||||
gpio::Levels::NONE, gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
*gpioState = gpiod_line_get_value(regularGpio->lineHandle);
|
||||
} else {
|
||||
auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
|
||||
if (gpioCallback->callback == nullptr) {
|
||||
return GPIO_INVALID_INSTANCE;
|
||||
}
|
||||
gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ, gpio::Levels::NONE,
|
||||
gpioCallback->callbackArgs);
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
for(auto& gpioConfig: mapToAdd) {
|
||||
switch(gpioConfig.second->gpioType) {
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
|
||||
if(regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
// Check for conflicts and remove duplicates if necessary
|
||||
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd) {
|
||||
ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
for (auto& gpioConfig : mapToAdd) {
|
||||
switch (gpioConfig.second->gpioType) {
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
|
||||
auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
|
||||
if (regularGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
case(gpio::GpioTypes::CALLBACK): {
|
||||
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if(callbackGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
// Check for conflicts and remove duplicates if necessary
|
||||
result = checkForConflictsById(gpioConfig.first,
|
||||
gpioConfig.second->gpioType, mapToAdd);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
// Check for conflicts and remove duplicates if necessary
|
||||
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
default: {
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::CALLBACK): {
|
||||
auto callbackGpio = dynamic_cast<GpioCallback*>(gpioConfig.second);
|
||||
if (callbackGpio == nullptr) {
|
||||
return GPIO_TYPE_FAILURE;
|
||||
}
|
||||
// Check for conflicts and remove duplicates if necessary
|
||||
result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
status = result;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
|
||||
<< std::endl;
|
||||
sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first << std::endl;
|
||||
#else
|
||||
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
|
||||
sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
|
||||
#endif
|
||||
status = GPIO_TYPE_FAILURE;
|
||||
}
|
||||
}
|
||||
status = GPIO_TYPE_FAILURE;
|
||||
}
|
||||
}
|
||||
return status;
|
||||
}
|
||||
return status;
|
||||
}
|
||||
|
||||
ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
|
||||
gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
|
||||
// Cross check with private map
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if(gpioMapIter != gpioMap.end()) {
|
||||
auto& gpioType = gpioMapIter->second->gpioType;
|
||||
bool eraseDuplicateDifferentType = false;
|
||||
switch(expectedType) {
|
||||
case(gpio::GpioTypes::NONE): {
|
||||
break;
|
||||
gpio::GpioTypes expectedType,
|
||||
GpioMap& mapToAdd) {
|
||||
// Cross check with private map
|
||||
gpioMapIter = gpioMap.find(gpioIdToCheck);
|
||||
if (gpioMapIter != gpioMap.end()) {
|
||||
auto& gpioType = gpioMapIter->second->gpioType;
|
||||
bool eraseDuplicateDifferentType = false;
|
||||
switch (expectedType) {
|
||||
case (gpio::GpioTypes::NONE): {
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
|
||||
case (gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
|
||||
if (gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
|
||||
eraseDuplicateDifferentType = true;
|
||||
}
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
|
||||
case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
|
||||
if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
|
||||
eraseDuplicateDifferentType = true;
|
||||
}
|
||||
break;
|
||||
break;
|
||||
}
|
||||
case (gpio::GpioTypes::CALLBACK): {
|
||||
if (gpioType != gpio::GpioTypes::CALLBACK) {
|
||||
eraseDuplicateDifferentType = true;
|
||||
}
|
||||
case(gpio::GpioTypes::CALLBACK): {
|
||||
if(gpioType != gpio::GpioTypes::CALLBACK) {
|
||||
eraseDuplicateDifferentType = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
if(eraseDuplicateDifferentType) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
|
||||
"different GPIO type " << gpioIdToCheck <<
|
||||
". Removing duplicate from map to add" << std::endl;
|
||||
#else
|
||||
sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
|
||||
"different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
|
||||
#endif
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return GPIO_DUPLICATE_DETECTED;
|
||||
}
|
||||
|
||||
// Remove element from map to add because a entry for this GPIO already exists
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
|
||||
"definition with ID " << gpioIdToCheck << " detected. " <<
|
||||
"Duplicate will be removed from map to add" << std::endl;
|
||||
#else
|
||||
sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
|
||||
"with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
|
||||
#endif
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return GPIO_DUPLICATE_DETECTED;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
if (eraseDuplicateDifferentType) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
|
||||
"different GPIO type "
|
||||
<< gpioIdToCheck << ". Removing duplicate from map to add" << std::endl;
|
||||
#else
|
||||
sif::printWarning(
|
||||
"LinuxLibgpioIF::checkForConflicts: ID already exists for "
|
||||
"different GPIO type %d. Removing duplicate from map to add\n",
|
||||
gpioIdToCheck);
|
||||
#endif
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return GPIO_DUPLICATE_DETECTED;
|
||||
}
|
||||
|
||||
// Remove element from map to add because a entry for this GPIO already exists
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
|
||||
"definition with ID "
|
||||
<< gpioIdToCheck << " detected. "
|
||||
<< "Duplicate will be removed from map to add" << std::endl;
|
||||
#else
|
||||
sif::printWarning(
|
||||
"LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
|
||||
"with ID %d detected. Duplicate will be removed from map to add\n",
|
||||
gpioIdToCheck);
|
||||
#endif
|
||||
mapToAdd.erase(gpioIdToCheck);
|
||||
return GPIO_DUPLICATE_DETECTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
|
||||
switch (result) {
|
||||
switch (result) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
case LINE_NOT_EXISTS:
|
||||
case LINE_ERROR: {
|
||||
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
|
||||
" does not exist" << std::endl;
|
||||
break;
|
||||
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName
|
||||
<< " does not exist" << std::endl;
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
|
||||
"with name " << lineName << std::endl;
|
||||
break;
|
||||
sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
|
||||
"with name "
|
||||
<< lineName << std::endl;
|
||||
break;
|
||||
}
|
||||
#else
|
||||
case LINE_NOT_EXISTS:
|
||||
case LINE_ERROR: {
|
||||
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
|
||||
"does not exist\n", lineName);
|
||||
break;
|
||||
sif::printWarning(
|
||||
"LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
|
||||
"does not exist\n",
|
||||
lineName);
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
|
||||
"with name %s\n", lineName);
|
||||
break;
|
||||
sif::printWarning(
|
||||
"LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
|
||||
"with name %s\n",
|
||||
lineName);
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
@ -1,9 +1,9 @@
|
||||
#ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
#define LINUX_GPIO_LINUXLIBGPIOIF_H_
|
||||
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/returnvalues/FwClassIds.h"
|
||||
#include "fsfw_hal/common/gpio/GpioIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
|
||||
class GpioCookie;
|
||||
class GpiodRegularIF;
|
||||
@ -16,76 +16,71 @@ class GpiodRegularIF;
|
||||
* The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
|
||||
*/
|
||||
class LinuxLibgpioIF : public GpioIF, public SystemObject {
|
||||
public:
|
||||
public:
|
||||
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
|
||||
|
||||
static const uint8_t gpioRetvalId = CLASS_ID::HAL_GPIO;
|
||||
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
|
||||
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
|
||||
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
|
||||
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
|
||||
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
|
||||
|
||||
static constexpr ReturnValue_t UNKNOWN_GPIO_ID =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 1);
|
||||
static constexpr ReturnValue_t DRIVE_GPIO_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 2);
|
||||
static constexpr ReturnValue_t GPIO_TYPE_FAILURE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
|
||||
static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
|
||||
static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
|
||||
HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
|
||||
LinuxLibgpioIF(object_id_t objectId);
|
||||
virtual ~LinuxLibgpioIF();
|
||||
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
|
||||
ReturnValue_t pullHigh(gpioId_t gpioId) override;
|
||||
ReturnValue_t pullLow(gpioId_t gpioId) override;
|
||||
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
|
||||
|
||||
ReturnValue_t addGpios(GpioCookie* gpioCookie) override;
|
||||
ReturnValue_t pullHigh(gpioId_t gpioId) override;
|
||||
ReturnValue_t pullLow(gpioId_t gpioId) override;
|
||||
ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
|
||||
private:
|
||||
static const size_t MAX_CHIPNAME_LENGTH = 11;
|
||||
static const int LINE_NOT_EXISTS = 0;
|
||||
static const int LINE_ERROR = -1;
|
||||
static const int LINE_FOUND = 1;
|
||||
|
||||
private:
|
||||
// Holds the information and configuration of all used GPIOs
|
||||
GpioUnorderedMap gpioMap;
|
||||
GpioUnorderedMapIter gpioMapIter;
|
||||
|
||||
static const size_t MAX_CHIPNAME_LENGTH = 11;
|
||||
static const int LINE_NOT_EXISTS = 0;
|
||||
static const int LINE_ERROR = -1;
|
||||
static const int LINE_FOUND = 1;
|
||||
/**
|
||||
* @brief This functions drives line of a GPIO specified by the GPIO ID.
