refactored SPI mutex handling

This commit is contained in:
Robin Müller 2022-05-14 11:33:43 +02:00
parent dba08fed7a
commit bcd19045cc
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
5 changed files with 123 additions and 47 deletions

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@ -0,0 +1,42 @@
#pragma once
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw_hal/common/gpio/GpioIF.h"
class ManualCsLockWrapper : public HasReturnvaluesIF {
public:
ManualCsLockWrapper(MutexIF* lock, GpioIF* gpioIF, SpiCookie* cookie,
MutexIF::TimeoutType type = MutexIF::TimeoutType::BLOCKING,
uint32_t timeoutMs = 0)
: lock(lock), gpioIF(gpioIF), cookie(cookie), type(type), timeoutMs(timeoutMs) {
if (cookie == nullptr) {
// TODO: Error? Or maybe throw exception..
return;
}
cookie->setCsLockManual(true);
lockResult = lock->lockMutex(type, timeoutMs);
if (lockResult != RETURN_OK) {
return;
}
gpioResult = gpioIF->pullLow(cookie->getChipSelectPin());
}
~ManualCsLockWrapper() {
if (lockResult == RETURN_OK) {
lock->unlockMutex();
}
if (gpioResult == RETURN_OK) {
gpioIF->pullHigh(cookie->getChipSelectPin());
}
}
ReturnValue_t lockResult;
ReturnValue_t gpioResult;
private:
MutexIF* lock;
GpioIF* gpioIF;
SpiCookie* cookie;
MutexIF::TimeoutType type;
uint32_t timeoutMs = 0;
};

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@ -194,16 +194,22 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
bool csLockManual = spiCookie->getCsLockManual();
/* Pull SPI CS low. For now, no support for active high given */
if (gpioId != gpio::NO_GPIO) {
result = csMutex->lockMutex(timeoutType, timeoutMs);
MutexIF::TimeoutType csType;
dur_millis_t csTimeout = 0;
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO and not csLockManual) {
spiCookie->getMutexParams(csType, csTimeout);
result = csMutex->lockMutex(csType, csTimeout);
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 with code "
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
<< std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex\n");
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
#endif
#endif
return result;
@ -249,7 +255,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
}
}
if (gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO and not csLockManual) {
gpioComIF->pullHigh(gpioId);
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
@ -292,12 +298,22 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
return result;
}
bool csLockManual = spiCookie->getCsLockManual();
gpioId_t gpioId = spiCookie->getChipSelectPin();
if (gpioId != gpio::NO_GPIO) {
result = csMutex->lockMutex(timeoutType, timeoutMs);
MutexIF::TimeoutType csType;
dur_millis_t csTimeout = 0;
if (gpioId != gpio::NO_GPIO and not csLockManual) {
spiCookie->getMutexParams(csType, csTimeout);
result = csMutex->lockMutex(csType, csTimeout);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
sif::error << "SpiComIF::sendMessage: Failed to lock mutex with code "
<< "0x" << std::hex << std::setfill('0') << std::setw(4) << result << std::dec
<< std::endl;
#else
sif::printError("SpiComIF::sendMessage: Failed to lock mutex with code %d\n", result);
#endif
#endif
return result;
}
@ -315,7 +331,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
result = HALF_DUPLEX_TRANSFER_FAILED;
}
if (gpioId != gpio::NO_GPIO) {
if (gpioId != gpio::NO_GPIO and not csLockManual) {
gpioComIF->pullHigh(gpioId);
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
@ -346,15 +362,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
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 csMutex;
}
MutexIF* SpiComIF::getCsMutex() { return csMutex; }
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if (spiCookie == nullptr) {
@ -426,8 +434,3 @@ void SpiComIF::updateLinePolarity(int spiFd) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}
void SpiComIF::setMutexParams(MutexIF::TimeoutType timeoutType_, uint32_t timeoutMs_) {
timeoutType = timeoutType_;
timeoutMs = timeoutMs_;
}

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@ -22,8 +22,6 @@ class SpiCookie;
*/
class SpiComIF : public DeviceCommunicationIF, public SystemObject {
public:
static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
static constexpr ReturnValue_t OPENING_FILE_FAILED =
HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
@ -46,7 +44,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* @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);
MutexIF* getCsMutex();
void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
/**
@ -93,8 +91,8 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* pulled high
*/
MutexIF* csMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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@ -104,3 +104,17 @@ void SpiCookie::getCallback(spi::send_callback_function_t* callback, void** args
*callback = this->sendCallback;
*args = this->callbackArgs;
}
void SpiCookie::setCsLockManual(bool enable) { manualCsLock = enable; }
bool SpiCookie::getCsLockManual() const { return manualCsLock; }
void SpiCookie::getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const {
csTimeoutType = this->csTimeoutType;
csTimeout = this->csTimeout;
}
void SpiCookie::setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout) {
this->csTimeoutType = csTimeoutType;
this->csTimeout = csTimeout;
}

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@ -2,6 +2,8 @@
#define LINUX_SPI_SPICOOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw/ipc/MutexIF.h>
#include <fsfw/timemanager/clockDefinitions.h>
#include <linux/spi/spidev.h>
#include "../../common/gpio/gpioDefinitions.h"
@ -20,6 +22,8 @@
*/
class SpiCookie : public CookieIF {
public:
static constexpr dur_millis_t DEFAULT_MUTEX_TIMEOUT = 20;
/**
* 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
@ -137,9 +141,42 @@ class SpiCookie : public CookieIF {
*/
void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
void getMutexParams(MutexIF::TimeoutType& csTimeoutType, dur_millis_t& csTimeout) const;
void setMutexParams(MutexIF::TimeoutType csTimeoutType, dur_millis_t csTimeout);
void setCsLockManual(bool enable);
bool getCsLockManual() const;
spi_ioc_transfer* getTransferStructHandle();
private:
address_t spiAddress;
gpioId_t chipSelectPin;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
/**
* If this is set to true, the SPI ComIF will not perform any mutex locking for the
* CS mechanism. The user is responsible to locking and unlocking the mutex for the
* whole duration of the transfers.
*/
bool manualCsLock = false;
uint32_t spiSpeed;
bool halfDuplex = false;
MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
dur_millis_t csTimeout = DEFAULT_MUTEX_TIMEOUT;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
/**
* Internal constructor which initializes every field
* @param spiAddress
@ -154,24 +191,6 @@ class SpiCookie : public CookieIF {
SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
spi::send_callback_function_t callback, void* args);
address_t spiAddress;
gpioId_t chipSelectPin;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
};
#endif /* LINUX_SPI_SPICOOKIE_H_ */