small bugfix

Reviewed-on: fsfw/fsfw_hal#6

linux/gpio/LinuxLibgpioIF.cpp

@@ -82,7 +82,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
     chipname = regularGpio->chipname;
     chip = gpiod_chip_open_by_name(chipname.c_str());
     if (!chip) {
-        sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open chip "
+        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
                 << chipname << ". Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
     }
@@ -90,9 +90,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
     lineNum = regularGpio->lineNum;
     lineHandle = gpiod_chip_get_line(chip, lineNum);
     if (!lineHandle) {
-        sif::warning << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO" << std::endl;
+        sif::debug << "LinuxLibgpioIF::configureRegularGpio: Failed to open line " << std::endl;
-        sif::warning << "GPIO ID " << gpioId << "with line number " << lineNum <<
+        sif::debug << "GPIO ID: " << gpioId << ", line number: " << lineNum <<
-                " and chipname " << chipname << std::endl;
+                ", chipname: " << chipname << std::endl;
+        sif::debug << "Check if linux GPIO configuration has changed. " << std::endl;
         gpiod_chip_close(chip);
         return RETURN_FAILED;
     }
@@ -105,7 +106,7 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                 regularGpio->initValue);
         if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line " << lineNum <<
+            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
                     " from GPIO instance with ID: " << gpioId << std::endl;
             gpiod_line_release(lineHandle);
             return RETURN_FAILED;

linux/spi/SpiComIF.cpp

@@ -2,10 +2,9 @@
 #include "SpiCookie.h"
 #include "../utility.h"
 #include "../UnixFileGuard.h"
-#include <FSFWConfig.h>
+#include "FSFWConfig.h"
 
 #include <fsfw/ipc/MutexFactory.h>
-#include <fsfw/ipc/MutexGuard.h>
 #include <fsfw/globalfunctions/arrayprinter.h>
 
 #include <linux/spi/spidev.h>
@@ -18,11 +17,11 @@
 
 /* Can be used for low-level debugging of the SPI bus */
 #ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  1
+#define FSFW_HAL_LINUX_SPI_WIRETAPPING                  0
 #endif
 
 SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF): SystemObject(objectId),
-        gpioComIF(gpioComIF) {
+gpioComIF(gpioComIF) {
     if(gpioComIF == nullptr) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -139,7 +138,6 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
 ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, size_t sendLen) {
     SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
     ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
-    int retval = 0;
 
     if(spiCookie == nullptr) {
         return NULLPOINTER;
@@ -159,12 +157,34 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
         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 */
     int fileDescriptor = 0;
     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) {
         return OPENING_FILE_FAILED;
     }
@@ -178,11 +198,15 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     bool fullDuplex = spiCookie->isFullDuplex();
     gpioId_t gpioId = spiCookie->getChipSelectPin();
 
-    /* GPIO access is mutex protected */
-    MutexGuard(spiMutex, timeoutType, timeoutMs);
-
     /* 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);
     }
 
@@ -195,19 +219,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
             result = FULL_DUPLEX_TRANSFER_FAILED;
         }
 #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 */
     }
     else {
@@ -227,6 +239,13 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
 
     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;
 }
@@ -236,17 +255,21 @@ 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;
     }
 
-    bool fullDuplex = spiCookie->isFullDuplex();
+    if(spiCookie->isFullDuplex()) {
-    if(fullDuplex) {
         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,
@@ -263,8 +286,14 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
     }
 
     gpioId_t gpioId = spiCookie->getChipSelectPin();
-    MutexGuard(spiMutex, timeoutType, timeoutMs);
     if(gpioId != gpio::NO_GPIO) {
+        result = spiMutex->lockMutex(timeoutType, timeoutMs);
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to lock mutex" << std::endl;
+#endif
+            return result;
+        }
         gpioComIF->pullLow(gpioId);
     }
 
@@ -281,9 +310,16 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
 
     if(gpioId != gpio::NO_GPIO) {
         gpioComIF->pullHigh(gpioId);
+        result = spiMutex->unlockMutex();
+        if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::error << "SpiComIF::getSendSuccess: Failed to unlock mutex" << std::endl;
+#endif
+            return result;
+        }
     }
 
-    return HasReturnvaluesIF::RETURN_OK;
+    return result;
 }
 
 ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer, size_t *size) {
@@ -302,6 +338,35 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+MutexIF* SpiComIF::getMutex(MutexIF::TimeoutType* timeoutType, uint32_t* timeoutMs) {
+    if(timeoutType != nullptr) {
+        *timeoutType = this->timeoutType;
+    }
+    if(timeoutMs != nullptr) {
+        *timeoutMs = this->timeoutMs;
+    }
+    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) {
     if(buffer == nullptr) {
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -316,6 +381,10 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
+GpioIF* SpiComIF::getGpioInterface() {
+    return gpioComIF;
+}
+
 void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
     int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
     if(retval != 0) {

linux/spi/SpiComIF.h

@@ -11,6 +11,8 @@
 #include <vector>
 #include <unordered_map>
 
+class SpiCookie;
+
 /**
  * @brief   Encapsulates access to linux SPI driver for FSFW objects
  * @details
@@ -39,6 +41,28 @@ 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.
+     */
+    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 the 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:
 
     struct SpiInstance {
@@ -56,9 +80,10 @@ 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);
+
 };
 
 #endif /* LINUX_SPI_SPICOMIF_H_ */

linux/spi/SpiCookie.cpp

@@ -1,14 +1,33 @@
 #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),
+        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,
         spi::SpiModes spiMode, uint32_t spiSpeed):
-        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,
@@ -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;
+}

linux/spi/SpiCookie.h

@@ -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, gpioId_t chipSelect, std::string spiDev, const size_t maxSize,
+            spi::SpiModes spiMode, uint32_t spiSpeed, 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;
 };

linux/spi/spiDefinitions.h

@@ -1,8 +1,16 @@
 #ifndef 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>
 
+class SpiCookie;
+class SpiComIF;
+
 namespace spi {
 
 enum SpiModes: uint8_t {
@@ -12,6 +20,15 @@ enum SpiModes: uint8_t {
     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_ */