90 lines
3.1 KiB
C++
90 lines
3.1 KiB
C++
#ifndef LINUX_SPI_SPICOMIF_H_
|
|
#define LINUX_SPI_SPICOMIF_H_
|
|
|
|
#include "spiDefinitions.h"
|
|
#include "returnvalues/classIds.h"
|
|
#include "../../common/gpio/GpioIF.h"
|
|
|
|
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
|
|
#include <fsfw/objectmanager/SystemObject.h>
|
|
|
|
#include <vector>
|
|
#include <unordered_map>
|
|
|
|
class SpiCookie;
|
|
|
|
/**
|
|
* @brief Encapsulates access to linux SPI driver for FSFW objects
|
|
* @details
|
|
* Right now, only full-duplex SPI is supported. Most device specific transfer properties
|
|
* are contained in the SPI cookie.
|
|
* @author R. Mueller
|
|
*/
|
|
class SpiComIF: public DeviceCommunicationIF, public SystemObject {
|
|
public:
|
|
static constexpr uint8_t spiRetvalId = CLASS_ID::LINUX_SPI_COM_IF;
|
|
static constexpr ReturnValue_t OPENING_FILE_FAILED =
|
|
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 0);
|
|
/* Full duplex (ioctl) transfer failure */
|
|
static constexpr ReturnValue_t FULL_DUPLEX_TRANSFER_FAILED =
|
|
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 1);
|
|
/* Half duplex (read/write) transfer failure */
|
|
static constexpr ReturnValue_t HALF_DUPLEX_TRANSFER_FAILED =
|
|
HasReturnvaluesIF::makeReturnCode(spiRetvalId, 2);
|
|
|
|
SpiComIF(object_id_t objectId, GpioIF* gpioComIF);
|
|
|
|
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;
|
|
|
|
/**
|
|
* @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 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:
|
|
|
|
struct SpiInstance {
|
|
std::vector<uint8_t> replyBuffer;
|
|
};
|
|
|
|
GpioIF* gpioComIF = nullptr;
|
|
|
|
MutexIF* spiMutex = nullptr;
|
|
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
|
uint32_t timeoutMs = 20;
|
|
|
|
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
|
|
using SpiDeviceMapIter = SpiDeviceMap::iterator;
|
|
|
|
SpiDeviceMap spiDeviceMap;
|
|
|
|
ReturnValue_t performHalfDuplexReception(SpiCookie* spiCookie);
|
|
|
|
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
|
};
|
|
|
|
#endif /* LINUX_SPI_SPICOMIF_H_ */
|