|
||||
*
|
||||
* @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, GpiodRegularBase& regularGpio, gpio::Levels logicLevel);
|
||||
|
||||
// Holds the information and configuration of all used GPIOs
|
||||
GpioUnorderedMap gpioMap;
|
||||
GpioUnorderedMapIter gpioMapIter;
|
||||
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
|
||||
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
|
||||
ReturnValue_t configureGpioByLineName(gpioId_t gpioId, GpiodRegularByLineName& gpioByLineName);
|
||||
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
|
||||
GpiodRegularBase& regularGpio, std::string failOutput);
|
||||
|
||||
/**
|
||||
* @brief This functions drives line of a GPIO specified by the GPIO ID.
|
||||
*
|
||||
* @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, GpiodRegularBase& regularGpio,
|
||||
gpio::Levels logicLevel);
|
||||
/**
|
||||
* @brief This function checks if GPIOs are already registered and whether
|
||||
* there exists a conflict in the GPIO configuration. E.g. the
|
||||
* direction.
|
||||
*
|
||||
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
|
||||
*
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED
|
||||
*/
|
||||
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
|
||||
|
||||
ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
|
||||
ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
|
||||
ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
|
||||
GpiodRegularByLineName &gpioByLineName);
|
||||
ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
|
||||
GpiodRegularBase& regularGpio, std::string failOutput);
|
||||
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type, GpioMap& mapToAdd);
|
||||
|
||||
/**
|
||||
* @brief This function checks if GPIOs are already registered and whether
|
||||
* there exists a conflict in the GPIO configuration. E.g. the
|
||||
* direction.
|
||||
*
|
||||
* @param mapToAdd The GPIOs which shall be added to the gpioMap.
|
||||
*
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED
|
||||
*/
|
||||
ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
|
||||
/**
|
||||
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
|
||||
*/
|
||||
ReturnValue_t configureGpios(GpioMap& mapToAdd);
|
||||
|
||||
ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
|
||||
GpioMap& mapToAdd);
|
||||
|
||||
/**
|
||||
* @brief Performs the initial configuration of all GPIOs specified in the GpioMap mapToAdd.
|
||||
*/
|
||||
ReturnValue_t configureGpios(GpioMap& mapToAdd);
|
||||
|
||||
void parseFindeLineResult(int result, std::string& lineName);
|
||||
void parseFindeLineResult(int result, std::string& lineName);
|
||||
};
|
||||
|
||||
#endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */
|
||||
|
@ -1,233 +1,223 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
#include "fsfw_hal/linux/i2c/I2cComIF.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include "fsfw/serviceinterface.h"
|
||||
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <linux/i2c-dev.h>
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <linux/i2c-dev.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cstring>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
|
||||
I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
|
||||
}
|
||||
I2cComIF::I2cComIF(object_id_t objectId) : SystemObject(objectId) {}
|
||||
|
||||
I2cComIF::~I2cComIF() {}
|
||||
|
||||
ReturnValue_t I2cComIF::initializeInterface(CookieIF* cookie) {
|
||||
address_t i2cAddress;
|
||||
std::string deviceFile;
|
||||
|
||||
address_t i2cAddress;
|
||||
std::string deviceFile;
|
||||
|
||||
if(cookie == nullptr) {
|
||||
if (cookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
|
||||
sif::error << "I2cComIF::initializeInterface: Invalid cookie!" << std::endl;
|
||||
#endif
|
||||
return NULLPOINTER;
|
||||
}
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if(i2cCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if (i2cCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
|
||||
sif::error << "I2cComIF::initializeInterface: Invalid I2C cookie!" << std::endl;
|
||||
#endif
|
||||
return NULLPOINTER;
|
||||
}
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
i2cAddress = i2cCookie->getAddress();
|
||||
i2cAddress = i2cCookie->getAddress();
|
||||
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if(i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
|
||||
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
|
||||
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
|
||||
if (not statusPair.second) {
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
size_t maxReplyLen = i2cCookie->getMaxReplyLen();
|
||||
I2cInstance i2cInstance = {std::vector<uint8_t>(maxReplyLen), 0};
|
||||
auto statusPair = i2cDeviceMap.emplace(i2cAddress, i2cInstance);
|
||||
if (not statusPair.second) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address " <<
|
||||
i2cAddress << "to I2C device " << "map" << std::endl;
|
||||
sif::error << "I2cComIF::initializeInterface: Failed to insert device with address "
|
||||
<< i2cAddress << "to I2C device "
|
||||
<< "map" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress <<
|
||||
"already in use" << std::endl;
|
||||
sif::error << "I2cComIF::initializeInterface: Device with address " << i2cAddress
|
||||
<< "already in use" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
|
||||
ReturnValue_t result;
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
|
||||
if (sendData == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Send Data is nullptr" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
|
||||
const uint8_t *sendData, size_t sendLen) {
|
||||
|
||||
ReturnValue_t result;
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
|
||||
if(sendData == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
|
||||
<< std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
if(sendLen == 0) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if(i2cCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
|
||||
#endif
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
|
||||
<< "registered in i2cDeviceMap" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
deviceFile = i2cCookie->getDeviceFile();
|
||||
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
||||
return result;
|
||||
}
|
||||
|
||||
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
|
||||
"device with error code " << errno << ". Error description: "
|
||||
<< strerror(errno) << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (sendLen == 0) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if (i2cCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" << std::endl;
|
||||
#endif
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
|
||||
<< "registered in i2cDeviceMap" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
deviceFile = i2cCookie->getDeviceFile();
|
||||
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
if (write(fd, sendData, sendLen) != static_cast<int>(sendLen)) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
|
||||
"device with error code "
|
||||
<< errno << ". Error description: " << strerror(errno) << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
|
||||
ReturnValue_t I2cComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
|
||||
|
||||
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
||||
ReturnValue_t result;
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
|
||||
if (requestLen == 0) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) {
|
||||
ReturnValue_t result;
|
||||
int fd;
|
||||
std::string deviceFile;
|
||||
|
||||
if (requestLen == 0) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if(i2cCookie == nullptr) {
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if (i2cCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Invalid I2C Cookie!" << std::endl;
|
||||
#endif
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
|
||||
<< "registered in i2cDeviceMap" << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
|
||||
<< "registered in i2cDeviceMap" << std::endl;
|
||||
#endif
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
deviceFile = i2cCookie->getDeviceFile();
|
||||
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK){
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return result;
|
||||
}
|
||||
deviceFile = i2cCookie->getDeviceFile();
|
||||
UnixFileGuard fileHelper(deviceFile, &fd, O_RDWR, "I2cComIF::requestReceiveMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
result = openDevice(deviceFile, i2cAddress, &fd);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
