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#ifndef LINUX_SPI_SPICOOKIE_H_
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#define LINUX_SPI_SPICOOKIE_H_
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#include "spiDefinitions.h"
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#include "../../common/gpio/gpioDefinitions.h"
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#include <fsfw/devicehandlers/CookieIF.h>
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#include <linux/spi/spidev.h>
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#include "../../common/gpio/gpioDefinitions.h"
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#include "spiDefinitions.h"
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/**
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* @brief This cookie class is passed to the SPI communication interface
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* @details
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@ -19,165 +18,163 @@
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* special requirements like expander slave select switching (e.g. GPIO or I2C expander)
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* or special timing related requirements.
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*/
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class SpiCookie: public CookieIF {
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public:
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/**
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* Each SPI device will have a corresponding cookie. The cookie is used by the communication
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* interface and contains device specific information like the largest expected size to be
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* sent and received and the GPIO pin used to toggle the SPI slave select pin.
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* @param spiAddress
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* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
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* @param spiDev
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* @param maxSize
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*/
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SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
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const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
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/**
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* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
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* slave select or if CS logic is performed with decoders.
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*/
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SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
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class SpiCookie : public CookieIF {
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public:
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/**
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* Each SPI device will have a corresponding cookie. The cookie is used by the communication
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* interface and contains device specific information like the largest expected size to be
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* sent and received and the GPIO pin used to toggle the SPI slave select pin.
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* @param spiAddress
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* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
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* @param spiDev
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* @param maxSize
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*/
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SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
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spi::SpiModes spiMode, uint32_t spiSpeed);
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/**
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* Use the callback mode of the SPI communication interface. The user can pass the callback
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* function here or by using the setter function #setCallbackMode
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*/
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SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
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/**
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* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
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* slave select or if CS logic is performed with decoders.
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*/
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SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
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spi::SpiModes spiMode, uint32_t spiSpeed);
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/**
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* Use the callback mode of the SPI communication interface. The user can pass the callback
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* function here or by using the setter function #setCallbackMode
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*/
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SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
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spi::SpiModes spiMode, uint32_t spiSpeed, spi::send_callback_function_t callback,
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void *args);
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void* args);
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/**
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* Get the callback function
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* @param callback
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* @param args
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*/
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void getCallback(spi::send_callback_function_t* callback, void** args);
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/**
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* Get the callback function
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* @param callback
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* @param args
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*/
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void getCallback(spi::send_callback_function_t* callback, void** args);
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address_t getSpiAddress() const;
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std::string getSpiDevice() const;
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gpioId_t getChipSelectPin() const;
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size_t getMaxBufferSize() const;
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address_t getSpiAddress() const;
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std::string getSpiDevice() const;
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gpioId_t getChipSelectPin() const;
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size_t getMaxBufferSize() const;
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spi::SpiComIfModes getComIfMode() const;
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spi::SpiComIfModes getComIfMode() const;
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/** Enables changing SPI speed at run-time */
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void setSpiSpeed(uint32_t newSpeed);
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/** Enables changing the SPI mode at run-time */
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void setSpiMode(spi::SpiModes newMode);
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/** Enables changing SPI speed at run-time */
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void setSpiSpeed(uint32_t newSpeed);
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/** Enables changing the SPI mode at run-time */
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void setSpiMode(spi::SpiModes newMode);
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/**
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* Set the SPI to callback mode and assigns the user supplied callback and an argument
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* passed to the callback.
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* @param callback
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* @param args
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*/
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void setCallbackMode(spi::send_callback_function_t callback, void* args);
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/**
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* Set the SPI to callback mode and assigns the user supplied callback and an argument
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* passed to the callback.
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* @param callback
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* @param args
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*/
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void setCallbackMode(spi::send_callback_function_t callback, void* args);
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/**
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* Can be used to set the callback arguments and a later point than initialization.
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* @param args
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*/
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void setCallbackArgs(void* args);
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/**
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* Can be used to set the callback arguments and a later point than initialization.
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* @param args
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*/
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void setCallbackArgs(void* args);
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/**
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* True if SPI transfers should be performed in full duplex mode
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* @return
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*/
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bool isFullDuplex() const;
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/**
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* True if SPI transfers should be performed in full duplex mode
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* @return
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*/
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bool isFullDuplex() const;
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/**
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* Set transfer type to full duplex or half duplex. Full duplex is the default setting,
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* ressembling common SPI hardware implementation with shift registers, where read and writes
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* happen simultaneosly.
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* @param fullDuplex
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*/
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void setFullOrHalfDuplex(bool halfDuplex);
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/**
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* Set transfer type to full duplex or half duplex. Full duplex is the default setting,
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* ressembling common SPI hardware implementation with shift registers, where read and writes
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* happen simultaneosly.
