Merge remote-tracking branch 'upstream/development' into mueller/master
This commit is contained in:
commit
9f40718824
|
|
@ -1,3 +1,5 @@
|
|||
target_sources(${LIB_FSFW_NAME} PRIVATE
|
||||
GyroL3GD20Handler.cpp
|
||||
MgmRM3100Handler.cpp
|
||||
MgmLIS3MDLHandler.cpp
|
||||
)
|
||||
|
|
|
|||
|
|
@ -3,11 +3,11 @@
|
|||
#include "fsfw/datapool/PoolReadGuard.h"
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie):
|
||||
CookieIF *comCookie, uint32_t transitionDelayMs):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
transitionDelayMs(transitionDelayMs), dataset(this) {
|
||||
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
debugDivider = new PeriodicOperationDivider(3);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
|
@ -47,7 +47,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
|||
switch(internalState) {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
|
|
@ -66,10 +66,11 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
|
|||
default:
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
/* Might be a configuration error. */
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!" << std::endl;
|
||||
#else
|
||||
sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
|
||||
sif::printDebug("GyroL3GD20Handler::buildTransitionDeviceCommand: "
|
||||
"Unknown internal state!\n");
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
|
@ -144,7 +145,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
|||
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
/* For SPI, the ID will always be the one of the last sent command. */
|
||||
// For SPI, the ID will always be the one of the last sent command
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
|
|
@ -166,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
|||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
/* Attempt reconfiguration. */
|
||||
// Attempt reconfiguration
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
|
|
@ -199,13 +200,12 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
|||
if(debugDivider->checkAndIncrement()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
|
||||
std::endl;
|
||||
sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
#else
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
|
||||
sif::printInfo("X: %f\n", angVelocX);
|
||||
sif::printInfo("Y: %f\n", angVelocY);
|
||||
sif::printInfo("Z: %f\n", angVelocZ);
|
||||
|
|
@ -215,11 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
|||
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
if(std::abs(angVelocX) < this->absLimitX) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocX.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocX.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocY) < this->absLimitY) {
|
||||
dataset.angVelocY = angVelocY;
|
||||
dataset.angVelocY.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocY.setValid(false);
|
||||
}
|
||||
|
||||
if(std::abs(angVelocZ) < this->absLimitZ) {
|
||||
dataset.angVelocZ = angVelocZ;
|
||||
dataset.angVelocZ.setValid(true);
|
||||
}
|
||||
else {
|
||||
dataset.angVelocZ.setValid(false);
|
||||
}
|
||||
|
||||
dataset.temperature = temperature;
|
||||
dataset.setValidity(true, true);
|
||||
dataset.temperature.setValid(true);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
|
@ -231,23 +252,19 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
|||
|
||||
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 10000;
|
||||
return this->transitionDelayMs;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
|
||||
void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
|
||||
this->goNormalModeImmediately = true;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
|
@ -260,3 +277,9 @@ void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
|||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
|
||||
void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
|
||||
this->absLimitX = limitX;
|
||||
this->absLimitY = limitY;
|
||||
this->absLimitZ = limitZ;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -7,10 +7,6 @@
|
|||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
|
||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
||||
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
|
||||
|
|
@ -23,10 +19,22 @@
|
|||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
CookieIF* comCookie, uint32_t transitionDelayMs);
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
void setGoNormalModeAtStartup();
|
||||
/**
|
||||
* Set the absolute limit for the values on the axis in degrees per second.