return result;
|
||||
}
|
||||
|
||||
uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
|
||||
uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
|
||||
|
||||
int readLen = read(fd, replyBuffer, requestLen);
|
||||
if (readLen != static_cast<int>(requestLen)) {
|
||||
int readLen = read(fd, replyBuffer, requestLen);
|
||||
if (readLen != static_cast<int>(requestLen)) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1 and FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
|
||||
<< "device failed with error code " << errno <<". Description"
|
||||
<< " of error: " << strerror(errno) << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from "
|
||||
<< requestLen << " bytes" << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
|
||||
<< "device failed with error code " << errno << ". Description"
|
||||
<< " of error: " << strerror(errno) << std::endl;
|
||||
sif::error << "I2cComIF::requestReceiveMessage: Read only " << readLen << " from " << requestLen
|
||||
<< " bytes" << std::endl;
|
||||
#endif
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
i2cDeviceMapIter->second.replyLen = 0;
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen << " bytes" << std::endl;
|
||||
sif::debug << "I2cComIF::requestReceiveMessage: Read " << readLen << " of " << requestLen
|
||||
<< " bytes" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
i2cDeviceMapIter->second.replyLen = requestLen;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
i2cDeviceMapIter->second.replyLen = requestLen;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
|
||||
uint8_t **buffer, size_t* size) {
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if(i2cCookie == nullptr) {
|
||||
ReturnValue_t I2cComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
|
||||
I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
|
||||
if (i2cCookie == nullptr) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
|
||||
sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" << std::endl;
|
||||
#endif
|
||||
return NULLPOINTER;
|
||||
}
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
address_t i2cAddress = i2cCookie->getAddress();
|
||||
i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
|
||||
if (i2cDeviceMapIter == i2cDeviceMap.end()) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
|
||||
<< "found in i2cDeviceMap" << std::endl;
|
||||
sif::error << "I2cComIF::readReceivedMessage: i2cAddress of Cookie not "
|
||||
<< "found in i2cDeviceMap" << std::endl;
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
|
||||
*size = i2cDeviceMapIter->second.replyLen;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
*buffer = i2cDeviceMapIter->second.replyBuffer.data();
|
||||
*size = i2cDeviceMapIter->second.replyLen;
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t I2cComIF::openDevice(std::string deviceFile,
|
||||
address_t i2cAddress, int* fileDescriptor) {
|
||||
|
||||
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
|
||||
ReturnValue_t I2cComIF::openDevice(std::string deviceFile, address_t i2cAddress,
|
||||
int* fileDescriptor) {
|
||||
if (ioctl(*fileDescriptor, I2C_SLAVE, i2cAddress) < 0) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
|
||||
<< std::endl;
|
||||
sif::warning << "Error description " << strerror(errno) << std::endl;
|
||||
sif::warning << "I2cComIF: Specifying target device failed with error code " << errno << "."
|
||||
<< std::endl;
|
||||
sif::warning << "Error description " << strerror(errno) << std::endl;
|
||||
#else
|
||||
sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
|
||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
||||
sif::printWarning("I2cComIF: Specifying target device failed with error code %d.\n");
|
||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
@ -1,13 +1,14 @@
|
||||
#ifndef LINUX_I2C_I2COMIF_H_
|
||||
#define LINUX_I2C_I2COMIF_H_
|
||||
|
||||
#include "I2cCookie.h"
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
#include "I2cCookie.h"
|
||||
|
||||
/**
|
||||
* @brief This is the communication interface for I2C devices connected
|
||||
* to a system running a Linux OS.
|
||||
@ -16,46 +17,41 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class I2cComIF: public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
I2cComIF(object_id_t objectId);
|
||||
class I2cComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
I2cComIF(object_id_t objectId);
|
||||
|
||||
virtual ~I2cComIF();
|
||||
virtual ~I2cComIF();
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF * cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
|
||||
size_t sendLen) override;
|
||||
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) override;
|
||||
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||
size_t *size) override;
|
||||
ReturnValue_t initializeInterface(CookieIF *cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) override;
|
||||
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
ReturnValue_t requestReceiveMessage(CookieIF *cookie, size_t requestLen) override;
|
||||
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) override;
|
||||
|
||||
private:
|
||||
private:
|
||||
struct I2cInstance {
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
size_t replyLen;
|
||||
};
|
||||
|
||||
struct I2cInstance {
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
size_t replyLen;
|
||||
};
|
||||
using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
|
||||
using I2cDeviceMapIter = I2cDeviceMap::iterator;
|
||||
|
||||
using I2cDeviceMap = std::unordered_map<address_t, I2cInstance>;
|
||||
using I2cDeviceMapIter = I2cDeviceMap::iterator;
|
||||
/* In this map all i2c devices will be registered with their address and
|
||||
* the appropriate file descriptor will be stored */
|
||||
I2cDeviceMap i2cDeviceMap;
|
||||
I2cDeviceMapIter i2cDeviceMapIter;
|
||||
|
||||
/* In this map all i2c devices will be registered with their address and
|
||||
* the appropriate file descriptor will be stored */
|
||||
I2cDeviceMap i2cDeviceMap;
|
||||
I2cDeviceMapIter i2cDeviceMapIter;
|
||||
|
||||
/**
|
||||
* @brief This function opens an I2C device and binds the opened file
|
||||
* to a specific I2C address.
|
||||
* @param deviceFile The name of the device file. E.g. i2c-0
|
||||
* @param i2cAddress The address of the i2c slave device.
|
||||
* @param fileDescriptor Pointer to device descriptor.
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
|
||||
*/
|
||||
ReturnValue_t openDevice(std::string deviceFile,
|
||||
address_t i2cAddress, int* fileDescriptor);
|
||||
/**
|
||||
* @brief This function opens an I2C device and binds the opened file
|
||||
* to a specific I2C address.
|
||||
* @param deviceFile The name of the device file. E.g. i2c-0
|
||||
* @param i2cAddress The address of the i2c slave device.
|
||||
* @param fileDescriptor Pointer to device descriptor.
|
||||
* @return RETURN_OK if successful, otherwise RETURN_FAILED.
|
||||
*/
|
||||
ReturnValue_t openDevice(std::string deviceFile, address_t i2cAddress, int *fileDescriptor);
|
||||
};
|
||||
|
||||
#endif /* LINUX_I2C_I2COMIF_H_ */
|
||||
|
@ -1,20 +1,12 @@
|
||||
#include "fsfw_hal/linux/i2c/I2cCookie.h"
|
||||
|
||||
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
|
||||
std::string deviceFile_) :
|
||||
i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {
|
||||
}
|
||||
I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_)
|
||||
: i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(deviceFile_) {}
|
||||
|
||||
address_t I2cCookie::getAddress() const {
|
||||
return i2cAddress;
|
||||
}
|
||||
address_t I2cCookie::getAddress() const { return i2cAddress; }
|
||||
|
||||
size_t I2cCookie::getMaxReplyLen() const {
|
||||
return maxReplyLen;
|
||||
}
|
||||
size_t I2cCookie::getMaxReplyLen() const { return maxReplyLen; }
|
||||
|
||||
std::string I2cCookie::getDeviceFile() const {
|
||||
return deviceFile;
|
||||
}
|
||||
std::string I2cCookie::getDeviceFile() const { return deviceFile; }
|
||||
|
||||
I2cCookie::~I2cCookie() {}
|
||||
|
@ -2,6 +2,7 @@
|
||||
#define LINUX_I2C_I2CCOOKIE_H_
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
/**
|
||||
@ -9,30 +10,27 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class I2cCookie: public CookieIF {
|
||||
public:
|
||||
class I2cCookie : public CookieIF {
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor for the I2C cookie.
|
||||
* @param i2cAddress_ The i2c address of the target device.
|
||||
* @param maxReplyLen_ The maximum expected length of a reply from the
|
||||
* target device.
