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Merge pull request 'SPI HAL improvement' (#573) from eive/fsfw:mueller/spi-initialize-line-state into development

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Reviewed-on: fsfw/fsfw#573
This commit is contained in:
Ulrich Mohr 2022-03-14 14:18:03 +01:00
commit 5a1585bd00
3 changed files with 15 additions and 1 deletions
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7
CHANGELOG.md
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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Changes ## Changes
- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
and mode
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents - GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
name clashes with Windows defines. name clashes with Windows defines.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572 PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
@ -23,11 +26,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Removed ## Removed
- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local - Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
datapools have been implemented datapools have been implemented.
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
## Additions ## Additions
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1 - Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
# [v4.0.0] # [v4.0.0]

8
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) { if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed"); utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
} }
// This updates the SPI clock default polarity. Only setting the mode does not update
// the line state, which can be an issue on mode switches because the clock line will
// switch the state after the chip select is pulled low
clockUpdateTransfer.len = 0;
retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
} }

1
hal/src/fsfw_hal/linux/spi/SpiComIF.h
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@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
MutexIF* spiMutex = nullptr; MutexIF* spiMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20; uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>; using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator; using SpiDeviceMapIter = SpiDeviceMap::iterator;