|
||||
* The dataset values will be marked as invalid if that limit is exceeded
|
||||
* @param xLimit
|
||||
* @param yLimit
|
||||
* @param zLimit
|
||||
*/
|
||||
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
|
||||
|
||||
/**
|
||||
* @brief Configure device handler to go to normal mode immediately
|
||||
*/
|
||||
void setToGoToNormalMode(bool enable);
|
||||
protected:
|
||||
|
||||
/* DeviceHandlerBase overrides */
|
||||
|
|
@ -41,18 +49,23 @@ protected:
|
|||
size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
|
||||
void fillCommandAndReplyMap() override;
|
||||
void modeChanged() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
uint32_t transitionDelayMs = 0;
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
float absLimitX = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitY = L3GD20H::RANGE_DPS_00;
|
||||
float absLimitZ = L3GD20H::RANGE_DPS_00;
|
||||
|
||||
enum class InternalState {
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
|
|
|
|||
|
|
@ -0,0 +1,178 @@
|
|||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace MGMLIS3MDL {
|
||||
|
||||
enum Set {
|
||||
ON, OFF
|
||||
};
|
||||
enum OpMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
enum Sensitivies: uint8_t {
|
||||
GAUSS_4 = 4,
|
||||
GAUSS_8 = 8,
|
||||
GAUSS_12 = 12,
|
||||
GAUSS_16 = 16
|
||||
};
|
||||
|
||||
/* Actually 15, we just round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
|
||||
/* Field data register scaling */
|
||||
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
|
||||
static constexpr float FIELD_LSB_PER_GAUSS_4_SENS = 1.0 / 6842.0;
|
||||
static constexpr float FIELD_LSB_PER_GAUSS_8_SENS = 1.0 / 3421.0;
|
||||
static constexpr float FIELD_LSB_PER_GAUSS_12_SENS = 1.0 / 2281.0;
|
||||
static constexpr float FIELD_LSB_PER_GAUSS_16_SENS = 1.0 / 1711.0;
|
||||
|
||||
static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00;
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x01;
|
||||
static const DeviceCommandId_t READ_TEMPERATURE = 0x02;
|
||||
static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03;
|
||||
static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04;
|
||||
static const DeviceCommandId_t ACCURACY_OP_MODE_SET = 0x05;
|
||||
|
||||
/* Number of all control registers */
|
||||
static const uint8_t NR_OF_CTRL_REGISTERS = 5;
|
||||
/* Number of registers in the MGM */
|
||||
static const uint8_t NR_OF_REGISTERS = 19;
|
||||
/* Total number of adresses for all registers */
|
||||
static const uint8_t TOTAL_NR_OF_ADRESSES = 52;
|
||||
static const uint8_t NR_OF_DATA_AND_CFG_REGISTERS = 14;
|
||||
static const uint8_t TEMPERATURE_REPLY_LEN = 3;
|
||||
static const uint8_t SETUP_REPLY_LEN = 6;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adresses */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Register adress returns identifier of device with default 0b00111101 */
|
||||
static const uint8_t IDENTIFY_DEVICE_REG_ADDR = 0b00001111;
|
||||
static const uint8_t DEVICE_ID = 0b00111101; // Identifier for Device
|
||||
|
||||
/* Register adress to access register 1 */
|
||||
static const uint8_t CTRL_REG1 = 0b00100000;
|
||||
/* Register adress to access register 2 */
|
||||
static const uint8_t CTRL_REG2 = 0b00100001;
|
||||
/* Register adress to access register 3 */
|
||||
static const uint8_t CTRL_REG3 = 0b00100010;
|
||||
/* Register adress to access register 4 */
|
||||
static const uint8_t CTRL_REG4 = 0b00100011;
|
||||
/* Register adress to access register 5 */
|
||||
static const uint8_t CTRL_REG5 = 0b00100100;
|
||||
|
||||
/* Register adress to access status register */
|
||||
static const uint8_t STATUS_REG_IDX = 8;
|
||||
static const uint8_t STATUS_REG = 0b00100111;
|
||||
|
||||
/* Register adress to access low byte of x-axis */
|
||||
static const uint8_t X_LOWBYTE_IDX = 9;
|
||||
static const uint8_t X_LOWBYTE = 0b00101000;
|
||||
/* Register adress to access high byte of x-axis */
|
||||
static const uint8_t X_HIGHBYTE_IDX = 10;
|
||||
static const uint8_t X_HIGHBYTE = 0b00101001;
|
||||
/* Register adress to access low byte of y-axis */
|
||||
static const uint8_t Y_LOWBYTE_IDX = 11;
|
||||
static const uint8_t Y_LOWBYTE = 0b00101010;
|
||||
/* Register adress to access high byte of y-axis */
|
||||
static const uint8_t Y_HIGHBYTE_IDX = 12;
|
||||
