107 lines
3.9 KiB
C++
107 lines
3.9 KiB
C++
#ifndef LINUX_SPI_SPICOMIF_H_
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#define LINUX_SPI_SPICOMIF_H_
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#include <unordered_map>
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#include <vector>
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#include "fsfw/FSFW.h"
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#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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#include "returnvalues/classIds.h"
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#include "spiDefinitions.h"
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class SpiCookie;
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/**
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* @brief Encapsulates access to linux SPI driver for FSFW objects
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* @details
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* Right now, only full-duplex SPI is supported. Most device specific transfer properties
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* are contained in the SPI cookie.
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* @author R. Mueller
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*/
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class SpiComIF : public DeviceCommunicationIF, public SystemObject {
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public:
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static constexpr uint8_t CLASS_ID = CLASS_ID::HAL_SPI;
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static constexpr ReturnValue_t OPENING_FILE_FAILED =
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HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
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/* Full duplex (ioctl) transfer failure */
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static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
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HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
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/* Half duplex (read/write) transfer failure */
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static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
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HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
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SpiComIF(object_id_t objectId, std::string devname, GpioIF* gpioComIF);
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ReturnValue_t initializeInterface(CookieIF* cookie) override;
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ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF* cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
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/**
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* @brief This function returns the mutex which can be used to protect the spi bus when
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* the chip select must be driven from outside of the com if.
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*/
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MutexIF* getCsMutex();
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void setMutexParams(MutexIF::TimeoutType timeoutType, uint32_t timeoutMs);
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/**
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* Perform a regular send operation using Linux iotcl. This is public so it can be used
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* in functions like a user callback if special handling is only necessary for certain commands.
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* @param spiCookie
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* @param sendData
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* @param sendLen
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* @return
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*/
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ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t* sendData,
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size_t sendLen);
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GpioIF* getGpioInterface();
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void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
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void getSpiSpeedAndMode(int spiFd, spi::SpiModes& mode, uint32_t& speed) const;
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/**
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* This updates the SPI clock default polarity. Only setting the mode does not update
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* the line state, which can be an issue on mode switches because the clock line will
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* switch the state after the chip select is pulled low.
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*
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* It is recommended to call this function after #setSpiSpeedAndMode and after locking the
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* CS mutex if the SPI bus has multiple SPI devices with different speed and SPI modes attached.
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* @param spiFd
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*/
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void updateLinePolarity(int spiFd);
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const std::string& getSpiDev() const;
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void performSpiWiretapping(SpiCookie* spiCookie);
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ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
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private:
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struct SpiInstance {
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SpiInstance(size_t maxRecvSize) : replyBuffer(std::vector<uint8_t>(maxRecvSize)) {}
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std::vector<uint8_t> replyBuffer;
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};
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GpioIF* gpioComIF = nullptr;
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std::string dev = "";
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/**
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* Protects the chip select operations. Lock when GPIO is pulled low, unlock after it was
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* pulled high
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*/
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MutexIF* csMutex = nullptr;
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// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
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spi_ioc_transfer clockUpdateTransfer = {};
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using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
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using SpiDeviceMapIter = SpiDeviceMap::iterator;
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SpiDeviceMap spiDeviceMap;
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ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
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};
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#endif /* LINUX_SPI_SPICOMIF_H_ */
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