fsfw/fsfw-hal
fsfw/fsfw-hal
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added callback function

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This commit is contained in:
Robin Müller 2021-05-24 00:13:59 +02:00
parent 9203a30bcf
commit 2fe1a66836
5 changed files with 95 additions and 85 deletions
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166
linux/spi/SpiComIF.cpp
View File

@ -138,7 +138,6 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) { ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
if(spiCookie == nullptr) { if(spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
@ -159,95 +158,100 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
} }
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) { if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
/* Prepare transfer */ result = performRegularSendOperation(spiCookie, sendData, sendLen);
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
"SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiCookie->assignWriteBuffer(sendData);
spiCookie->assignTransferSize(sendLen);
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
/* Pull SPI CS low. For now, no support for active high given */
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
/* Execute transfer */
if(fullDuplex) {
/* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl;
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl;
#else
sif::printInfo("Sent SPI data: \n");
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
else {
/* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED;
}
}
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
#endif
return result;
}
}
} }
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) { else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr; spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr; void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs); spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) { if(sendFunc != nullptr) {
// sendFunc() result = sendFunc(spiCookie, sendData, sendLen, funcArgs);
}
}
return result;
}
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData, size_t sendLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
spiCookie->assignWriteBuffer(sendData);
spiCookie->assignTransferSize(sendLen);
bool fullDuplex = spiCookie->isFullDuplex();
gpioId_t gpioId = spiCookie->getChipSelectPin();
/* Pull SPI CS low. For now, no support for active high given */
if(gpioId != gpio::NO_GPIO) {
result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
return result;
}
gpioComIF->pullLow(gpioId);
}
/* Execute transfer */
if(fullDuplex) {
/* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
size_t dataLen = spiCookie->getTransferStructHandle()->len;
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "Sent SPI data: " << std::endl;
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::info << "Received SPI data: " << std::endl;
#else
sif::printInfo("Sent SPI data: \n");
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
sif::printInfo("Received SPI data: \n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
}
else {
/* We write with a blocking half-duplex transfer here */
if (write(fileDescriptor, sendData, sendLen) != static_cast<ssize_t>(sendLen)) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Half-Duplex write operation failed!" <<
std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Half-Duplex write operation failed!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
result = HALF_DUPLEX_TRANSFER_FAILED;
} }
} }
if(gpioId != gpio::NO_GPIO) {
gpioComIF->pullHigh(gpioId);
result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to unlock mutex" << std::endl;
#endif
return result;
}
}
return result; return result;
} }

1
linux/spi/SpiComIF.h
View File

@ -64,6 +64,7 @@ private:
SpiDeviceMap spiDeviceMap; SpiDeviceMap spiDeviceMap;
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData, size_t sendLen);
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie); ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);

4
linux/spi/SpiCookie.cpp
View File

@ -12,9 +12,9 @@ SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxS
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) { SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
} }
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::send_callback_function_t callback, void *args): spi::send_callback_function_t callback, void *args):
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, gpio::NO_GPIO, spiDev, maxSize, SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, maxSize,
spi::SpiModes::MODE_0, 0, callback, args) { spi::SpiModes::MODE_0, 0, callback, args) {
} }

2
linux/spi/SpiCookie.h
View File

@ -31,7 +31,7 @@ public:
* Use the callback mode of the SPI communication interface. The user can pass the callback * Use the callback mode of the SPI communication interface. The user can pass the callback
* function here or by using the setter function #setCallbackMode * function here or by using the setter function #setCallbackMode
*/ */
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
spi::send_callback_function_t callback, void *args); spi::send_callback_function_t callback, void *args);
void getCallback(spi::send_callback_function_t* callback, void** args); void getCallback(spi::send_callback_function_t* callback, void** args);

7
linux/spi/spiDefinitions.h
View File

@ -1,10 +1,15 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_ #ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_ #define LINUX_SPI_SPIDEFINITONS_H_
#include "../../common/gpio/gpioDefinitions.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h" #include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <linux/spi/spidev.h>
#include <cstdint> #include <cstdint>
class SpiCookie;
namespace spi { namespace spi {
enum SpiModes: uint8_t { enum SpiModes: uint8_t {
@ -20,7 +25,7 @@ enum SpiComIfModes {
}; };
using send_callback_function_t = ReturnValue_t (*) (uint8_t** replyData, void* args); using send_callback_function_t = ReturnValue_t (*) (SpiCookie *cookie, const uint8_t *sendData, size_t sendLen, void* args);
} }