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Merge remote-tracking branch 'origin/eive/develop' into mueller/gpio-hal-updates

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This commit is contained in:
Robin Müller
2022-02-28 15:49:11 +01:00
parent 2fed161eff 6e0b90696d
commit ac036b2a70
64 changed files with 423 additions and 271 deletions
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2
hal/src/fsfw_hal/linux/CMakeLists.txt
View File

@ -9,7 +9,9 @@ target_sources(${LIB_FSFW_NAME} PRIVATE
)
if(FSFW_HAL_LINUX_ADD_PERIPHERAL_DRIVERS)
if(FSFW_HAL_LINUX_ADD_LIBGPIOD)
add_subdirectory(gpio)
endif()
add_subdirectory(spi)
add_subdirectory(i2c)
add_subdirectory(uart)

2
hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp
View File

@ -163,7 +163,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod
switch (direction) {
case (gpio::Direction::OUT): {
result = gpiod_line_request_output(lineHandle, consumer.c_str(),
static_cast<int>(regularGpio.initValue));
static_cast<int>(regularGpio.initValue));
break;
}
case (gpio::Direction::IN): {

8
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
View File

@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
if (retval != 0) {
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::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
using SpiDeviceMapIter = SpiDeviceMap::iterator;

51
hal/src/fsfw_hal/linux/uart/UartComIF.cpp
View File

@ -1,7 +1,4 @@
#include "UartComIF.h"
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
#include <errno.h>
#include <fcntl.h>
@ -10,6 +7,10 @@
#include <cstring>
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
#include "fsfw_hal/linux/utility.h"
UartComIF::UartComIF(object_id_t objectId) : SystemObject(objectId) {}
UartComIF::~UartComIF() {}
@ -268,6 +269,50 @@ void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCooki
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
case 500000:
cfsetispeed(options, B500000);
cfsetospeed(options, B500000);
break;
case 576000:
cfsetispeed(options, B576000);
cfsetospeed(options, B576000);
break;
case 921600:
cfsetispeed(options, B921600);
cfsetospeed(options, B921600);
break;
case 1000000:
cfsetispeed(options, B1000000);
cfsetospeed(options, B1000000);
break;
case 1152000:
cfsetispeed(options, B1152000);
cfsetospeed(options, B1152000);
break;
case 1500000:
cfsetispeed(options, B1500000);
cfsetospeed(options, B1500000);
break;
case 2000000:
cfsetispeed(options, B2000000);
cfsetospeed(options, B2000000);
break;
case 2500000:
cfsetispeed(options, B2500000);
cfsetospeed(options, B2500000);
break;
case 3000000:
cfsetispeed(options, B3000000);
cfsetospeed(options, B3000000);
break;
case 3500000:
cfsetispeed(options, B3500000);
cfsetospeed(options, B3500000);
break;
case 4000000:
cfsetispeed(options, B4000000);
cfsetospeed(options, B4000000);
break;
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;