static const uint8_t Y_HIGHBYTE = 0b00101011;
|
||||
/* Register adress to access low byte of z-axis */
|
||||
static const uint8_t Z_LOWBYTE_IDX = 13;
|
||||
static const uint8_t Z_LOWBYTE = 0b00101100;
|
||||
/* Register adress to access high byte of z-axis */
|
||||
static const uint8_t Z_HIGHBYTE_IDX = 14;
|
||||
static const uint8_t Z_HIGHBYTE = 0b00101101;
|
||||
|
||||
/* Register adress to access low byte of temperature sensor */
|
||||
static const uint8_t TEMP_LOWBYTE = 0b00101110;
|
||||
/* Register adress to access high byte of temperature sensor */
|
||||
static const uint8_t TEMP_HIGHBYTE = 0b00101111;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Initialize Setup Register set bits */
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* General transfer bits */
|
||||
// Read=1 / Write=0 Bit
|
||||
static const uint8_t RW_BIT = 7;
|
||||
// Continous Read/Write Bit, increment adress
|
||||
static const uint8_t MS_BIT = 6;
|
||||
|
||||
/* CTRL_REG1 bits */
|
||||
static const uint8_t ST = 0; // Self test enable bit, enabled = 1
|
||||
// Enable rates higher than 80 Hz enabled = 1
|
||||
static const uint8_t FAST_ODR = 1;
|
||||
static const uint8_t DO0 = 2; // Output data rate bit 2
|
||||
static const uint8_t DO1 = 3; // Output data rate bit 3
|
||||
static const uint8_t DO2 = 4; // Output data rate bit 4
|
||||
static const uint8_t OM0 = 5; // XY operating mode bit 5
|
||||
static const uint8_t OM1 = 6; // XY operating mode bit 6
|
||||
static const uint8_t TEMP_EN = 7; // Temperature sensor enable enabled = 1
|
||||
static const uint8_t CTRL_REG1_DEFAULT = (1 << TEMP_EN) | (1 << OM1) |
|
||||
(1 << DO0) | (1 << DO1) | (1 << DO2);
|
||||
|
||||
/* CTRL_REG2 bits */
|
||||
//reset configuration registers and user registers
|
||||
static const uint8_t SOFT_RST = 2;
|
||||
static const uint8_t REBOOT = 3; //reboot memory content
|
||||
static const uint8_t FSO = 5; //full-scale selection bit 5
|
||||
static const uint8_t FS1 = 6; //full-scale selection bit 6
|
||||
static const uint8_t CTRL_REG2_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG3 bits */
|
||||
static const uint8_t MD0 = 0; //Operating mode bit 0
|
||||
static const uint8_t MD1 = 1; //Operating mode bit 1
|
||||
//SPI serial interface mode selection enabled = 3-wire-mode
|
||||
static const uint8_t SIM = 2;
|
||||
static const uint8_t LP = 5; //low-power mode
|
||||
static const uint8_t CTRL_REG3_DEFAULT = 0;
|
||||
|
||||
/* CTRL_REG4 bits */
|
||||
//big/little endian data selection enabled = MSb at lower adress
|
||||
static const uint8_t BLE = 1;
|
||||
static const uint8_t OMZ0 = 2; //Z operating mode bit 2
|
||||
static const uint8_t OMZ1 = 3; //Z operating mode bit 3
|
||||
static const uint8_t CTRL_REG4_DEFAULT = (1 << OMZ1);
|
||||
|
||||
/* CTRL_REG5 bits */
|
||||
static const uint8_t BDU = 6; //Block data update
|
||||
static const uint8_t FAST_READ = 7; //Fast read enabled = 1
|
||||
static const uint8_t CTRL_REG5_DEFAULT = 0;
|
||||
|
||||
static const uint32_t MGM_DATA_SET_ID = READ_CONFIG_AND_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
TEMPERATURE_CELCIUS
|
||||
};
|
||||
|
||||
class MgmPrimaryDataset: public StaticLocalDataSet<4> {
|
||||
public:
|
||||
MgmPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATA_SET_ID) {}
|
||||
|
||||
MgmPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE_CELCIUS, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */
|
||||
|
|
@ -0,0 +1,132 @@
|
|||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/datapoollocal/LocalPoolVariable.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/serialize/SerialLinkedListAdapter.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace RM3100 {
|
||||
|
||||
/* Actually 10, we round up a little bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 12;
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0x80;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* CMM Register */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
|
||||
static constexpr uint8_t SET_CMM_CMY = 1 << 5;
|
||||
static constexpr uint8_t SET_CMM_CMX = 1 << 4;
|
||||
static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
|
||||
static constexpr uint8_t SET_CMM_START = 1;
|
||||
static constexpr uint8_t CMM_REGISTER = 0x01;
|
||||
|
||||
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
|
||||
