Merge pull request 'Spi COM IF update' (#7) from mueller/master into master

Reviewed-on: fsfw/fsfw_hal#7
This commit is contained in:
Jakob Meier 2021-05-27 13:47:26 +02:00
commit ae322d981b
11 changed files with 827 additions and 38 deletions

View File

@ -10,3 +10,4 @@ target_sources(${LIB_FSFW_HAL_NAME} PRIVATE
add_subdirectory(gpio) add_subdirectory(gpio)
add_subdirectory(spi) add_subdirectory(spi)
add_subdirectory(i2c) add_subdirectory(i2c)
add_subdirectory(uart)

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@ -2,7 +2,7 @@
#include "SpiCookie.h" #include "SpiCookie.h"
#include "../utility.h" #include "../utility.h"
#include "../UnixFileGuard.h" #include "../UnixFileGuard.h"
#include <FSFWConfig.h> #include "FSFWConfig.h"
#include <fsfw/ipc/MutexFactory.h> #include <fsfw/ipc/MutexFactory.h>
#include <fsfw/globalfunctions/arrayprinter.h> #include <fsfw/globalfunctions/arrayprinter.h>
@ -17,11 +17,11 @@
/* Can be used for low-level debugging of the SPI bus */ /* Can be used for low-level debugging of the SPI bus */
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING #ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 1 #define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
#endif #endif
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId), SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
gpioComIF(gpioComIF) { SystemObject(objectId), gpioComIF(gpioComIF) {
if(gpioComIF == nullptr) { if(gpioComIF == nullptr) {
#if FSFW_VERBOSE_LEVEL >= 1 #if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
@ -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;
@ -158,12 +157,34 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
return DeviceCommunicationIF::TOO_MUCH_DATA; return DeviceCommunicationIF::TOO_MUCH_DATA;
} }
if(spiCookie->getComIfMode() == spi::SpiComIfModes::REGULAR) {
result = performRegularSendOperation(spiCookie, sendData, sendLen);
}
else if(spiCookie->getComIfMode() == spi::SpiComIfModes::CALLBACK) {
spi::send_callback_function_t sendFunc = nullptr;
void* funcArgs = nullptr;
spiCookie->getCallback(&sendFunc, &funcArgs);
if(sendFunc != nullptr) {
result = sendFunc(this, spiCookie, sendData, sendLen, funcArgs);
}
}
return result;
}
ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const uint8_t *sendData,
size_t sendLen) {
address_t spiAddress = spiCookie->getSpiAddress();
auto iter = spiDeviceMap.find(spiAddress);
if(iter != spiDeviceMap.end()) {
spiCookie->assignReadBuffer(iter->second.replyBuffer.data());
}
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
int retval = 0;
/* Prepare transfer */ /* Prepare transfer */
int fileDescriptor = 0; int fileDescriptor = 0;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
"SpiComIF::sendMessage: ");
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
return OPENING_FILE_FAILED; return OPENING_FILE_FAILED;
} }
@ -198,19 +219,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
result = FULL_DUPLEX_TRANSFER_FAILED; result = FULL_DUPLEX_TRANSFER_FAILED;
} }
#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1 #if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
size_t dataLen = spiCookie->getTransferStructHandle()->len; performSpiWiretapping(spiCookie);
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 */ #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
} }
else { else {
@ -246,17 +255,21 @@ ReturnValue_t SpiComIF::getSendSuccess(CookieIF *cookie) {
} }
ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) { ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLen) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie); SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if(spiCookie == nullptr) { if(spiCookie == nullptr) {
return NULLPOINTER; return NULLPOINTER;
} }
bool fullDuplex = spiCookie->isFullDuplex(); if(spiCookie->isFullDuplex()) {
if(fullDuplex) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
return performHalfDuplexReception(spiCookie);
}
ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
std::string device = spiCookie->getSpiDevice(); std::string device = spiCookie->getSpiDevice();
int fileDescriptor = 0; int fileDescriptor = 0;
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
@ -306,7 +319,7 @@ 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) { ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@ -325,10 +338,35 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
MutexIF* SpiComIF::getMutex() { MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
if(timeoutType != nullptr) {
*timeoutType = this->timeoutType;
}
if(timeoutMs != nullptr) {
*timeoutMs = this->timeoutMs;
}
return spiMutex; return spiMutex;
} }
void SpiComIF::performSpiWiretapping(SpiCookie* spiCookie) {
if(spiCookie == nullptr) {
return;
}
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);
}
ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) { ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
if(buffer == nullptr) { if(buffer == nullptr) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -343,6 +381,10 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} }
GpioIF* SpiComIF::getGpioInterface() {
return gpioComIF;
}
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) { void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode)); int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
if(retval != 0) { if(retval != 0) {

