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SPI speed and mode getter #79

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muellerr wants to merge 1 commits from mueller/spi-speed-mode-getter into develop
pull from: mueller/spi-speed-mode-getter
merge into: eive:develop
Conversation 0 Commits 1 Files Changed - +98 -73
18 changed files with 98 additions and 73 deletions
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13
CHANGELOG.md
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@ -60,8 +60,6 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Additions
- Linux HAL: Getter functions for SPI speed and mode.
- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
- Dedicated Version class and constant `fsfw::FSFW_VERSION` containing version information
inside `fsfw/version.h`
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
@ -69,6 +67,17 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/592
- `Subsystem`: New API to add table and sequence entries
## HAL
- SPI: Cache the SPI device in the communication interface. Architecturally, this makes a
lot more sense because each ComIF should be responsible for one SPI bus.
- SPI: Move the empty transfer to update the line polarity to separate function. This means
it is not automatically called when calling the setter function for SPI speed and mode.
The user should call this function after locking the CS mutex if multiple SPI devices with
differing speeds and modes are attached to one bus.
- SPI: Getter functions for SPI speed and mode.
- I2C: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1.
## Fixed
- TCP TMTC Server: `MutexGuard` was not created properly in

2
hal/src/fsfw_hal/linux/UnixFileGuard.cpp
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@ -6,7 +6,7 @@
#include "fsfw/FSFW.h"
#include "fsfw/serviceinterface.h"
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
UnixFileGuard::UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
std::string diagnosticPrefix)
: fileDescriptor(fileDescriptor) {
if (fileDescriptor == nullptr) {

2
hal/src/fsfw_hal/linux/UnixFileGuard.h
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@ -15,7 +15,7 @@ class UnixFileGuard {
static constexpr ReturnValue_t OPEN_FILE_FAILED = 1;
UnixFileGuard(std::string device, int* fileDescriptor, int flags,
UnixFileGuard(const std::string& device, int* fileDescriptor, int flags,
std::string diagnosticPrefix = "");
virtual ~UnixFileGuard();

50
hal/src/fsfw_hal/linux/spi/SpiComIF.cpp
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@ -15,8 +15,8 @@
#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) {
SpiComIF::SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF)
: SystemObject(objectId), gpioComIF(gpioComIF), dev(std::move(devname)) {
if (gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -27,7 +27,7 @@ SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF)
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
}
spiMutex = MutexFactory::instance()->createMutex();
csMutex = MutexFactory::instance()->createMutex();
}
ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
@ -85,8 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF* cookie) {
spiCookie->getSpiParameters(spiMode, spiSpeed, &params);
int fileDescriptor = 0;
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::initializeInterface");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return fileHelper.getOpenResult();
}
@ -182,8 +181,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
int retval = 0;
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -199,7 +197,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
/* Pull SPI CS low. For now, no support for active high given */
if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
result = csMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -210,6 +208,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
#endif
return result;
}
updateLinePolarity(fileDescriptor);
ReturnValue_t result = gpioComIF->pullLow(gpioId);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
@ -221,6 +220,8 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
#endif
return result;
}
} else {
updateLinePolarity(fileDescriptor);
}
/* Execute transfer */
@ -250,7 +251,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie* spiCookie, const
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
@ -278,9 +279,8 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF* cookie, size_t requestLe
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");
UnixFileGuard fileHelper(dev, &fileDescriptor, O_RDWR, "SpiComIF::requestReceiveMessage");
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
@ -294,7 +294,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
gpioId_t gpioId = spiCookie->getChipSelectPin();
if (gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
result = csMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
@ -317,7 +317,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
if (gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
result = csMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
@ -353,7 +353,7 @@ MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeout
if (timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return spiMutex;
return csMutex;
}
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
@ -401,17 +401,9 @@ 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");
}
}
void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes &mode, uint32_t &speed) const {
void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const {
uint8_t tmpMode = 0;
int retval = ioctl(spiFd, SPI_IOC_RD_MODE, &tmpMode);
if (retval != 0) {
@ -424,3 +416,15 @@ void SpiComIF::getSpiSpeedAndMode(int spiFd, spi::SpiModes &mode, uint32_t &spee
utility::handleIoctlError("SpiComIF::getSpiSpeedAndMode: Getting SPI speed failed");
}
}
const std::string& SpiComIF::getSpiDev() const {
return dev;
}
void SpiComIF::updateLinePolarity(int spiFd) {
clockUpdateTransfer.len = 0;
int retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
if (retval != 0) {
utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
}
}

23
hal/src/fsfw_hal/linux/spi/SpiComIF.h
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@ -32,7 +32,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -59,7 +59,20 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
/**
* 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.
*
* It is recommended to call this function after #setSpiSpeedAndMode and after locking the
* CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
* @param spiFd
*/
void updateLinePolarity(int spiFd);
void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
const std::string& getSpiDev() const;
void performSpiWiretapping(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
@ -71,8 +84,12 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
};
GpioIF* gpioComIF = nullptr;
MutexIF* spiMutex = nullptr;
std::string dev = "";
/**
* Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
* pulled high
*/
MutexIF* csMutex = nullptr;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
spi_ioc_transfer clockUpdateTransfer = {};