SET_CMM_DRDM | SET_CMM_START;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Cycle count register */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
// Default value (200)
|
||||
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
|
||||
|
||||
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
|
||||
100 * 38;
|
||||
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* TMRC register */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
|
||||
static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
|
||||
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
|
||||
|
||||
static constexpr uint8_t TMRC_REGISTER = 0x0B;
|
||||
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_DEFAULT_37HZ_VALUE;
|
||||
|
||||
static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
|
||||
static constexpr uint8_t BIST_REGISTER = 0x33;
|
||||
static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
|
||||
static constexpr uint8_t STATUS_REGISTER = 0x34;
|
||||
static constexpr uint8_t REVID_REGISTER = 0x36;
|
||||
|
||||
// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
|
||||
static constexpr uint16_t RANGE = 800;
|
||||
|
||||
static constexpr DeviceCommandId_t READ_DATA = 0;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
|
||||
static constexpr DeviceCommandId_t READ_CMM = 2;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
|
||||
static constexpr DeviceCommandId_t READ_TMRC = 4;
|
||||
|
||||
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
|
||||
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
|
||||
|
||||
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
|
||||
public:
|
||||
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
|
||||
setLinks(oneCycleCount);
|
||||
}
|
||||
|
||||
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
|
||||
Endianness streamEndianness) override {
|
||||
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
|
||||
size, streamEndianness);
|
||||
if(oneCycleCount) {
|
||||
cycleCountY = cycleCountX;
|
||||
cycleCountZ = cycleCountX;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
SerializeElement<uint16_t> cycleCountX;
|
||||
SerializeElement<uint16_t> cycleCountY;
|
||||
SerializeElement<uint16_t> cycleCountZ;
|
||||
|
||||
private:
|
||||
void setLinks(bool oneCycleCount) {
|
||||
setStart(&cycleCountX);
|
||||
if(not oneCycleCount) {
|
||||
cycleCountX.setNext(&cycleCountY);
|
||||
cycleCountY.setNext(&cycleCountZ);
|
||||
}
|
||||
}
|
||||
|
||||
bool oneCycleCount;
|
||||
};
|
||||
|
||||
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
|
||||
|
||||
enum MgmPoolIds: lp_id_t {
|
||||
FIELD_STRENGTH_X,
|
||||
FIELD_STRENGTH_Y,
|
||||
FIELD_STRENGTH_Z,
|
||||
};
|
||||
|
||||
class Rm3100PrimaryDataset: public StaticLocalDataSet<3> {
|
||||
public:
|
||||
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
|
||||
|
||||
Rm3100PrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
|
||||
|
||||
// Field strengths in micro Tesla.
|
||||
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_X, this);
|
||||
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Y, this);
|
||||
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
|
||||
FIELD_STRENGTH_Z, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */
|
||||
|
|
@ -1,5 +1,10 @@
|
|||
#include "fsfw/FSFW.h"
|
||||
#include "fsfw/serviceinterface.h"
|
||||
#include "fsfw_hal/linux/UnixFileGuard.h"
|
||||
|
||||
#include <cerrno>
|
||||
#include <cstring>
|
||||
|
||||
UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
||||
std::string diagnosticPrefix):
|
||||
fileDescriptor(fileDescriptor) {
|
||||
|
|
@ -10,12 +15,11 @@ UnixFileGuard::UnixFileGuard(std::string device, int* fileDescriptor, int flags,
|
|||
if (*fileDescriptor < 0) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << diagnosticPrefix <<"Opening device failed with error code " << errno <<
|
||||
"." << std::endl;
|
||||
sif::warning << "Error description: " << strerror(errno) << std::endl;
|
||||
sif::warning << diagnosticPrefix << ": Opening device failed with error code " <<
|
||||
errno << ": " << strerror(errno) << std::endl;
|
||||
#else
|
||||
sif::printError("%sOpening device failed with error code %d.\n", diagnosticPrefix);
|
||||
sif::printWarning("Error description: %s\n", strerror(errno));
|
||||
sif::printWarning("%s: Opening device failed with error code %d: %s\n",