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@ -2,8 +2,8 @@
#define LINUX_SPI_SPICOMIF_H_ #define LINUX_SPI_SPICOMIF_H_
#include "spiDefinitions.h" #include "spiDefinitions.h"
#include <returnvalues/classIds.h> #include "returnvalues/classIds.h"
#include <fsfw_hal/common/gpio/GpioIF.h> #include "../../common/gpio/GpioIF.h"
#include <fsfw/devicehandlers/DeviceCommunicationIF.h> #include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h> #include <fsfw/objectmanager/SystemObject.h>
@ -11,10 +11,13 @@
#include <vector> #include <vector>
#include <unordered_map> #include <unordered_map>
class SpiCookie;
/** /**
* @brief Encapsulates access to linux SPI driver for FSFW objects * @brief Encapsulates access to linux SPI driver for FSFW objects
* @details * @details
* Right now, only full-duplex SPI is supported. * Right now, only full-duplex SPI is supported. Most device specific transfer properties
* are contained in the SPI cookie.
* @author R. Mueller * @author R. Mueller
*/ */
class SpiComIF: public DeviceCommunicationIF, public SystemObject { class SpiComIF: public DeviceCommunicationIF, public SystemObject {
@ -39,11 +42,28 @@ public:
size_t requestLen) override; size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override; size_t *size) override;
/** /**
* @brief This function returns the mutex which can be used to protect the spi bus when * @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. * the chip select must be driven from outside of the com if.
*/ */
MutexIF* getMutex(); MutexIF* getMutex(MutexIF::TimeoutType* timeoutType = nullptr, uint32_t* timeoutMs = nullptr);
/**
* Perform a regular send operation using Linux iotcl. This is public so it can be used
* in functions like a user callback if special handling is only necessary for certain commands.
* @param spiCookie
* @param sendData
* @param sendLen
* @return
*/
ReturnValue_t performRegularSendOperation(SpiCookie* spiCookie, const uint8_t *sendData,
size_t sendLen);
GpioIF* getGpioInterface();
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
void performSpiWiretapping(SpiCookie* spiCookie);
private: private:
struct SpiInstance { struct SpiInstance {
@ -61,9 +81,9 @@ private:
SpiDeviceMap spiDeviceMap; SpiDeviceMap spiDeviceMap;
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer); ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
}; };
#endif /* LINUX_SPI_SPICOMIF_H_ */ #endif /* LINUX_SPI_SPICOMIF_H_ */

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@ -1,9 +1,10 @@
#include "SpiCookie.h" #include "SpiCookie.h"
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress), const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed):
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode), SpiCookie(spi::SpiComIfModes::REGULAR, spiAddress, chipSelect, spiDev, maxSize, spiMode,
spiSpeed(spiSpeed) { spiSpeed, nullptr, nullptr) {
} }
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize, SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
@ -11,6 +12,25 @@ 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, 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(spi::SpiComIfModes::CALLBACK, spiAddress, chipSelect, spiDev, 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):
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, void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
UncommonParameters* parameters) const { UncommonParameters* parameters) const {
spiMode = this->spiMode; spiMode = this->spiMode;
@ -78,6 +98,13 @@ 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() { spi_ioc_transfer* SpiCookie::getTransferStructHandle() {
return &spiTransferStruct; return &spiTransferStruct;
} }
@ -105,3 +132,9 @@ void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
void SpiCookie::setSpiMode(spi::SpiModes newMode) { void SpiCookie::setSpiMode(spi::SpiModes newMode) {
this->spiMode = newMode; this->spiMode = newMode;
} }
void SpiCookie::getCallback(spi::send_callback_function_t *callback,
void **args) {
*callback = this->sendCallback;
*args = this->callbackArgs;
}