|
||||
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
|
||||
*/
|
||||
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, std::string deviceFile_);
|
||||
|
||||
/**
|
||||
* @brief Constructor for the I2C cookie.
|
||||
* @param i2cAddress_ The i2c address of the target device.
|
||||
* @param maxReplyLen_ The maximum expected length of a reply from the
|
||||
* target device.
|
||||
* @param devicFile_ The device file specifying the i2c interface to use. E.g. "/dev/i2c-0".
|
||||
*/
|
||||
I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
|
||||
std::string deviceFile_);
|
||||
virtual ~I2cCookie();
|
||||
|
||||
virtual ~I2cCookie();
|
||||
address_t getAddress() const;
|
||||
size_t getMaxReplyLen() const;
|
||||
std::string getDeviceFile() const;
|
||||
|
||||
address_t getAddress() const;
|
||||
size_t getMaxReplyLen() const;
|
||||
std::string getDeviceFile() const;
|
||||
|
||||
private:
|
||||
|
||||
address_t i2cAddress = 0;
|
||||
size_t maxReplyLen = 0;
|
||||
std::string deviceFile;
|
||||
private:
|
||||
address_t i2cAddress = 0;
|
||||
size_t maxReplyLen = 0;
|
||||
std::string deviceFile;
|
||||
};
|
||||
|
||||
#endif /* LINUX_I2C_I2CCOOKIE_H_ */
|
||||
|
@ -1,38 +1,38 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
|
||||
#include "fsfw_hal/linux/rpi/GpioRPi.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw_hal/common/gpio/GpioCookie.h"
|
||||
|
||||
ReturnValue_t gpio::createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
|
||||
std::string consumer, gpio::Direction direction, int initValue) {
|
||||
if(cookie == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
std::string consumer, gpio::Direction direction,
|
||||
int initValue) {
|
||||
if (cookie == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
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";
|
||||
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";
|
||||
|
||||
config->consumer = consumer;
|
||||
config->direction = direction;
|
||||
config->initValue = initValue;
|
||||
config->consumer = consumer;
|
||||
config->direction = direction;
|
||||
config->initValue = initValue;
|
||||
|
||||
/* Sanity check for the BCM pins before assigning it */
|
||||
if(bcmPin > 27) {
|
||||
/* Sanity check for the BCM pins before assigning it */
|
||||
if (bcmPin > 27) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
|
||||
sif::error << "createRpiGpioConfig: BCM pin " << bcmPin << " invalid!" << std::endl;
|
||||
#else
|
||||
sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
|
||||
sif::printError("createRpiGpioConfig: BCM pin %d invalid!\n", bcmPin);
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
config->lineNum = bcmPin;
|
||||
cookie->addGpio(gpioId, config);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
config->lineNum = bcmPin;
|
||||
cookie->addGpio(gpioId, config);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
@ -2,6 +2,7 @@
|
||||
#define BSP_RPI_GPIO_GPIORPI_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
#include "../../common/gpio/gpioDefinitions.h"
|
||||
|
||||
class GpioCookie;
|
||||
@ -20,7 +21,7 @@ namespace gpio {
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t createRpiGpioConfig(GpioCookie* cookie, gpioId_t gpioId, int bcmPin,
|
||||
std::string consumer, gpio::Direction direction, int initValue);
|
||||
}
|
||||
std::string consumer, gpio::Direction direction, int initValue);
|
||||
} // namespace gpio
|
||||
|
||||
#endif /* BSP_RPI_GPIO_GPIORPI_H_ */
|
||||
|
@ -1,408 +1,404 @@
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw_hal/linux/spi/SpiComIF.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include <fsfw/ipc/MutexFactory.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <fsfw/ipc/MutexFactory.h>
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
|
||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
|
||||
SystemObject(objectId), gpioComIF(gpioComIF) {
|
||||
if(gpioComIF == nullptr) {
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
#include "fsfw_hal/linux/utility.h"
|
||||
|
||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
|
||||
: SystemObject(objectId), gpioComIF(gpioComIF) {
|
||||
if (gpioComIF == nullptr) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
|
||||
sif::error << "SpiComIF::SpiComIF: GPIO communication interface invalid!" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
|
||||
sif::printError("SpiComIF::SpiComIF: GPIO communication interface invalid!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
}
|
||||
}
|
||||
|
||||
spiMutex = MutexFactory::instance()->createMutex();
|
||||
spiMutex = MutexFactory::instance()->createMutex();
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
|
||||
int retval = 0;
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if(spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
|
||||
int retval = 0;
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if (spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
address_t spiAddress = spiCookie->getSpiAddress();
|
||||
address_t spiAddress = spiCookie->getSpiAddress();
|
||||
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if(iter == spiDeviceMap.end()) {
|
||||
size_t bufferSize = spiCookie->getMaxBufferSize();
|
||||
SpiInstance spiInstance(bufferSize);
|
||||
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
|
||||
if (not statusPair.second) {
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if (iter == spiDeviceMap.end()) {
|
||||
size_t bufferSize = spiCookie->getMaxBufferSize();
|
||||
SpiInstance spiInstance(bufferSize);
|
||||
auto statusPair = spiDeviceMap.emplace(spiAddress, spiInstance);
|
||||
if (not statusPair.second) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address " <<
|
||||
spiAddress << "to SPI device map" << std::endl;
|
||||
sif::error << "SpiComIF::initializeInterface: Failed to insert device with address "
|
||||
<< spiAddress << "to SPI device map" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::initializeInterface: Failed to insert device with address "
|
||||
"%lu to SPI device map\n", static_cast<unsigned long>(spiAddress));
|
||||
sif::printError(
|
||||
"SpiComIF::initializeInterface: Failed to insert device with address "
|
||||
"%lu to SPI device map\n",
|
||||
static_cast<unsigned long>(spiAddress));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
/* Now we emplaced the read buffer in the map, we still need to assign that location
|
||||
to the SPI driver transfer struct */
|
||||
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
else {
|
||||
/* Now we emplaced the read buffer in the map, we still need to assign that location
|
||||
to the SPI driver transfer struct */
|
||||
spiCookie->assignReadBuffer(statusPair.first->second.replyBuffer.data());
|
||||
} else {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
|
||||
sif::error << "SpiComIF::initializeInterface: SPI address already exists!" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
|
||||
sif::printError("SpiComIF::initializeInterface: SPI address already exists!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
/* Pull CS high in any case to be sure that device is inactive */
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
}
|
||||
|
||||
uint32_t spiSpeed = 0;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
|
||||
SpiCookie::UncommonParameters params;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms);
|
||||
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
|
||||
/* These flags are rather uncommon */
|
||||
if (params.threeWireSpi or params.noCs or params.csHigh) {
|
||||
uint32_t currentMode = 0;
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, ¤tMode);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
|
||||
}
|
||||
|
||||
/* Pull CS high in any case to be sure that device is inactive */
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
if (params.threeWireSpi) {
|
||||
currentMode |= SPI_3WIRE;
|
||||
}
|
||||
|
||||
uint32_t spiSpeed = 0;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
|
||||
SpiCookie::UncommonParameters params;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms);
|
||||
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
if (params.noCs) {
|
||||
/* Some drivers like the Raspberry Pi ignore this flag in any case */
|
||||
currentMode |= SPI_NO_CS;
|
||||
}
|
||||
|
||||
/* These flags are rather uncommon */
|
||||
if(params.threeWireSpi or params.noCs or params.csHigh) {
|
||||
uint32_t currentMode = 0;
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_RD_MODE32, ¤tMode);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not read full mode!");
|
||||
}
|
||||
|
||||
if(params.threeWireSpi) {
|
||||
currentMode |= SPI_3WIRE;
|
||||
}
|
||||
if(params.noCs) {
|
||||
/* Some drivers like the Raspberry Pi ignore this flag in any case */
|
||||
currentMode |= SPI_NO_CS;
|
||||
}
|
||||
if(params.csHigh) {
