SPI HAL improvement
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fsfw/fsfw/pipeline/pr-development This commit looks good
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fsfw/fsfw/pipeline/pr-development This commit looks good
- Initialize line state
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@ -401,4 +401,12 @@ void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed)
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if (retval != 0) {
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utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Setting SPI speed failed");
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}
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// This updates the SPI clock default polarity. Only setting the mode does not update
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// the line state, which can be an issue on mode switches because the clock line will
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// switch the state after the chip select is pulled low
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clockUpdateTransfer.len = 0;
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retval = ioctl(spiFd, SPI_IOC_MESSAGE(1), &clockUpdateTransfer);
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if (retval != 0) {
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utility::handleIoctlError("SpiComIF::setSpiSpeedAndMode: Updating SPI default clock failed");
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}
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}
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@ -74,6 +74,7 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
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MutexIF* spiMutex = nullptr;
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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uint32_t timeoutMs = 20;
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spi_ioc_transfer clockUpdateTransfer = {};
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using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;
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using SpiDeviceMapIter = SpiDeviceMap::iterator;
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