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* @param fullDuplex
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*/
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void setFullOrHalfDuplex(bool halfDuplex);
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/**
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* This needs to be called to specify where the SPI driver writes to or reads from.
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* @param readLocation
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* @param writeLocation
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*/
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void assignReadBuffer(uint8_t* rx);
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void assignWriteBuffer(const uint8_t* tx);
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/**
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* Set size for the next transfer. Set to 0 for no transfer
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* @param transferSize
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*/
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void setTransferSize(size_t transferSize);
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size_t getCurrentTransferSize() const;
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/**
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* This needs to be called to specify where the SPI driver writes to or reads from.
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* @param readLocation
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* @param writeLocation
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*/
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void assignReadBuffer(uint8_t* rx);
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void assignWriteBuffer(const uint8_t* tx);
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/**
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* Set size for the next transfer. Set to 0 for no transfer
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* @param transferSize
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*/
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void setTransferSize(size_t transferSize);
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size_t getCurrentTransferSize() const;
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struct UncommonParameters {
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uint8_t bitsPerWord = 8;
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bool noCs = false;
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bool csHigh = false;
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bool threeWireSpi = false;
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/* MSB first is more common */
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bool lsbFirst = false;
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};
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struct UncommonParameters {
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uint8_t bitsPerWord = 8;
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bool noCs = false;
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bool csHigh = false;
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bool threeWireSpi = false;
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/* MSB first is more common */
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bool lsbFirst = false;
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};
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/**
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* Can be used to explicitely disable hardware chip select.
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* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
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* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
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* @param enable
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*/
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void setNoCs(bool enable);
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void setThreeWireSpi(bool enable);
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void setLsbFirst(bool enable);
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void setCsHigh(bool enable);
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void setBitsPerWord(uint8_t bitsPerWord);
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/**
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* Can be used to explicitely disable hardware chip select.
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* Some drivers like the Raspberry Pi Linux driver will not use hardware chip select by default
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* (see https://www.raspberrypi.org/documentation/hardware/raspberrypi/spi/README.md)
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* @param enable
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*/
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void setNoCs(bool enable);
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void setThreeWireSpi(bool enable);
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void setLsbFirst(bool enable);
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void setCsHigh(bool enable);
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void setBitsPerWord(uint8_t bitsPerWord);
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void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
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UncommonParameters* parameters = nullptr) const;
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void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
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UncommonParameters* parameters = nullptr) const;
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/**
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* See spidev.h cs_change and delay_usecs
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* @param deselectCs
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* @param delayUsecs
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*/
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void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
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/**
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* See spidev.h cs_change and delay_usecs
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* @param deselectCs
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* @param delayUsecs
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*/
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void activateCsDeselect(bool deselectCs, uint16_t delayUsecs);
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spi_ioc_transfer* getTransferStructHandle();
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private:
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spi_ioc_transfer* getTransferStructHandle();
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/**
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* Internal constructor which initializes every field
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* @param spiAddress
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* @param chipSelect
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* @param spiDev
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* @param maxSize
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* @param spiMode
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* @param spiSpeed
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* @param callback
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* @param args
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*/
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SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
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private:
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/**
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* Internal constructor which initializes every field
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* @param spiAddress
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* @param chipSelect
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* @param spiDev
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* @param maxSize
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* @param spiMode
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* @param spiSpeed
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* @param callback
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* @param args
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*/
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SpiCookie(spi::SpiComIfModes comIfMode, address_t spiAddress, gpioId_t chipSelect,
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std::string spiDev, const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
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spi::send_callback_function_t callback, void* args);
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address_t spiAddress;
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gpioId_t chipSelectPin;
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std::string spiDevice;
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address_t spiAddress;
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gpioId_t chipSelectPin;
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std::string spiDevice;
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spi::SpiComIfModes comIfMode;
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spi::SpiComIfModes comIfMode;
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// Required for regular mode
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const size_t maxSize;
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spi::SpiModes spiMode;
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uint32_t spiSpeed;
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bool halfDuplex = false;
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// Required for regular mode
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const size_t maxSize;
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spi::SpiModes spiMode;
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uint32_t spiSpeed;
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bool halfDuplex = false;
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// Required for callback mode
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spi::send_callback_function_t sendCallback = nullptr;
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void* callbackArgs = nullptr;
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// Required for callback mode
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spi::send_callback_function_t sendCallback = nullptr;
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void* callbackArgs = nullptr;
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struct spi_ioc_transfer spiTransferStruct = {};
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UncommonParameters uncommonParameters;
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struct spi_ioc_transfer spiTransferStruct = {};
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UncommonParameters uncommonParameters;
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};
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#endif /* LINUX_SPI_SPICOOKIE_H_ */
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