|
||||
currentMode |= SPI_CS_HIGH;
|
||||
}
|
||||
/* Write adapted mode */
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, ¤tMode);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
|
||||
}
|
||||
if (params.csHigh) {
|
||||
currentMode |= SPI_CS_HIGH;
|
||||
}
|
||||
if(params.lsbFirst) {
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, ¶ms.lsbFirst);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
|
||||
}
|
||||
/* Write adapted mode */
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_MODE32, ¤tMode);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initialiezInterface: Could not write full mode!");
|
||||
}
|
||||
if(params.bitsPerWord != 8) {
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, ¶ms.bitsPerWord);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initializeInterface: "
|
||||
"Could not write bits per word!");
|
||||
}
|
||||
}
|
||||
if (params.lsbFirst) {
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_LSB_FIRST, ¶ms.lsbFirst);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::initializeInterface: Setting LSB first failed");
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
if (params.bitsPerWord != 8) {
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_WR_BITS_PER_WORD, ¶ms.bitsPerWord);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError(
|
||||
"SpiComIF::initializeInterface: "
|
||||
"Could not write bits per word!");
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
ReturnValue_t SpiComIF::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
|
||||
if(spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
if (spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
if(sendLen > spiCookie->getMaxBufferSize()) {
|
||||
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),
|
||||
static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
|
||||
sif::printWarning(
|
||||
"SpiComIF::sendMessage: Too much data sent, send length %lu larger "
|
||||
"than maximum buffer length %lu!\n",
|
||||
static_cast<unsigned long>(sendLen),
|
||||
static_cast<unsigned long>(spiCookie->getMaxBufferSize()));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return DeviceCommunicationIF::TOO_MUCH_DATA;
|
||||
}
|
||||
return DeviceCommunicationIF::TOO_MUCH_DATA;
|
||||
}
|
||||
|
||||
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
|
||||
result = performRegularSendOperation(spiCookie, sendData, sendLen);
|
||||
if (spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
|
||||
result = performRegularSendOperation(spiCookie, sendData, sendLen);
|
||||
} else if (spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
|
||||
spi::send_callback_function_t sendFunc = nullptr;
|
||||
void* funcArgs = nullptr;
|
||||
spiCookie->getCallback(&sendFunc, &funcArgs);
|
||||
if (sendFunc != nullptr) {
|
||||
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
|
||||
}
|
||||
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
|
||||
spi::send_callback_function_t sendFunc = nullptr;
|
||||
void* funcArgs = nullptr;
|
||||
spiCookie->getCallback(&sendFunc, &funcArgs);
|
||||
if(sendFunc != nullptr) {
|
||||
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
|
||||
}
|
||||
}
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
|
||||
size_t sendLen) {
|
||||
address_t spiAddress = spiCookie->getSpiAddress();
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if(iter != spiDeviceMap.end()) {
|
||||
spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
|
||||
}
|
||||
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
|
||||
size_t sendLen) {
|
||||
address_t spiAddress = spiCookie->getSpiAddress();
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if (iter != spiDeviceMap.end()) {
|
||||
spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
|
||||
}
|
||||
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
int retval = 0;
|
||||
/* Prepare transfer */
|
||||
int fileDescriptor = 0;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
spiCookie->assignWriteBuffer(sendData);
|
||||
spiCookie->setTransferSize(sendLen);
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
int retval = 0;
|
||||
/* Prepare transfer */
|
||||
int fileDescriptor = 0;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
spiCookie->assignWriteBuffer(sendData);
|
||||
spiCookie->setTransferSize(sendLen);
|
||||
|
||||
bool fullDuplex = spiCookie->isFullDuplex();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
bool fullDuplex = spiCookie->isFullDuplex();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
|
||||
/* Pull SPI CS low. For now, no support for active high given */
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
/* Pull SPI CS low. For now, no support for active high given */
|
||||
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;
|
||||
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
|
||||
#else
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
|
||||
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
|
||||
#endif
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t result = gpioComIF->pullLow(gpioId);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
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;
|
||||
sif::warning << "SpiComIF::sendMessage: Pulling low CS pin failed" << std::endl;
|
||||
#else
|
||||
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
|
||||
sif::printWarning("SpiComIF::sendMessage: Pulling low CS pin failed");
|
||||
#endif
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
/* Execute transfer */
|
||||
if(fullDuplex) {
|
||||
/* Initiate a full duplex SPI transfer. */
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
/* Execute transfer */
|
||||
if (fullDuplex) {
|
||||
/* Initiate a full duplex SPI transfer. */
|
||||
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
|
||||
if (retval < 0) {
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
#if FSFW_HAL_SPI_WIRETAPPING == 1
|
||||
performSpiWiretapping(spiCookie);
|
||||
performSpiWiretapping(spiCookie);
|
||||
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
||||
}
|
||||
else {
|
||||
/* We write with a blocking half-duplex transfer here */
|
||||
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
|
||||
} else {
|
||||
/* We write with a blocking half-duplex transfer here */
|
||||
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
|
||||
std::endl;
|
||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
|
||||
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
|
||||
ReturnValue_t SpiComIF::getSendSuccess(CookieIF* cookie) { return HasReturnvaluesIF::RETURN_OK; }
|
||||
|
||||
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if (spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
if (spiCookie->isFullDuplex()) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
return performHalfDuplexReception(spiCookie);
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if(spiCookie == nullptr) {
|
||||
return NULLPOINTER;
|
||||
}
|
||||
|
||||
if(spiCookie->isFullDuplex()) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
return performHalfDuplexReception(spiCookie);
|
||||
}
|
||||
|
||||
|
||||
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::requestReceiveMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
|
||||
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
|
||||
uint8_t* rxBuf = nullptr;
|
||||
size_t readSize = spiCookie->getCurrentTransferSize();
|
||||
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
uint8_t* rxBuf = nullptr;
|
||||
size_t readSize = spiCookie->getCurrentTransferSize();
|
||||
result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
gpioComIF->pullLow(gpioId);
|
||||
return result;
|
||||
}
|
||||
gpioComIF->pullLow(gpioId);
|
||||
}
|
||||
|
||||
if(read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
|
||||
if (read(fileDescriptor, rxBuf, readSize) != static_cast<ssize_t>(readSize)) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
|
||||
sif::warning << "SpiComIF::sendMessage: Half-Duplex read operation failed!" << std::endl;
|
||||
#else
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
|
||||
sif::printWarning("SpiComIF::sendMessage: Half-Duplex read operation failed!\n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
result = HALF_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
if (gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullHigh(gpioId);
|
||||
result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
|
||||
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
}
|
||||
|
||||
return result;
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if(spiCookie == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
uint8_t* rxBuf = nullptr;
|
||||
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
|
||||
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
|
||||
if (spiCookie == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