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@ -2,13 +2,25 @@
#define LINUX_SPI_SPICOOKIE_H_ #define LINUX_SPI_SPICOOKIE_H_
#include "spiDefinitions.h" #include "spiDefinitions.h"
#include "../../common/gpio/gpioDefinitions.h"
#include <fsfw/devicehandlers/CookieIF.h> #include <fsfw/devicehandlers/CookieIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <linux/spi/spidev.h> #include <linux/spi/spidev.h>
/**
* @brief This cookie class is passed to the SPI communication interface
* @details
* This cookie contains device specific properties like speed and SPI mode or the SPI transfer
* struct required by the Linux SPI driver. It also contains a handle to a GPIO interface
* to perform slave select switching when necessary.
*
* The user can specify gpio::NO_GPIO as the GPIO ID or use a custom send callback to meet
* special requirements like expander slave select switching (e.g. GPIO or I2C expander)
* or special timing related requirements.
*/
class SpiCookie: public CookieIF { class SpiCookie: public CookieIF {
public: public:
/** /**
* Each SPI device will have a corresponding cookie. The cookie is used by the communication * 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 * interface and contains device specific information like the largest expected size to be
@ -19,7 +31,7 @@ public:
* @param maxSize * @param maxSize
*/ */
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev, 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 * Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
@ -28,16 +40,41 @@ public:
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize, SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
spi::SpiModes spiMode, uint32_t spiSpeed); 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);
/**
* Get the callback function
* @param callback
* @param args
*/
void getCallback(spi::send_callback_function_t* callback, void** args);
address_t getSpiAddress() const; address_t getSpiAddress() const;
std::string getSpiDevice() const; std::string getSpiDevice() const;
gpioId_t getChipSelectPin() const; gpioId_t getChipSelectPin() const;
size_t getMaxBufferSize() const; size_t getMaxBufferSize() const;
spi::SpiComIfModes getComIfMode() const;
/** Enables changing SPI speed at run-time */ /** Enables changing SPI speed at run-time */
void setSpiSpeed(uint32_t newSpeed); void setSpiSpeed(uint32_t newSpeed);
/** Enables changing the SPI mode at run-time */ /** Enables changing the SPI mode at run-time */
void setSpiMode(spi::SpiModes newMode); void setSpiMode(spi::SpiModes newMode);
/**
* Set the SPI to callback mode and assigns the user supplied callback and an argument
* passed to the callback.
* @param callback
* @param args
*/
void setCallbackMode(spi::send_callback_function_t callback, void* args);
/** /**
* True if SPI transfers should be performed in full duplex mode * True if SPI transfers should be performed in full duplex mode
* @return * @return
@ -99,17 +136,40 @@ public:
spi_ioc_transfer* getTransferStructHandle(); spi_ioc_transfer* getTransferStructHandle();
private: 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; size_t currentTransferSize = 0;
address_t spiAddress; address_t spiAddress;
gpioId_t chipSelectPin; gpioId_t chipSelectPin;
std::string spiDevice; std::string spiDevice;
spi::SpiComIfModes comIfMode;
// Required for regular mode
const size_t maxSize; const size_t maxSize;
spi::SpiModes spiMode; spi::SpiModes spiMode;
uint32_t spiSpeed; uint32_t spiSpeed;
bool halfDuplex = false; bool halfDuplex = false;
// Required for callback mode
spi::send_callback_function_t sendCallback = nullptr;
void* callbackArgs = nullptr;
struct spi_ioc_transfer spiTransferStruct = {}; struct spi_ioc_transfer spiTransferStruct = {};
UncommonParameters uncommonParameters; UncommonParameters uncommonParameters;
}; };