|
||||
diagnosticPrefix, errno, strerror(errno));
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
openStatus = OPEN_FILE_FAILED;
|
||||
|
|
|
|||
|
|
@ -15,11 +15,6 @@
|
|||
#include <cerrno>
|
||||
#include <cstring>
|
||||
|
||||
/* Can be used for low-level debugging of the SPI bus */
|
||||
#ifndef FSFW_HAL_LINUX_SPI_WIRETAPPING
|
||||
#define FSFW_HAL_LINUX_SPI_WIRETAPPING 0
|
||||
#endif
|
||||
|
||||
SpiComIF::SpiComIF(object_id_t objectId, GpioIF* gpioComIF):
|
||||
SystemObject(objectId), gpioComIF(gpioComIF) {
|
||||
if(gpioComIF == nullptr) {
|
||||
|
|
@ -90,7 +85,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
|
|||
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(spiCookie->getSpiDevice(), &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface: ");
|
||||
"SpiComIF::initializeInterface");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return fileHelper.getOpenResult();
|
||||
}
|
||||
|
|
@ -184,7 +179,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
|||
/* Prepare transfer */
|
||||
int fileDescriptor = 0;
|
||||
std::string device = spiCookie->getSpiDevice();
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage: ");
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
|
|
@ -193,7 +188,7 @@ ReturnValue_t SpiComIF::performRegularSendOperation(SpiCookie *spiCookie, const
|
|||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
spiCookie->assignWriteBuffer(sendData);
|
||||
spiCookie->assignTransferSize(sendLen);
|
||||
spiCookie->setTransferSize(sendLen);
|
||||
|
||||
bool fullDuplex = spiCookie->isFullDuplex();
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
|
|
@ -273,7 +268,7 @@ ReturnValue_t SpiComIF::performHalfDuplexReception(SpiCookie* spiCookie) {
|
|||
std::string device = spiCookie->getSpiDevice();
|
||||
int fileDescriptor = 0;
|
||||
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::requestReceiveMessage: ");
|
||||
"SpiComIF::requestReceiveMessage");
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
|
|
@ -335,6 +330,7 @@ ReturnValue_t SpiComIF::readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
|
|||
|
||||
*buffer = rxBuf;
|
||||
*size = spiCookie->getCurrentTransferSize();
|
||||
spiCookie->setTransferSize(0);
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,7 @@
|
|||
#ifndef LINUX_SPI_SPICOMIF_H_
|
||||
#define LINUX_SPI_SPICOMIF_H_
|
||||
|
||||
#include "fsfw/FSFW.h"
|
||||
#include "spiDefinitions.h"
|
||||
#include "returnvalues/classIds.h"
|
||||
#include "fsfw_hal/common/gpio/GpioIF.h"
|
||||
|
|
|
|||
|
|
@ -121,7 +121,7 @@ bool SpiCookie::isFullDuplex() const {
|
|||
return not this->halfDuplex;
|
||||
}
|
||||
|
||||
void SpiCookie::assignTransferSize(size_t transferSize) {
|
||||
void SpiCookie::setTransferSize(size_t transferSize) {
|
||||
spiTransferStruct.len = transferSize;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -103,10 +103,10 @@ public:
|
|||
void assignReadBuffer(uint8_t* rx);
|
||||
void assignWriteBuffer(const uint8_t* tx);
|
||||
/**
|
||||
* Assign size for the next transfer.
|
||||
* Set size for the next transfer. Set to 0 for no transfer
|
||||
* @param transferSize
|
||||
*/
|
||||
void assignTransferSize(size_t transferSize);
|
||||
void setTransferSize(size_t transferSize);
|
||||
size_t getCurrentTransferSize() const;
|
||||
|
||||
struct UncommonParameters {
|
||||
|
|
@ -158,8 +158,6 @@ private:
|
|||
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;
|
||||
|
|
|
|||
|
|
@ -17,7 +17,15 @@
|
|||
#cmakedefine FSFW_ADD_SGP4_PROPAGATOR
|
||||
|
||||
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
|
||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
||||
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
|
||||
#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */
|
||||
|
||||
#ifndef FSFW_HAL_RM3100_MGM_DEBUG
|
||||
#define FSFW_HAL_RM3100_MGM_DEBUG 0
|
||||
#endif /* FSFW_HAL_RM3100_MGM_DEBUG */
|
||||
|
||||
#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG
|
||||
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
|
||||
#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */
|
||||
|
||||
#endif /* FSFW_FSFW_H_ */
|
||||
|
|
|
|||
|
|
@ -4,7 +4,7 @@
|
|||
const char* const FSFW_VERSION_NAME = "ASTP";
|
||||
|
||||
#define FSFW_VERSION 1
|
||||
#define FSFW_SUBVERSION 3