uint8_t* rxBuf = nullptr;
|
||||
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &rxBuf);
|
||||
if (result != HasReturnvaluesIF::RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
|
||||
*buffer = rxBuf;
|
||||
*size = spiCookie->getCurrentTransferSize();
|
||||
spiCookie->setTransferSize(0);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
*buffer = rxBuf;
|
||||
*size = spiCookie->getCurrentTransferSize();
|
||||
spiCookie->setTransferSize(0);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
|
||||
if(timeoutType != nullptr) {
|
||||
*timeoutType = this->timeoutType;
|
||||
}
|
||||
if(timeoutMs != nullptr) {
|
||||
*timeoutMs = this->timeoutMs;
|
||||
}
|
||||
return spiMutex;
|
||||
if (timeoutType != nullptr) {
|
||||
*timeoutType = this->timeoutType;
|
||||
}
|
||||
if (timeoutMs != nullptr) {
|
||||
*timeoutMs = this->timeoutMs;
|
||||
}
|
||||
return spiMutex;
|
||||
}
|
||||
|
||||
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
|
||||
if(spiCookie == nullptr) {
|
||||
return;
|
||||
}
|
||||
size_t dataLen = spiCookie->getTransferStructHandle()->len;
|
||||
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
|
||||
if (spiCookie == nullptr) {
|
||||
return;
|
||||
}
|
||||
size_t dataLen = spiCookie->getTransferStructHandle()->len;
|
||||
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "Sent SPI data: " << std::endl;
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
sif::info << "Received SPI data: " << std::endl;
|
||||
sif::info << "Sent SPI data: " << std::endl;
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
sif::info << "Received SPI data: " << std::endl;
|
||||
#else
|
||||
sif::printInfo("Sent SPI data: \n");
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
sif::printInfo("Received SPI data: \n");
|
||||
sif::printInfo("Sent SPI data: \n");
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
sif::printInfo("Received SPI data: \n");
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
}
|
||||
|
||||
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
|
||||
if(buffer == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
if (buffer == nullptr) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if(iter == spiDeviceMap.end()) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
auto iter = spiDeviceMap.find(spiAddress);
|
||||
if (iter == spiDeviceMap.end()) {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
*buffer = iter->second.replyBuffer.data();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
*buffer = iter->second.replyBuffer.data();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
GpioIF* SpiComIF::getGpioInterface() {
|
||||
return gpioComIF;
|
||||
}
|
||||
GpioIF* SpiComIF::getGpioInterface() { return gpioComIF; }
|
||||
|
||||
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("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
|
||||
}
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI mode failed");
|
||||
}
|
||||
|
||||
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
|
||||
}
|
||||
retval = ioctl(spiFd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
|
||||
if (retval != 0) {
|
||||
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
|
||||
}
|
||||
}
|
||||
|
@ -1,16 +1,15 @@
|
||||
#ifndef LINUX_SPI_SPICOMIF_H_
|
||||
#define LINUX_SPI_SPICOMIF_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "spiDefinitions.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "fsfw_hal/common/gpio/GpioIF.h"
|
||||
#include <unordered_map>
|
||||
#include <vector>
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
|
||||
#include <vector>
|
||||
#include <unordered_map>
|
||||
#include "fsfw_hal/common/gpio/GpioIF.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "spiDefinitions.h"
|
||||
|
||||
class SpiCookie;
|
||||
|
||||
@ -21,71 +20,67 @@ class SpiCookie;
|
||||
* are contained in the SPI cookie.
|
||||
* @author R. Mueller
|
||||
*/
|
||||
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
|
||||
static constexpr ReturnValue_t OPENING_FILE_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
|
||||
/* Full duplex (ioctl) transfer failure */
|
||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
|
||||
/* Half duplex (read/write) transfer failure */
|
||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
|
||||
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
|
||||
public:
|
||||
static constexpr uint8_t spiRetvalId = CLASS_ID::HAL_SPI;
|
||||
static constexpr ReturnValue_t OPENING_FILE_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
|
||||
/* Full duplex (ioctl) transfer failure */
|
||||
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
|
||||
/* Half duplex (read/write) transfer failure */
|
||||
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
||||
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
|
||||
|
||||
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
|
||||
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
|
||||
|
||||
ReturnValue_t initializeInterface(CookieIF * cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
|
||||
size_t sendLen) override;
|
||||
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
|
||||
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
|
||||
size_t requestLen) override;
|
||||
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
||||
size_t *size) override;
|
||||
ReturnValue_t initializeInterface(CookieIF* cookie) override;
|
||||
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
|
||||
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
|
||||
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
|
||||
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
|
||||
|
||||
/**
|
||||
* @brief This function returns the mutex which can be used to protect the spi bus when
|
||||
* the chip select must be driven from outside of the com if.
|
||||
*/
|
||||
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
|
||||
/**
|
||||
* @brief This function returns the mutex which can be used to protect the spi bus when
|
||||
* the chip select must be driven from outside of the com if.
|
||||
*/
|
||||
MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
|
||||
|
||||
/**
|
||||
* Perform a regular send operation using Linux iotcl. This is public so it can be used
|
||||
* in functions like a user callback if special handling is only necessary for certain commands.
|
||||
* @param spiCookie
|
||||
* @param sendData
|
||||
* @param sendLen
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
|
||||
size_t sendLen);
|
||||
/**
|
||||
* Perform a regular send operation using Linux iotcl. This is public so it can be used
|
||||
* in functions like a user callback if special handling is only necessary for certain commands.
|
||||
* @param spiCookie
|
||||
* @param sendData
|
||||
* @param sendLen
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
|
||||
size_t sendLen);
|
||||
|
||||
GpioIF* getGpioInterface();
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
void performSpiWiretapping(SpiCookie* spiCookie);
|
||||
GpioIF* getGpioInterface();
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
void performSpiWiretapping(SpiCookie* spiCookie);
|
||||
|
||||
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
||||
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
||||
|
||||
private:
|
||||
private:
|
||||
struct SpiInstance {
|
||||
SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
};
|
||||
|
||||
struct SpiInstance {
|
||||
SpiInstance(size_t maxRecvSize): replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
|
||||
std::vector<uint8_t> replyBuffer;
|
||||
};
|
||||
GpioIF* gpioComIF = nullptr;
|
||||
|
||||
GpioIF* gpioComIF = nullptr;
|
||||
MutexIF* spiMutex = nullptr;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
|
||||
MutexIF* spiMutex = nullptr;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
|
||||
using SpiDeviceMapIter = SpiDeviceMap::iterator;
|
||||
|
||||
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
|
||||
using SpiDeviceMapIter = SpiDeviceMap::iterator;
|
||||
SpiDeviceMap spiDeviceMap;
|
||||
|
||||
SpiDeviceMap spiDeviceMap;
|
||||
|
||||
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
|
||||
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
|
||||
};
|
||||
|
||||
#endif /* LINUX_SPI_SPICOMIF_H_ */
|
||||
|
@ -1,144 +1,109 @@
|
||||
#include "fsfw_hal/linux/spi/SpiCookie.h"
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
|
||||
SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
|
||||
spiSpeed, nullptr, nullptr) {
|
||||
|
||||
}
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed)
|
||||
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
|
||||
spiSpeed, nullptr, nullptr) {}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed):
|
||||
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
|
||||
}
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed)