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@ -1,8 +1,16 @@
#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 <linux/spi/spidev.h>
#include <cstdint> #include <cstdint>
class SpiCookie;
class SpiComIF;
namespace spi { namespace spi {
enum SpiModes: uint8_t { enum SpiModes: uint8_t {
@ -12,6 +20,15 @@ enum SpiModes: uint8_t {
MODE_3 MODE_3
}; };
enum SpiComIfModes {
REGULAR,
CALLBACK
};
using send_callback_function_t = ReturnValue_t (*) (SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
} }
#endif /* LINUX_SPI_SPIDEFINITONS_H_ */ #endif /* LINUX_SPI_SPIDEFINITONS_H_ */

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@ -0,0 +1,8 @@
target_sources(${TARGET_NAME} PUBLIC
UartComIF.cpp
UartCookie.cpp
)

370
linux/uart/UartComIF.cpp Normal file
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@ -0,0 +1,370 @@
#include "UartComIF.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <cstring>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <unistd.h>
UartComIF::UartComIF(object_id_t objectId): SystemObject(objectId){
}
UartComIF::~UartComIF() {}
ReturnValue_t UartComIF::initializeInterface(CookieIF * cookie) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(cookie == nullptr) {
return NULLPOINTER;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if (uartCookie == nullptr) {
sif::error << "UartComIF::initializeInterface: Invalid UART Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if(uartDeviceMapIter == uartDeviceMap.end()) {
int fileDescriptor = configureUartPort(uartCookie);
if (fileDescriptor < 0) {
return RETURN_FAILED;
}
size_t maxReplyLen = uartCookie->getMaxReplyLen();
UartElements_t uartElements = {fileDescriptor, std::vector<uint8_t>(maxReplyLen), 0};
std::pair status = uartDeviceMap.emplace(deviceFile, uartElements);
if (status.second == false) {
sif::debug << "UartComIF::initializeInterface: Failed to insert device " << deviceFile
<< "to Uart device map" << std::endl;
return RETURN_FAILED;
}
}
else {
sif::debug << "UartComIF::initializeInterface: Uart device " << deviceFile << "already in "
<< "use" << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
int UartComIF::configureUartPort(UartCookie* uartCookie) {
struct termios options;
std::string deviceFile = uartCookie->getDeviceFile();
int fd = open(deviceFile.c_str(), O_RDWR);
if (fd < 0) {
sif::debug << "UartComIF::configureUartPort: Failed to open uart " << deviceFile << "with"
<< " error code " << errno << strerror(errno) << std::endl;
return fd;
}
/* Read in existing settings */
if(tcgetattr(fd, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Error " << errno << "from tcgetattr: "
<< strerror(errno) << std::endl;
return fd;
}
setParityOptions(&options, uartCookie);
setStopBitOptions(&options, uartCookie);
setDatasizeOptions(&options, uartCookie);
setFixedOptions(&options);
/* Sets uart to non-blocking mode. Read returns immediately when there are no data available */
options.c_cc[VTIME] = 0;
options.c_cc[VMIN] = 0;
configureBaudrate(&options, uartCookie);
/* Save option settings */
if (tcsetattr(fd, TCSANOW, &options) != 0) {
sif::debug << "UartComIF::configureUartPort: Failed to set options with error " << errno
<< ": " << strerror(errno);
return fd;
}
return fd;
}
void UartComIF::setParityOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear parity bit */
options->c_cflag &= ~PARENB;
switch (uartCookie->getParity()) {
case Parity::EVEN:
options->c_cflag |= PARENB;
options->c_cflag &= ~PARODD;
break;
case Parity::ODD:
options->c_cflag |= PARENB;
options->c_cflag |= PARODD;
break;
default:
break;
}
}
void UartComIF::setStopBitOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear stop field. Sets stop bit to one bit */
options->c_cflag &= ~CSTOPB;
switch (uartCookie->getStopBits()) {
case StopBits::TWO_STOP_BITS:
options->c_cflag |= CSTOPB;
break;
default:
break;
}
}
void UartComIF::setDatasizeOptions(struct termios* options, UartCookie* uartCookie) {
/* Clear size bits */
options->c_cflag &= ~CSIZE;
switch (uartCookie->getBitsPerWord()) {
case 5:
options->c_cflag |= CS5;
break;
case 6:
options->c_cflag |= CS6;
break;
case 7:
options->c_cflag |= CS7;
break;
case 8:
options->c_cflag |= CS8;
break;
default:
sif::debug << "UartComIF::setDatasizeOptions: Invalid size specified" << std::endl;
break;
}
}
void UartComIF::setFixedOptions(struct termios* options) {
/* Disable RTS/CTS hardware flow control */
options->c_cflag &= ~CRTSCTS;
/* Turn on READ & ignore ctrl lines (CLOCAL = 1) */
options->c_cflag |= CREAD | CLOCAL;
/* Disable canonical mode */
options->c_lflag &= ~ICANON;
/* Disable echo */
options->c_lflag &= ~ECHO;
/* Disable erasure */
options->c_lflag &= ~ECHOE;
/* Disable new-line echo */
options->c_lflag &= ~ECHONL;