|
||||
#define FSFW_SUBVERSION 2
|
||||
#define FSFW_REVISION 0
|
||||
|
||||
#endif /* FSFW_VERSION_H_ */
|
||||
|
|
|
|||
|
|
@ -32,6 +32,17 @@ ReturnValue_t ActionHelper::initialize(MessageQueueIF* queueToUse_) {
|
|||
setQueueToUse(queueToUse_);
|
||||
}
|
||||
|
||||
if(queueToUse == nullptr) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::warning << "ActionHelper::initialize: No queue set" << std::endl;
|
||||
#else
|
||||
sif::printWarning("ActionHelper::initialize: No queue set\n");
|
||||
#endif
|
||||
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -461,7 +461,7 @@ size_t DeviceHandlerBase::getNextReplyLength(DeviceCommandId_t commandId){
|
|||
return iter->second.replyLen;
|
||||
}else{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceReply,
|
||||
|
|
@ -469,7 +469,7 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
|
|||
auto replyIter = deviceReplyMap.find(deviceReply);
|
||||
if (replyIter == deviceReplyMap.end()) {
|
||||
triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
|
||||
return RETURN_FAILED;
|
||||
return COMMAND_NOT_SUPPORTED;
|
||||
} else {
|
||||
DeviceReplyInfo *info = &(replyIter->second);
|
||||
if (maxDelayCycles != 0) {
|
||||
|
|
@ -481,6 +481,25 @@ ReturnValue_t DeviceHandlerBase::updateReplyMapEntry(DeviceCommandId_t deviceRep
|
|||
}
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply) {
|
||||
auto replyIter = deviceReplyMap.find(deviceReply);
|
||||
if (replyIter == deviceReplyMap.end()) {
|
||||
triggerEvent(INVALID_DEVICE_COMMAND, deviceReply);
|
||||
return COMMAND_NOT_SUPPORTED;
|
||||
} else {
|
||||
DeviceReplyInfo *info = &(replyIter->second);
|
||||
if(not info->periodic) {
|
||||
return COMMAND_NOT_SUPPORTED;
|
||||
}
|
||||
if(enable) {
|
||||
info->delayCycles = info->maxDelayCycles;
|
||||
}
|
||||
else {
|
||||
info->delayCycles = 0;
|
||||
}
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t DeviceHandlerBase::setReplyDataset(DeviceCommandId_t replyId,
|
||||
LocalPoolDataSetBase *dataSet) {
|
||||
|
|
@ -593,15 +612,15 @@ void DeviceHandlerBase::replyToReply(const DeviceCommandId_t command, DeviceRepl
|
|||
}
|
||||
DeviceCommandInfo* info = &replyInfo.command->second;
|
||||
if (info == nullptr){
|
||||
printWarningOrError(sif::OutputTypes::OUT_ERROR,
|
||||
"replyToReply", HasReturnvaluesIF::RETURN_FAILED,
|
||||
"Command pointer not found");
|
||||
return;
|
||||
printWarningOrError(sif::OutputTypes::OUT_ERROR,
|
||||
"replyToReply", HasReturnvaluesIF::RETURN_FAILED,
|
||||
"Command pointer not found");
|
||||
return;
|
||||
}
|
||||
|
||||
if (info->expectedReplies > 0){
|
||||
// Check before to avoid underflow
|
||||
info->expectedReplies--;
|
||||
// Check before to avoid underflow
|
||||
info->expectedReplies--;
|
||||
}
|
||||
// Check if more replies are expected. If so, do nothing.
|
||||
if (info->expectedReplies == 0) {
|
||||
|
|
@ -1336,10 +1355,20 @@ void DeviceHandlerBase::buildInternalCommand(void) {
|
|||
DeviceCommandMap::iterator iter = deviceCommandMap.find(
|
||||
deviceCommandId);
|
||||
if (iter == deviceCommandMap.end()) {
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
char output[36];
|
||||
sprintf(output, "Command 0x%08x unknown",
|
||||
static_cast<unsigned int>(deviceCommandId));
|
||||
// so we can track misconfigurations
|
||||
printWarningOrError(sif::OutputTypes::OUT_WARNING,
|
||||
"buildInternalCommand",
|
||||
COMMAND_NOT_SUPPORTED,
|
||||
output);
|
||||
#endif
|
||||
result = COMMAND_NOT_SUPPORTED;
|
||||
}
|
||||
else if (iter->second.isExecuting) {
|
||||
#if FSFW_DISABLE_PRINTOUT == 0
|
||||
#if FSFW_VERBOSE_LEVEL >= 1
|
||||
char output[36];
|
||||
sprintf(output, "Command 0x%08x is executing",
|
||||
static_cast<unsigned int>(deviceCommandId));
|
||||
|
|
@ -1550,7 +1579,7 @@ LocalDataPoolManager* DeviceHandlerBase::getHkManagerHandle() {
|
|||
return &poolManager;
|
||||
}
|
||||
|
||||
MessageQueueId_t DeviceHandlerBase::getCommanderId(DeviceCommandId_t replyId) const {
|
||||
MessageQueueId_t DeviceHandlerBase::getCommanderQueueId(DeviceCommandId_t replyId) const {
|
||||
auto commandIter = deviceCommandMap.find(replyId);
|
||||
if(commandIter == deviceCommandMap.end()) {
|
||||
return MessageQueueIF::NO_QUEUE;
|
||||
|
|
|
|||
|
|
@ -6,22 +6,22 @@
|
|||
#include "DeviceHandlerFailureIsolation.h"
|
||||