|
||||
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void *args):
|
||||
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
|
||||
spiMode, spiSpeed, callback, args) {
|
||||
}
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args)
|
||||
: SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize, spiMode,
|
||||
spiSpeed, callback, args) {}
|
||||
|
||||
SpiCookie::SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args):
|
||||
spiAddress(spiAddress), chipSelectPin(chipSelect), spiDevice(spiDev),
|
||||
comIfMode(comIfMode), maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed),
|
||||
sendCallback(callback), callbackArgs(args) {
|
||||
}
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode,
|
||||
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args)
|
||||
: spiAddress(spiAddress),
|
||||
chipSelectPin(chipSelect),
|
||||
spiDevice(spiDev),
|
||||
comIfMode(comIfMode),
|
||||
maxSize(maxSize),
|
||||
spiMode(spiMode),
|
||||
spiSpeed(spiSpeed),
|
||||
sendCallback(callback),
|
||||
callbackArgs(args) {}
|
||||
|
||||
spi::SpiComIfModes SpiCookie::getComIfMode() const {
|
||||
return this->comIfMode;
|
||||
}
|
||||
spi::SpiComIfModes SpiCookie::getComIfMode() const { return this->comIfMode; }
|
||||
|
||||
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
||||
UncommonParameters* parameters) const {
|
||||
spiMode = this->spiMode;
|
||||
spiSpeed = this->spiSpeed;
|
||||
UncommonParameters* parameters) const {
|
||||
spiMode = this->spiMode;
|
||||
spiSpeed = this->spiSpeed;
|
||||
|
||||
if(parameters != nullptr) {
|
||||
parameters->threeWireSpi = uncommonParameters.threeWireSpi;
|
||||
parameters->lsbFirst = uncommonParameters.lsbFirst;
|
||||
parameters->noCs = uncommonParameters.noCs;
|
||||
parameters->bitsPerWord = uncommonParameters.bitsPerWord;
|
||||
parameters->csHigh = uncommonParameters.csHigh;
|
||||
}
|
||||
if (parameters != nullptr) {
|
||||
parameters->threeWireSpi = uncommonParameters.threeWireSpi;
|
||||
parameters->lsbFirst = uncommonParameters.lsbFirst;
|
||||
parameters->noCs = uncommonParameters.noCs;
|
||||
parameters->bitsPerWord = uncommonParameters.bitsPerWord;
|
||||
parameters->csHigh = uncommonParameters.csHigh;
|
||||
}
|
||||
}
|
||||
|
||||
gpioId_t SpiCookie::getChipSelectPin() const {
|
||||
return chipSelectPin;
|
||||
}
|
||||
gpioId_t SpiCookie::getChipSelectPin() const { return chipSelectPin; }
|
||||
|
||||
size_t SpiCookie::getMaxBufferSize() const {
|
||||
return maxSize;
|
||||
}
|
||||
size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
|
||||
|
||||
address_t SpiCookie::getSpiAddress() const {
|
||||
return spiAddress;
|
||||
}
|
||||
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
|
||||
|
||||
std::string SpiCookie::getSpiDevice() const {
|
||||
return spiDevice;
|
||||
}
|
||||
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
|
||||
|
||||
void SpiCookie::setThreeWireSpi(bool enable) {
|
||||
uncommonParameters.threeWireSpi = enable;
|
||||
}
|
||||
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
|
||||
|
||||
void SpiCookie::setLsbFirst(bool enable) {
|
||||
uncommonParameters.lsbFirst = enable;
|
||||
}
|
||||
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }
|
||||
|
||||
void SpiCookie::setNoCs(bool enable) {
|
||||
uncommonParameters.noCs = enable;
|
||||
}
|
||||
void SpiCookie::setNoCs(bool enable) { uncommonParameters.noCs = enable; }
|
||||
|
||||
void SpiCookie::setBitsPerWord(uint8_t bitsPerWord) {
|
||||
uncommonParameters.bitsPerWord = bitsPerWord;
|
||||
uncommonParameters.bitsPerWord = bitsPerWord;
|
||||
}
|
||||
|
||||
void SpiCookie::setCsHigh(bool enable) {
|
||||
uncommonParameters.csHigh = enable;
|
||||
}
|
||||
void SpiCookie::setCsHigh(bool enable) { uncommonParameters.csHigh = enable; }
|
||||
|
||||
void SpiCookie::activateCsDeselect(bool deselectCs, uint16_t delayUsecs) {
|
||||
spiTransferStruct.cs_change = deselectCs;
|
||||
spiTransferStruct.delay_usecs = delayUsecs;
|
||||
spiTransferStruct.cs_change = deselectCs;
|
||||
spiTransferStruct.delay_usecs = delayUsecs;
|
||||
}
|
||||
|
||||
void SpiCookie::assignReadBuffer(uint8_t* rx) {
|
||||
if(rx != nullptr) {
|
||||
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
|
||||
}
|
||||
if (rx != nullptr) {
|
||||
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(rx);
|
||||
}
|
||||
}
|
||||
|
||||
void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
|
||||
if(tx != nullptr) {
|
||||
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
|
||||
}
|
||||
if (tx != nullptr) {
|
||||
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(tx);
|
||||
}
|
||||
}
|
||||
|
||||
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
|
||||
void *args) {
|
||||
this->comIfMode = spi::SpiComIfModes::CALLBACK;
|
||||
this->sendCallback = callback;
|
||||
this->callbackArgs = args;
|
||||
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback, void* args) {
|
||||
this->comIfMode = spi::SpiComIfModes::CALLBACK;
|
||||
this->sendCallback = callback;
|
||||
this->callbackArgs = args;
|
||||
}
|
||||
|
||||
void SpiCookie::setCallbackArgs(void *args) {
|
||||
this->callbackArgs = args;
|
||||
}
|
||||
void SpiCookie::setCallbackArgs(void* args) { this->callbackArgs = args; }
|
||||
|
||||
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
|
||||
return &spiTransferStruct;
|
||||
}
|
||||
spi_ioc_transfer* SpiCookie::getTransferStructHandle() { return &spiTransferStruct; }
|
||||
|
||||
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) {
|
||||
this->halfDuplex = halfDuplex;
|
||||
}
|
||||
void SpiCookie::setFullOrHalfDuplex(bool halfDuplex) { this->halfDuplex = halfDuplex; }
|
||||
|
||||
bool SpiCookie::isFullDuplex() const {
|
||||
return not this->halfDuplex;
|
||||
}
|
||||
bool SpiCookie::isFullDuplex() const { return not this->halfDuplex; }
|
||||
|
||||
void SpiCookie::setTransferSize(size_t transferSize) {
|
||||
spiTransferStruct.len = transferSize;
|
||||
}
|
||||
void SpiCookie::setTransferSize(size_t transferSize) { spiTransferStruct.len = transferSize; }
|
||||
|
||||
size_t SpiCookie::getCurrentTransferSize() const {
|
||||
return spiTransferStruct.len;
|
||||
}
|
||||
size_t SpiCookie::getCurrentTransferSize() const { return spiTransferStruct.len; }
|
||||
|
||||
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
|
||||
this->spiSpeed = newSpeed;
|
||||
}
|
||||
void SpiCookie::setSpiSpeed(uint32_t newSpeed) { this->spiSpeed = newSpeed; }
|
||||
|
||||
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
|
||||
this->spiMode = newMode;
|
||||
}
|
||||
void SpiCookie::setSpiMode(spi::SpiModes newMode) { this->spiMode = newMode; }
|
||||
|
||||
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
|
||||
void **args) {
|
||||
*callback = this->sendCallback;
|
||||
*args = this->callbackArgs;
|
||||
void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args) {
|
||||
*callback = this->sendCallback;
|
||||
*args = this->callbackArgs;
|
||||
}
|
||||
|
@ -1,13 +1,12 @@
|
||||
#ifndef LINUX_SPI_SPICOOKIE_H_
|
||||
#define LINUX_SPI_SPICOOKIE_H_
|
||||
|
||||
#include "spiDefinitions.h"
|
||||
#include "../../common/gpio/gpioDefinitions.h"
|
||||
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
|
||||
#include "../../common/gpio/gpioDefinitions.h"
|
||||
#include "spiDefinitions.h"
|
||||
|
||||
/**
|
||||
* @brief This cookie class is passed to the SPI communication interface
|
||||
* @details
|
||||
@ -19,165 +18,163 @@
|
||||
* special requirements like expander slave select switching (e.g. GPIO or I2C expander)
|
||||
* or special timing related requirements.
|
||||
*/
|
||||
class SpiCookie: public CookieIF {
|
||||
public:
|
||||
/**
|
||||
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
|
||||
* interface and contains device specific information like the largest expected size to be
|
||||
* sent and received and the GPIO pin used to toggle the SPI slave select pin.
|
||||
* @param spiAddress
|
||||
* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
|
||||
* slave select or if CS logic is performed with decoders.
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
|
||||
class SpiCookie : public CookieIF {
|
||||
public:
|
||||
/**
|
||||
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
|
||||
* interface and contains device specific information like the largest expected size to be
|
||||
* sent and received and the GPIO pin used to toggle the SPI slave select pin.
|
||||
* @param spiAddress
|
||||
* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Use the callback mode of the SPI communication interface. The user can pass the callback
|
||||
* function here or by using the setter function #setCallbackMode
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
|
||||
/**
|
||||
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
|
||||
* slave select or if CS logic is performed with decoders.