/* Disable interpretation of INTR, QUIT and SUSP */
options->c_lflag &= ~ISIG;
/* Turn off s/w flow ctrl */
options->c_iflag &= ~(IXON | IXOFF | IXANY);
/* Disable any special handling of received bytes */
options->c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|IGNCR|ICRNL);
/* Prevent special interpretation of output bytes (e.g. newline chars) */
options->c_oflag &= ~OPOST;
/* Prevent conversion of newline to carriage return/line feed */
options->c_oflag &= ~ONLCR;
}
void UartComIF::configureBaudrate(struct termios* options, UartCookie* uartCookie) {
switch (uartCookie->getBaudrate()) {
case 50:
cfsetispeed(options, B50);
cfsetospeed(options, B50);
break;
case 75:
cfsetispeed(options, B75);
cfsetospeed(options, B75);
break;
case 110:
cfsetispeed(options, B110);
cfsetospeed(options, B110);
break;
case 134:
cfsetispeed(options, B134);
cfsetospeed(options, B134);
break;
case 150:
cfsetispeed(options, B150);
cfsetospeed(options, B150);
break;
case 200:
cfsetispeed(options, B200);
cfsetospeed(options, B200);
break;
case 300:
cfsetispeed(options, B300);
cfsetospeed(options, B300);
break;
case 600:
cfsetispeed(options, B600);
cfsetospeed(options, B600);
break;
case 1200:
cfsetispeed(options, B1200);
cfsetospeed(options, B1200);
break;
case 1800:
cfsetispeed(options, B1800);
cfsetospeed(options, B1800);
break;
case 2400:
cfsetispeed(options, B2400);
cfsetospeed(options, B2400);
break;
case 4800:
cfsetispeed(options, B4800);
cfsetospeed(options, B4800);
break;
case 9600:
cfsetispeed(options, B9600);
cfsetospeed(options, B9600);
break;
case 19200:
cfsetispeed(options, B19200);
cfsetospeed(options, B19200);
break;
case 38400:
cfsetispeed(options, B38400);
cfsetospeed(options, B38400);
break;
case 57600:
cfsetispeed(options, B57600);
cfsetospeed(options, B57600);
break;
case 115200:
cfsetispeed(options, B115200);
cfsetospeed(options, B115200);
break;
case 230400:
cfsetispeed(options, B230400);
cfsetospeed(options, B230400);
break;
case 460800:
cfsetispeed(options, B460800);
cfsetospeed(options, B460800);
break;
default:
sif::warning << "UartComIF::configureBaudrate: Baudrate not supported" << std::endl;
break;
}
}
ReturnValue_t UartComIF::sendMessage(CookieIF *cookie,
const uint8_t *sendData, size_t sendLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
if(sendData == nullptr) {
sif::debug << "UartComIF::sendMessage: Send Data is nullptr" << std::endl;
return RETURN_FAILED;
}
if(sendLen == 0) {
return RETURN_OK;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::sendMessasge: Invalid Uart Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::sendMessage: Device file " << deviceFile << "not in uart map"
<< std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
if (write(fd, sendData, sendLen) != (int)sendLen) {
sif::error << "UartComIF::sendMessage: Failed to send data with error code " << errno
<< ": Error description: " << strerror(errno) << std::endl;
return RETURN_FAILED;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::getSendSuccess(CookieIF *cookie) {
return RETURN_OK;
}
ReturnValue_t UartComIF::requestReceiveMessage(CookieIF *cookie,
size_t requestLen) {
int fd = 0;
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
uint8_t* bufferPtr;
if(requestLen == 0) {
return RETURN_OK;
}
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::requestReceiveMessage: Invalid Uart Cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::requestReceiveMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
return RETURN_FAILED;
}
fd = uartDeviceMapIter->second.fileDescriptor;
bufferPtr = uartDeviceMapIter->second.replyBuffer.data();
int bytesRead = read(fd, bufferPtr, requestLen);
if (bytesRead != static_cast<int>(requestLen)) {
sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead
<< " of " << requestLen << " bytes" << std::endl;
return RETURN_FAILED;
}
else {
uartDeviceMapIter->second.replyLen = bytesRead;
}
return RETURN_OK;
}
ReturnValue_t UartComIF::readReceivedMessage(CookieIF *cookie,
uint8_t **buffer, size_t* size) {
std::string deviceFile;
UartDeviceMapIter uartDeviceMapIter;
UartCookie* uartCookie = dynamic_cast<UartCookie*>(cookie);
if(uartCookie == nullptr) {
sif::debug << "UartComIF::readReceivedMessage: Invalid uart cookie!" << std::endl;
return NULLPOINTER;
}
deviceFile = uartCookie->getDeviceFile();
uartDeviceMapIter = uartDeviceMap.find(deviceFile);
if (uartDeviceMapIter == uartDeviceMap.end()) {
sif::debug << "UartComIF::readReceivedMessage: Device file " << deviceFile
<< " not in uart map" << std::endl;
return RETURN_FAILED;
}
*buffer = uartDeviceMapIter->second.replyBuffer.data();
*size = uartDeviceMapIter->second.replyLen;
/* Length is reset to 0 to prevent reading the same data twice */
uartDeviceMapIter->second.replyLen = 0;
return RETURN_OK;
}