#include "DeviceHandlerThermalSet.h"
|
||||
|
||||
#include "../serviceinterface/ServiceInterface.h"
|
||||
#include "../serviceinterface/serviceInterfaceDefintions.h"
|
||||
#include "../objectmanager/SystemObject.h"
|
||||
#include "../tasks/ExecutableObjectIF.h"
|
||||
#include "../returnvalues/HasReturnvaluesIF.h"
|
||||
#include "../action/HasActionsIF.h"
|
||||
#include "../datapool/PoolVariableIF.h"
|
||||
#include "../modes/HasModesIF.h"
|
||||
#include "../power/PowerSwitchIF.h"
|
||||
#include "../ipc/MessageQueueIF.h"
|
||||
#include "../tasks/PeriodicTaskIF.h"
|
||||
#include "../action/ActionHelper.h"
|
||||
#include "../health/HealthHelper.h"
|
||||
#include "../parameters/ParameterHelper.h"
|
||||
#include "../datapoollocal/HasLocalDataPoolIF.h"
|
||||
#include "../datapoollocal/LocalDataPoolManager.h"
|
||||
#include "fsfw/serviceinterface/ServiceInterface.h"
|
||||
#include "fsfw/serviceinterface/serviceInterfaceDefintions.h"
|
||||
#include "fsfw/objectmanager/SystemObject.h"
|
||||
#include "fsfw/tasks/ExecutableObjectIF.h"
|
||||
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
|
||||
#include "fsfw/action/HasActionsIF.h"
|
||||
#include "fsfw/datapool/PoolVariableIF.h"
|
||||
#include "fsfw/modes/HasModesIF.h"
|
||||
#include "fsfw/power/PowerSwitchIF.h"
|
||||
#include "fsfw/ipc/MessageQueueIF.h"
|
||||
#include "fsfw/tasks/PeriodicTaskIF.h"
|
||||
#include "fsfw/action/ActionHelper.h"
|
||||
#include "fsfw/health/HealthHelper.h"
|
||||
#include "fsfw/parameters/ParameterHelper.h"
|
||||
#include "fsfw/datapoollocal/HasLocalDataPoolIF.h"
|
||||
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
|
||||
|
||||
#include <map>
|
||||
|
||||
|
|
@ -400,7 +400,7 @@ protected:
|
|||
*/
|
||||
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) = 0;
|
||||
MessageQueueId_t getCommanderId(DeviceCommandId_t replyId) const;
|
||||
MessageQueueId_t getCommanderQueueId(DeviceCommandId_t replyId) const;
|
||||
/**
|
||||
* Helper function to get pending command. This is useful for devices
|
||||
* like SPI sensors to identify the last sent command.
|
||||
|
|
@ -450,7 +450,9 @@ protected:
|
|||
* @param replyLen Will be supplied to the requestReceiveMessage call of
|
||||
* the communication interface.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0)
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0).
|
||||
* Please note that periodic replies are disabled by default. You can enable them with
|
||||
* #updatePeriodicReply
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
|
|
@ -465,7 +467,9 @@ protected:
|
|||
* @param maxDelayCycles The maximum number of delay cycles the reply waits
|
||||
* until it times out.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0)
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0).
|
||||
* Please note that periodic replies are disabled by default. You can enable them with
|
||||
* #updatePeriodicReply
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
*/
|
||||
|
|
@ -481,6 +485,14 @@ protected:
|
|||
*/
|
||||
ReturnValue_t insertInCommandMap(DeviceCommandId_t deviceCommand);
|
||||
|
||||
/**
|
||||
* Enables a periodic reply for a given command. It sets to delay cycles to the specified
|
||||
* maximum delay cycles for a given reply ID if enabled or to 0 if disabled.
|
||||
* @param enable Specify whether to enable or disable a given periodic reply
|
||||
* @return
|
||||
*/
|
||||
ReturnValue_t updatePeriodicReply(bool enable, DeviceCommandId_t deviceReply);
|
||||
|
||||
/**
|
||||
* @brief This function returns the reply length of the next reply to read.
|
||||
*
|
||||
|
|
@ -494,16 +506,14 @@ protected:
|
|||
virtual size_t getNextReplyLength(DeviceCommandId_t deviceCommand);
|
||||
|
||||
/**
|
||||
* @brief This is a helper method to facilitate updating entries
|
||||
* in the reply map.
|
||||
* @brief This is a helper method to facilitate updating entries in the reply map.
|
||||
* @param deviceCommand Identifier of the reply to update.
|
||||
* @param delayCycles The current number of delay cycles to wait.
|
||||
* As stated in #fillCommandAndCookieMap, to disable periodic commands,
|
||||
* this is set to zero.
|
||||
* @param delayCycles The current number of delay cycles to wait. As stated in
|
||||
* #fillCommandAndReplyMap, to disable periodic commands, this is set to zero.