29
hal/src/fsfw_hal/linux/spi/SpiCookie.cpp
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@ -1,26 +1,25 @@
#include "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) {}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {}
: SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, maxSize, spiMode, spiSpeed,
nullptr, nullptr) {}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed,
SpiCookie::SpiCookie(address_t spiAddress, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed)
: SpiCookie(spiAddress, gpio::NO_GPIO, maxSize, spiMode, spiSpeed) {}
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, 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(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, 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)
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),
@ -50,8 +49,6 @@ size_t SpiCookie::getMaxBufferSize() const { return maxSize; }
address_t SpiCookie::getSpiAddress() const { return spiAddress; }
std::string SpiCookie::getSpiDevice() const { return spiDevice; }
void SpiCookie::setThreeWireSpi(bool enable) { uncommonParameters.threeWireSpi = enable; }
void SpiCookie::setLsbFirst(bool enable) { uncommonParameters.lsbFirst = enable; }

17
hal/src/fsfw_hal/linux/spi/SpiCookie.h
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@ -29,23 +29,22 @@ class SpiCookie : public CookieIF {
* @param spiDev
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, 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,
spi::SpiModes spiMode, uint32_t spiSpeed);
SpiCookie(address_t spiAddress, 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);
SpiCookie(address_t spiAddress, gpioId_t chipSelect, const size_t maxSize, spi::SpiModes spiMode,
uint32_t spiSpeed, spi::send_callback_function_t callback, void* args);
/**
* Get the callback function
@ -55,7 +54,6 @@ class SpiCookie : public CookieIF {
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;
@ -154,12 +152,11 @@ class SpiCookie : public CookieIF {
* @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,
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;
spi::SpiComIfModes comIfMode;

1
src/fsfw/container/FixedArrayList.h
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@ -12,6 +12,7 @@ template <typename T, size_t MAX_SIZE, typename count_t = uint8_t>
class FixedArrayList : public ArrayList<T, count_t> {
static_assert(MAX_SIZE <= std::numeric_limits<count_t>::max(),
"count_t is not large enough to hold MAX_SIZE");
private:
T data[MAX_SIZE];

3
src/fsfw/devicehandlers/DeviceHandlerBase.cpp
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@ -1401,8 +1401,7 @@ uint8_t DeviceHandlerBase::getReplyDelayCycles(DeviceCommandId_t deviceCommand)
DeviceReplyMap::iterator iter = deviceReplyMap.find(deviceCommand);
if (iter == deviceReplyMap.end()) {
return 0;
}
else if (iter->second.countdown != nullptr) {
} else if (iter->second.countdown != nullptr) {
return 0;
}
return iter->second.delayCycles;

6
src/fsfw/devicehandlers/DeviceHandlerBase.h
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@ -801,7 +801,7 @@ class DeviceHandlerBase : public DeviceHandlerIF,
DeviceCommandMap::iterator command;
//! Instead of using delayCycles to specify the maximum time to wait for the device reply, it
//! is also possible specify a countdown
Countdown* countdown = nullptr;
Countdown *countdown = nullptr;
//! will be set to true when reply is enabled
bool active = false;
};
@ -1269,13 +1269,13 @@ class DeviceHandlerBase : public DeviceHandlerIF,
/**
* @brief Handles disabling of replies which use a timeout to detect missed replies.
*/
void disableTimeoutControlledReply(DeviceReplyInfo* info);
void disableTimeoutControlledReply(DeviceReplyInfo *info);
/**
* @brief Handles disabling of replies which use a number of maximum delay cycles to detect
* missed replies.
*/
void disableDelayCyclesControlledReply(DeviceReplyInfo* info);
void disableDelayCyclesControlledReply(DeviceReplyInfo *info);
/**
* Retrive data from the #IPCStore.

2
src/fsfw/osal/common/TcpTmTcServer.cpp
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@ -340,7 +340,7 @@ ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
size_t foundSize = 0;
size_t readLen = 0;
while (readLen < readAmount) {
if(spacePacketParser == nullptr) {
if (spacePacketParser == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED;
}
result =

3
src/fsfw/pus/CService201HealthCommanding.cpp
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@ -97,7 +97,8 @@ ReturnValue_t CService201HealthCommanding::handleReply(const CommandMessage *rep
}
// Not used for now, health state already reported by event
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(const CommandMessage *reply) {
[[maybe_unused]] ReturnValue_t CService201HealthCommanding::prepareHealthSetReply(
const CommandMessage *reply) {
auto health = static_cast<uint8_t>(HealthMessage::getHealth(reply));
auto oldHealth = static_cast<uint8_t>(HealthMessage::getOldHealth(reply));
HealthSetReply healthSetReply(health, oldHealth);

3
src/fsfw/timemanager/Countdown.cpp
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@ -3,8 +3,7 @@
Countdown::Countdown(uint32_t initialTimeout, bool startImmediately) : timeout(initialTimeout) {
if (startImmediately) {
setTimeout(initialTimeout);
}
else {
} else {
timeout = initialTimeout;
}
}

5
src/fsfw/tmtcservices/SourceSequenceCounter.h
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@ -5,10 +5,10 @@
class SourceSequenceCounter {
private:
uint16_t sequenceCount;
uint16_t sequenceCount = 0;
public:
SourceSequenceCounter() : sequenceCount(0) {}
SourceSequenceCounter(uint16_t initialSequenceCount = 0) : sequenceCount(initialSequenceCount) {}
void increment() {
sequenceCount = (sequenceCount + 1) % (SpacePacketBase::LIMIT_SEQUENCE_COUNT);
}
@ -31,6 +31,7 @@ class SourceSequenceCounter {
sequenceCount = newCount;
return *this;
}
operator uint16_t() { return this->get(); }
};