corrections for restructured fsfw

Reviewed-on: #14

linux/uart/UartComIF.cpp

@@ -79,6 +79,7 @@ int UartComIF::configureUartPort(UartCookie* uartCookie) {
     setStopBitOptions(&options, uartCookie);
     setDatasizeOptions(&options, uartCookie);
     setFixedOptions(&options);
+    setUartMode(&options, *uartCookie);
     if(uartCookie->getInputShouldBeFlushed()) {
         tcflush(fd, TCIFLUSH);
     }
@@ -403,13 +404,13 @@ ReturnValue_t UartComIF::handleNoncanonicalRead(UartCookie &uartCookie, UartDevi
         return RETURN_FAILED;
     }
     else if (bytesRead != static_cast<int>(requestLen)) {
-        sif::debug << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
-                " of " << requestLen << " bytes" << std::endl;
-        return RETURN_FAILED;
-    }
-    else {
-        iter->second.replyLen = bytesRead;
+        if(uartCookie.isReplySizeFixed()) {
+            sif::warning << "UartComIF::requestReceiveMessage: Only read " << bytesRead <<
+                    " of " << requestLen << " bytes" << std::endl;
+            return RETURN_FAILED;
+        }
     }
+    iter->second.replyLen = bytesRead;
     return HasReturnvaluesIF::RETURN_OK;
 }
 

linux/uart/UartCookie.cpp

@@ -87,3 +87,11 @@ bool UartCookie::getInputShouldBeFlushed() {
 object_id_t UartCookie::getHandlerId() const {
     return this->handlerId;
 }
+
+void UartCookie::setNoFixedSizeReply() {
+    replySizeFixed = false;
+}
+
+bool UartCookie::isReplySizeFixed() {
+    return replySizeFixed;
+}

linux/uart/UartCookie.h

@@ -95,6 +95,14 @@ public:
     void setTwoStopBits();
     void setOneStopBit();
 
+    /**
+     * Calling this function prevents the UartComIF to return failed if not all requested bytes
+     * could be read. This is required by a device handler when the size of a reply is not known.
+     */
+    void setNoFixedSizeReply();
+
+    bool isReplySizeFixed();
+
 private:
 
     const object_id_t handlerId;
@@ -107,6 +115,7 @@ private:
     uint8_t bitsPerWord = 8;
     uint8_t readCycles = 1;
     StopBits stopBits = StopBits::ONE_STOP_BIT;
+    bool replySizeFixed = true;
 };
 
 #endif

stm32h7/devicetest/GyroL3GD20H.cpp

@@ -517,6 +517,7 @@ uint8_t GyroL3GD20H::readRegPolling(uint8_t reg) {
     txBuf[0] = reg | STM_READ_MASK;
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_RESET);
     auto result = HAL_SPI_TransmitReceive(spiHandle, txBuf, rxBuf, 2, 1000);
+    if(result) {};
     HAL_GPIO_WritePin(GPIOD, GPIO_PIN_14, GPIO_PIN_SET);
     return rxBuf[1];
 }

stm32h7/gpio/gpio.cpp

@@ -1,5 +1,7 @@
 #include "gpio.h"
 
+#include "stm32h7xx_hal_rcc.h"
+
 void gpio::initializeGpioClock(GPIO_TypeDef* gpioPort) {
 #ifdef GPIOA
     if(gpioPort == GPIOA) {

stm32h7/spi/SpiComIF.cpp

@@ -2,7 +2,7 @@
 #include "SpiCookie.h"
 
 #include "fsfw/tasks/SemaphoreFactory.h"
-#include "fsfw/osal/FreeRTOS/TaskManagement.h"
+#include "fsfw/osal/freertos/TaskManagement.h"
 #include "fsfw_hal/stm32h7/spi/spiCore.h"
 #include "fsfw_hal/stm32h7/spi/spiInterrupts.h"
 #include "fsfw_hal/stm32h7/spi/mspInit.h"

stm32h7/spi/SpiComIF.h

@@ -5,7 +5,7 @@
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "fsfw/objectmanager/SystemObject.h"
 
-#include "fsfw/osal/FreeRTOS/BinarySemaphore.h"
+#include "fsfw/osal/freertos/BinarySemaphore.h"
 #include "fsfw_hal/stm32h7/spi/spiDefinitions.h"
 #include "stm32h7xx_hal_spi.h"
 #include "stm32h743xx.h"

stm32h7/spi/SpiCookie.cpp

@@ -4,8 +4,8 @@
 SpiCookie::SpiCookie(address_t deviceAddress, spi::SpiBus spiIdx, spi::TransferModes transferMode,
         spi::MspCfgBase* mspCfg, uint32_t spiSpeed, spi::SpiModes spiMode,
         uint16_t chipSelectGpioPin, GPIO_TypeDef* chipSelectGpioPort, size_t maxRecvSize):
-        deviceAddress(deviceAddress), spiIdx(spiIdx), transferMode(transferMode),
-        spiSpeed(spiSpeed), spiMode(spiMode), chipSelectGpioPin(chipSelectGpioPin),
+        deviceAddress(deviceAddress), spiIdx(spiIdx), spiSpeed(spiSpeed), spiMode(spiMode),
+        transferMode(transferMode), chipSelectGpioPin(chipSelectGpioPin),
         chipSelectGpioPort(chipSelectGpioPort), mspCfg(mspCfg), maxRecvSize(maxRecvSize) {
     spiHandle.Init.DataSize          = SPI_DATASIZE_8BIT;
     spiHandle.Init.FirstBit          = SPI_FIRSTBIT_MSB;