|
||||
* @param maxDelayCycles The maximum number of delay cycles the reply waits
|
||||
* until it times out. By passing 0 the entry remains untouched.
|
||||
* @param periodic Indicates if the command is periodic (i.e. it is sent
|
||||
* by the device repeatedly without request) or not.Default is aperiodic (0).
|
||||
* by the device repeatedly without request) or not. Default is aperiodic (0).
|
||||
* Warning: The setting always overrides the value that was entered in the map.
|
||||
* @return - @c RETURN_OK when the command was successfully inserted,
|
||||
* - @c RETURN_FAILED else.
|
||||
|
|
|
|||
|
|
@ -154,6 +154,11 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
|
|||
size_t encodedIndex = 0;
|
||||
size_t decodedIndex = 0;
|
||||
uint8_t nextByte;
|
||||
|
||||
//init to 0 so that we can just return in the first checks (which do not consume anything from
|
||||
//the source stream)
|
||||
*readLen = 0;
|
||||
|
||||
if(maxDestStreamlen < 1) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
|
|
@ -166,6 +171,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
|
|||
and (sourceStream[encodedIndex] != STX_CHAR)) {
|
||||
if (sourceStream[encodedIndex] == DLE_CHAR) {
|
||||
if(encodedIndex + 1 >= sourceStreamLen) {
|
||||
//reached the end of the sourceStream
|
||||
*readLen = sourceStreamLen;
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
nextByte = sourceStream[encodedIndex + 1];
|
||||
|
|
@ -200,6 +207,8 @@ ReturnValue_t DleEncoder::decodeStreamEscaped(const uint8_t *sourceStream, size_
|
|||
}
|
||||
if (sourceStream[encodedIndex] != ETX_CHAR) {
|
||||
if(decodedIndex == maxDestStreamlen) {
|
||||
//so far we did not find anything wrong here, so let user try again
|
||||
*readLen = 0;
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
|
|
@ -220,6 +229,11 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
|
|||
size_t encodedIndex = 0;
|
||||
size_t decodedIndex = 0;
|
||||
uint8_t nextByte;
|
||||
|
||||
//init to 0 so that we can just return in the first checks (which do not consume anything from
|
||||
//the source stream)
|
||||
*readLen = 0;
|
||||
|
||||
if(maxDestStreamlen < 2) {
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
|
|
@ -227,6 +241,7 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
|
|||
return DECODING_ERROR;
|
||||
}
|
||||
if (sourceStream[encodedIndex++] != STX_CHAR) {
|
||||
*readLen = 1;
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
while ((encodedIndex < sourceStreamLen) && (decodedIndex < maxDestStreamlen)) {
|
||||
|
|
@ -265,11 +280,13 @@ ReturnValue_t DleEncoder::decodeStreamNonEscaped(const uint8_t *sourceStream,
|
|||
++encodedIndex;
|
||||
++decodedIndex;
|
||||
}
|
||||
*readLen = encodedIndex;
|
||||
|
||||
if(decodedIndex == maxDestStreamlen) {
|
||||
//so far we did not find anything wrong here, so let user try again
|
||||
*readLen = 0;
|
||||
return STREAM_TOO_SHORT;
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
*readLen = encodedIndex;
|
||||
return DECODING_ERROR;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -13,10 +13,10 @@
|
|||
|
||||
/**
|
||||
* @brief FailureReport class to serialize a failure report
|
||||
* @brief Subservice 1, 3, 5, 7
|
||||
* @brief Subservice 2, 4, 6, 8
|
||||
* @ingroup spacepackets
|
||||
*/
|
||||
class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
|
||||
class FailureReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
|
||||
public:
|
||||
FailureReport(uint8_t failureSubtype_, uint16_t packetId_,
|
||||
uint16_t packetSequenceControl_, uint8_t stepNumber_,
|
||||
|
|
@ -108,10 +108,10 @@ private:
|
|||
};
|
||||
|
||||
/**
|
||||
* @brief Subservices 2, 4, 6, 8
|
||||
* @brief Subservices 1, 3, 5, 7
|
||||
* @ingroup spacepackets
|
||||
*/
|
||||
class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 2, 4, 6, 8
|
||||
class SuccessReport: public SerializeIF { //!< [EXPORT] : [SUBSERVICE] 1, 3, 5, 7
|
||||
public:
|
||||
SuccessReport(uint8_t subtype_, uint16_t packetId_,
|
||||
uint16_t packetSequenceControl_,uint8_t stepNumber_) :
|
||||
|
|
|
|||
Loading…
Reference in New Issue