91 lines
3.2 KiB
C++
91 lines
3.2 KiB
C++
#ifndef LINUX_SPI_SPICOMIF_H_
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#define LINUX_SPI_SPICOMIF_H_
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#include "spiDefinitions.h"
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#include "returnvalues/classIds.h"
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#include "fsfw-hal/common/gpio/GpioIF.h"
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#include "fsfw/devicehandlers/DeviceCommunicationIF.h"
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#include "fsfw/objectmanager/SystemObject.h"
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#include <vector>
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#include <unordered_map>
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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 spiRetvalId = CLASS_ID::HAL_SPI;
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static constexpr ReturnValue_t OPENING_FILE_FAILED =
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HasReturnvaluesIF::makeReturnCode(spiRetvalId, 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(spiRetvalId, 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(spiRetvalId, 2);
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SpiComIF(object_id_t objectId, 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,
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size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
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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* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
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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 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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MutexIF* spiMutex = nullptr;
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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uint32_t timeoutMs = 20;
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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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