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#ifndef BSP_Q7S_COMIF_UARTCOMIF_H_
#define BSP_Q7S_COMIF_UARTCOMIF_H_
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <unordered_map>
#include <vector>
#include "UartCookie.h"
/**
* @brief This is the communication interface to access serial ports on linux based operating
* systems.
*
* @details The implementation follows the instructions from https://blog.mbedded.ninja/programming/
* operating-systems/linux/linux-serial-ports-using-c-cpp/#disabling-canonical-mode
*
* @author J. Meier
*/
class UartComIF: public DeviceCommunicationIF, public SystemObject {
public:
UartComIF(object_id_t objectId);
virtual ~UartComIF();
ReturnValue_t initializeInterface(CookieIF * cookie) override;
ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF *cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF *cookie,
size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
size_t *size) override;
private:
using UartDeviceFile_t = std::string;
typedef struct UartElements {
int fileDescriptor;
std::vector<uint8_t> replyBuffer;
/** Number of bytes read will be written to this variable */
size_t replyLen;
} UartElements_t;
using UartDeviceMap = std::unordered_map<UartDeviceFile_t, UartElements_t>;
using UartDeviceMapIter = UartDeviceMap::iterator;
/**
* The uart devie map stores informations of initialized uart ports.
*/
UartDeviceMap uartDeviceMap;
/**
* @brief This function opens and configures a uart device by using the information stored
* in the uart cookie.
* @param uartCookie Pointer to uart cookie with information about the uart. Contains the
* uart device file, baudrate, parity, stopbits etc.
* @return The file descriptor of the configured uart.
*/
int configureUartPort(UartCookie* uartCookie);
/**
* @brief This function adds the parity settings to the termios options struct.
*
* @param options Pointer to termios options struct which will be modified to enable or disable
* parity checking.
* @param uartCookie Pointer to uart cookie containing the information about the desired
* parity settings.
*
*/
void setParityOptions(struct termios* options, UartCookie* uartCookie);
void setStopBitOptions(struct termios* options, UartCookie* uartCookie);
/**
* @brief This function sets options which are not configurable by the uartCookie.
*/
void setFixedOptions(struct termios* options);
/**
* @brief With this function the datasize settings are added to the termios options struct.
*/
void setDatasizeOptions(struct termios* options, UartCookie* uartCookie);
/**
* @brief This functions adds the baudrate specified in the uartCookie to the termios options
* struct.
*/
void configureBaudrate(struct termios* options, UartCookie* uartCookie);
};
#endif /* BSP_Q7S_COMIF_UARTCOMIF_H_ */

