fsfw/fsfw-hal
fsfw/fsfw-hal
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added callback functionality to spi

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This commit is contained in:
Robin Müller 2021-05-23 21:34:59 +02:00
parent a0f698fffa
commit 9203a30bcf
5 changed files with 166 additions and 70 deletions
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21
linux/spi/SpiComIF.cpp
View File

@ -158,7 +158,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return DeviceCommunicationIF::TOO_MUCH_DATA;
}
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
/* Prepare transfer */
int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice();
@ -238,6 +238,16 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return result;
}
}
}
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) {
// sendFunc()
}
}
return result;
}
@ -246,7 +256,6 @@ ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
}
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) {
return NULLPOINTER;
@ -257,6 +266,12 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
return HasReturnvaluesIF::RETURN_OK;
}
return performHalfDuplexReception(spiCookie);
}
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,
@ -306,7 +321,7 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
}
}
return HasReturnvaluesIF::RETURN_OK;
return result;
}
ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {

4
linux/spi/SpiComIF.h
View File

@ -11,6 +11,8 @@
#include <vector>
#include <unordered_map>
class SpiCookie;
/**
* @brief Encapsulates access to linux SPI driver for FSFW objects
* @details
@ -39,6 +41,7 @@ public:
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
/**
* @brief This function returns the mutex which can be used to protect the spi bus when
* the chip select must be driven from outside of the com if.
@ -61,6 +64,7 @@ private:
SpiDeviceMap spiDeviceMap;
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);

38
linux/spi/SpiCookie.cpp
View File

@ -1,9 +1,10 @@
#include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
spiSpeed(spiSpeed) {
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,
@ -11,6 +12,24 @@ SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxS
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
}
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
spi::send_callback_function_t callback, void *args):
SpiCookie(spi::SpiComIfModes::CALLBACK, spiAddress, gpio::NO_GPIO, spiDev, maxSize,
spi::SpiModes::MODE_0, 0, 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): spiAddress(spiAddress),
chipSelectPin(chipSelect), spiDevice(spiDev), comIfMode(comIfMode),
maxSize(maxSize), spiMode(spiMode), spiSpeed(spiSpeed), sendCallback(callback),
callbackArgs(args) {
}
spi::SpiComIfModes SpiCookie::getComIfMode() const {
return this->comIfMode;
}
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const {
spiMode = this->spiMode;
@ -78,6 +97,13 @@ void SpiCookie::assignWriteBuffer(const uint8_t* tx) {
}
}
void SpiCookie::setCallbackMode(spi::send_callback_function_t callback,
void *args) {
this->comIfMode = spi::SpiComIfModes::CALLBACK;
this->sendCallback = callback;
this->callbackArgs = args;
}
spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
return &spiTransferStruct;
}
@ -105,3 +131,9 @@ void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode;
}
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
void **args) {
*callback = this->sendCallback;
*args = this->callbackArgs;
}

39
linux/spi/SpiCookie.h
View File

@ -8,7 +8,6 @@
class SpiCookie: public CookieIF {
public:
/**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication
* interface and contains device specific information like the largest expected size to be
@ -19,7 +18,7 @@ public:
* @param maxSize
*/
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed);
/**
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -28,16 +27,29 @@ public:
SpiCookie(address_t spiAddress, std::string spiDev, 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, std::string spiDev, const size_t maxSize,
spi::send_callback_function_t callback, void *args);
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;
spi::SpiComIfModes getComIfMode() const;
/** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode);
void setCallbackMode(spi::send_callback_function_t callback, void* args);
/**
* True if SPI transfers should be performed in full duplex mode
* @return
@ -99,17 +111,40 @@ public:
spi_ioc_transfer* getTransferStructHandle();
private:
/**
* Internal constructor which initializes every field
* @param spiAddress
* @param chipSelect
* @param spiDev
* @param maxSize
* @param spiMode
* @param spiSpeed
* @param callback
* @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,
spi::send_callback_function_t callback, void* args);
size_t currentTransferSize = 0;
address_t spiAddress;
gpioId_t chipSelectPin;
std::string spiDevice;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters;
};

10
linux/spi/spiDefinitions.h
View File

@ -1,6 +1,8 @@
#ifndef LINUX_SPI_SPIDEFINITONS_H_
#define LINUX_SPI_SPIDEFINITONS_H_
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include <cstdint>
namespace spi {
@ -12,6 +14,14 @@ enum SpiModes: uint8_t {
MODE_3
};
enum SpiComIfModes {
REGULAR,
CALLBACK
};
using send_callback_function_t = ReturnValue_t (*) (uint8_t** replyData, void* args);
}
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */