Merge pull request 'SPI HAL improvement' (#573) from eive/fsfw:mueller/spi-initialize-line-state into development
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Reviewed-on: #573
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@ -12,6 +12,9 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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## Changes
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- HAL Linux SPI: Set the Clock Default State when setting new SPI speed
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and mode
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/573
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- GPIO HAL: `Direction`, `GpioOperation` and `Levels` are enum classes now, which prevents
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name clashes with Windows defines.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/572
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@ -23,11 +26,13 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
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## Removed
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- Removed the `HkSwitchHelper`. This module should not be needed anymore, now that the local
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datapools have been implemented
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datapools have been implemented.
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/557
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## Additions
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- Linux HAL: Add wiretapping option for I2C. Enabled with `FSFW_HAL_I2C_WIRETAPPING` defined to 1
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PR: https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/559
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# [v4.0.0]
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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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