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#include "UartCookie.h"
#include <fsfw/serviceinterface/ServiceInterface.h>
UartCookie::UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen) :
deviceFile(deviceFile), baudrate(baudrate), maxReplyLen(maxReplyLen) {
}
UartCookie::~UartCookie() {}
uint32_t UartCookie::getBaudrate() const {
return baudrate;
}
size_t UartCookie::getMaxReplyLen() const {
return maxReplyLen;
}
std::string UartCookie::getDeviceFile() const {
return deviceFile;
}
void UartCookie::setParityOdd() {
parity = Parity::ODD;
}
void UartCookie::setParityEven() {
parity = Parity::EVEN;
}
Parity UartCookie::getParity() const {
return parity;
}
void UartCookie::setBitsPerWord(uint8_t bitsPerWord_) {
switch(bitsPerWord_) {
case 5:
case 6:
case 7:
case 8:
break;
default:
sif::debug << "UartCookie::setBitsPerWord: Invalid bits per word specified" << std::endl;
return;
}
bitsPerWord = bitsPerWord_;
}
uint8_t UartCookie::getBitsPerWord() const {
return bitsPerWord;
}
StopBits UartCookie::getStopBits() const {
return stopBits;
}
void UartCookie::setTwoStopBits() {
stopBits = StopBits::TWO_STOP_BITS;
}
void UartCookie::setOneStopBit() {
stopBits = StopBits::ONE_STOP_BIT;
}

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#ifndef SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#define SAM9G20_COMIF_COOKIES_UART_COOKIE_H_
#include <fsfw/devicehandlers/CookieIF.h>
#include <string>
enum class Parity {
NONE,
EVEN,
ODD
};
enum class StopBits {
ONE_STOP_BIT,
TWO_STOP_BITS
};
/**
* @brief Cookie for the UartComIF. There are many options available to configure the uart driver.
* The constructor only requests for common options like the baudrate. Other options can
* be set by member functions.
*
* @author J. Meier
*/
class UartCookie: public CookieIF {
public:
/**
* @brief Constructor for the uart cookie.
* @param deviceFile The device file specifying the uart to use. E.g. "/dev/ttyPS1".
* @param baudrate The baudrate to use for input and output. Possible Baudrates are: 50,
* 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, B19200,
* 38400, 57600, 115200, 230400, 460800
* @param maxReplyLen The maximum size an object using this cookie expects.
*
* @details Default configuration: No parity
* 8 databits (number of bits transfered with one uart frame)
* One stop bit
*
*
*/
UartCookie(std::string deviceFile, uint32_t baudrate, size_t maxReplyLen);
virtual ~UartCookie();
uint32_t getBaudrate() const;
size_t getMaxReplyLen() const;
std::string getDeviceFile() const;
Parity getParity() const;
uint8_t getBitsPerWord() const;
StopBits getStopBits() const;
/**
* Functions two enable parity checking.
*/
void setParityOdd();
void setParityEven();
/**
* Function two set number of bits per UART frame.
*/
void setBitsPerWord(uint8_t bitsPerWord_);
/**
* Function to specify the number of stopbits.
*/
void setTwoStopBits();
void setOneStopBit();
private:
std::string deviceFile;
uint32_t baudrate;
size_t maxReplyLen = 0;
Parity parity = Parity::NONE;
uint8_t bitsPerWord = 8;
StopBits stopBits = StopBits::ONE_STOP_BIT;
};
#endif