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Use the callback mode of the SPI communication interface. The user can pass the callback
|
||||
* function here or by using the setter function #setCallbackMode
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
|
||||
void *args);
|
||||
void* args);
|
||||
|
||||
/**
|
||||
* Get the callback function
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
void getCallback(spi::send_callback_function_t* callback, void** args);
|
||||
/**
|
||||
* Get the callback function
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
void getCallback(spi::send_callback_function_t* callback, void** args);
|
||||
|
||||
address_t getSpiAddress() const;
|
||||
std::string getSpiDevice() const;
|
||||
gpioId_t getChipSelectPin() const;
|
||||
size_t getMaxBufferSize() const;
|
||||
address_t getSpiAddress() const;
|
||||
std::string getSpiDevice() const;
|
||||
gpioId_t getChipSelectPin() const;
|
||||
size_t getMaxBufferSize() const;
|
||||
|
||||
spi::SpiComIfModes getComIfMode() const;
|
||||
spi::SpiComIfModes getComIfMode() const;
|
||||
|
||||
/** Enables changing SPI speed at run-time */
|
||||
void setSpiSpeed(uint32_t newSpeed);
|
||||
/** Enables changing the SPI mode at run-time */
|
||||
void setSpiMode(spi::SpiModes newMode);
|
||||
/** Enables changing SPI speed at run-time */
|
||||
void setSpiSpeed(uint32_t newSpeed);
|
||||
/** Enables changing the SPI mode at run-time */
|
||||
void setSpiMode(spi::SpiModes newMode);
|
||||
|
||||
/**
|
||||
* Set the SPI to callback mode and assigns the user supplied callback and an argument
|
||||
* passed to the callback.
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
void setCallbackMode(spi::send_callback_function_t callback, void* args);
|
||||
/**
|
||||
* Set the SPI to callback mode and assigns the user supplied callback and an argument
|
||||
* passed to the callback.
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
void setCallbackMode(spi::send_callback_function_t callback, void* args);
|
||||
|
||||
/**
|
||||
* Can be used to set the callback arguments and a later point than initialization.
|
||||
* @param args
|
||||
*/
|
||||
void setCallbackArgs(void* args);
|
||||
/**
|
||||
* Can be used to set the callback arguments and a later point than initialization.
|
||||
* @param args
|
||||
*/
|
||||
void setCallbackArgs(void* args);
|
||||
|
||||
/**
|
||||
* True if SPI transfers should be performed in full duplex mode
|
||||
* @return
|
||||
*/
|
||||
bool isFullDuplex() const;
|
||||
/**
|
||||
* True if SPI transfers should be performed in full duplex mode
|
||||
* @return
|
||||
*/
|
||||
bool isFullDuplex() const;
|
||||
|
||||
/**
|
||||
* Set transfer type to full duplex or half duplex. Full duplex is the default setting,
|
||||
* ressembling common SPI hardware implementation with shift registers, where read and writes
|
||||
* happen simultaneosly.
|
||||
* @param fullDuplex
|
||||
*/
|
||||
void setFullOrHalfDuplex(bool halfDuplex);
|
||||
/**
|
||||
* Set transfer type to full duplex or half duplex. Full duplex is the default setting,
|
||||
* ressembling common SPI hardware implementation with shift registers, where read and writes
|
||||
* happen simultaneosly.
|
||||
* @param fullDuplex
|
||||
*/
|
||||
void setFullOrHalfDuplex(bool halfDuplex);
|
||||
|
||||
/**
|
||||
* This needs to be called to specify where the SPI driver writes to or reads from.
|
||||
* @param readLocation
|
||||
* @param writeLocation
|
||||
*/
|
||||
void assignReadBuffer(uint8_t* rx);
|
||||
void assignWriteBuffer(const uint8_t* tx);
|
||||
/**
|
||||
* Set size for the next transfer. Set to 0 for no transfer
|
||||
* @param transferSize
|
||||
*/
|
||||
void setTransferSize(size_t transferSize);
|
||||
size_t getCurrentTransferSize() const;
|
||||
/**
|
||||
* This needs to be called to specify where the SPI driver writes to or reads from.
|
||||
* @param readLocation
|
||||
* @param writeLocation
|
||||
*/
|
||||
void assignReadBuffer(uint8_t* rx);
|
||||
void assignWriteBuffer(const uint8_t* tx);
|
||||
/**
|
||||
* Set size for the next transfer. Set to 0 for no transfer
|
||||
* @param transferSize
|
||||
*/
|
||||
void setTransferSize(size_t transferSize);
|
||||
size_t getCurrentTransferSize() const;
|
||||
|
||||
struct UncommonParameters {
|
||||
uint8_t bitsPerWord = 8;
|
||||
bool noCs = false;
|
||||
bool csHigh = false;
|
||||
bool threeWireSpi = false;
|
||||
/* MSB first is more common */
|
||||
bool lsbFirst = false;
|
||||
};
|
||||
struct UncommonParameters {
|
||||
uint8_t bitsPerWord = 8;
|
||||
bool noCs = false;
|
||||
bool csHigh = false;
|
||||
bool threeWireSpi = false;
|
||||
/* MSB first is more common */
|
||||
bool lsbFirst = false;
|
||||
};
|
||||
|
||||
/**
|
||||
* Can be used to explicitely disable hardware chip select.
|
||||
* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
|
||||
* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
|
||||
* @param enable
|
||||
*/
|
||||
void setNoCs(bool enable);
|
||||
void setThreeWireSpi(bool enable);
|
||||
void setLsbFirst(bool enable);
|
||||
void setCsHigh(bool enable);
|
||||
void setBitsPerWord(uint8_t bitsPerWord);
|
||||
/**
|
||||
* Can be used to explicitely disable hardware chip select.
|
||||
* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
|
||||
* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
|
||||
* @param enable
|
||||
*/
|
||||
void setNoCs(bool enable);
|
||||
void setThreeWireSpi(bool enable);
|
||||
void setLsbFirst(bool enable);
|
||||
void setCsHigh(bool enable);
|
||||
void setBitsPerWord(uint8_t bitsPerWord);
|
||||
|
||||
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
||||
UncommonParameters* parameters = nullptr) const;
|
||||
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
||||
UncommonParameters* parameters = nullptr) const;
|
||||
|
||||
/**
|
||||
* See spidev.h cs_change and delay_usecs
|
||||
* @param deselectCs
|
||||
* @param delayUsecs
|
||||
*/
|
||||
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
|
||||
/**
|
||||
* See spidev.h cs_change and delay_usecs
|
||||
* @param deselectCs
|
||||
* @param delayUsecs
|
||||
*/
|
||||
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
|
||||
|
||||
spi_ioc_transfer* getTransferStructHandle();
|
||||
private:
|
||||
spi_ioc_transfer* getTransferStructHandle();
|
||||
|
||||
/**
|
||||
* Internal constructor which initializes every field
|
||||
* @param spiAddress
|
||||
* @param chipSelect
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
* @param spiMode
|
||||
* @param spiSpeed
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
private:
|
||||
/**
|
||||
* Internal constructor which initializes every field
|
||||
* @param spiAddress
|
||||
* @param chipSelect
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
* @param spiMode
|
||||
* @param spiSpeed
|
||||
* @param callback
|
||||
* @param args
|
||||
*/
|
||||
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
|
||||
std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
|
||||
spi::send_callback_function_t callback, void* args);
|
||||
|
||||
address_t spiAddress;
|
||||
gpioId_t chipSelectPin;
|
||||
std::string spiDevice;
|
||||
address_t spiAddress;
|
||||
gpioId_t chipSelectPin;
|
||||
std::string spiDevice;
|
||||
|
||||
spi::SpiComIfModes comIfMode;
|
||||
spi::SpiComIfModes comIfMode;
|
||||
|