Merge pull request 'Improvements for devices' (#17) from mueller/acs-board-improvements into eive/develop

Reviewed-on: eive/fsfw#17

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp

@@ -3,11 +3,11 @@
 #include "fsfw/datapool/PoolReadGuard.h"
 
 GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF *comCookie, uint8_t switchId, uint32_t transitionDelayMs):
+        CookieIF *comCookie, uint32_t transitionDelayMs):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        switchId(switchId), transitionDelayMs(transitionDelayMs), dataset(this) {
+        transitionDelayMs(transitionDelayMs), dataset(this) {
 #if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
 }
 
@@ -215,11 +215,32 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
 
         PoolReadGuard readSet(&dataset);
         if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.angVelocX = angVelocX;
+            if(std::abs(angVelocX) < this->absLimitX) {
-            dataset.angVelocY = angVelocY;
+                dataset.angVelocX = angVelocX;
-            dataset.angVelocZ = angVelocZ;
+                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;
     }
@@ -234,7 +255,7 @@ uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
     return this->transitionDelayMs;
 }
 
-void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
+void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) {
     this->goNormalModeImmediately = true;
 }
 
@@ -256,3 +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;
+}

hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h

@@ -19,13 +19,22 @@
 class GyroHandlerL3GD20H: public DeviceHandlerBase {
 public:
     GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
-            CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelayMs = 10000);
+            CookieIF* comCookie, uint32_t transitionDelayMs);
     virtual ~GyroHandlerL3GD20H();
 
+    /**
+     * 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 setGoNormalModeAtStartup();
+    void setToGoToNormalMode(bool enable);
 protected:
 
     /* DeviceHandlerBase overrides */
@@ -40,12 +49,12 @@ 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;
 
@@ -54,6 +63,10 @@ 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,

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -6,13 +6,13 @@
 #endif
 
 MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCommunication,
-        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
+        CookieIF* comCookie, uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
         dataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
-    debugDivider = new PeriodicOperationDivider(5);
+    debugDivider = new PeriodicOperationDivider(3);
 #endif
-    /* Set to default values right away. */
+    // Set to default values right away
     registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
     registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
     registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@@ -291,7 +291,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 
 #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->checkAndIncrement()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                     " microtesla:" << std::endl;
@@ -308,10 +307,29 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
 #endif /* OBSW_VERBOSE_LEVEL >= 1 */
         PoolReadGuard readHelper(&dataset);
         if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
-            dataset.fieldStrengthX = mgmX;
+            if(std::abs(mgmX) < absLimitX) {
-            dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthX = mgmX;
-            dataset.fieldStrengthZ = mgmZ;
+                dataset.fieldStrengthX.setValid(true);
-            dataset.setValidity(true, true);
+            }
+            else {
+                dataset.fieldStrengthX.setValid(false);
+            }
+
+            if(std::abs(mgmY) < absLimitY) {
+                dataset.fieldStrengthY = mgmY;
+                dataset.fieldStrengthY.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthY.setValid(false);
+            }
+
+            if(std::abs(mgmZ) < absLimitZ) {
+                dataset.fieldStrengthZ = mgmZ;
+                dataset.fieldStrengthZ.setValid(true);
+            }
+            else {
+                dataset.fieldStrengthZ.setValid(false);
+            }
         }
         break;
     }
@@ -321,7 +339,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id,
         float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
     #if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
         if(debugDivider->check()) {
-            /* Set terminal to utf-8 if there is an issue with micro printout. */
 #if FSFW_CPP_OSTREAM_ENABLED == 1
             sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
                     std::endl;
@@ -444,16 +461,6 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
 }
 
 void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
-    /*
-     * Regarding ArduinoBoard:
-     * Actually SPI answers directly, but as commanding ArduinoBoard the
-     * communication could be delayed
-     * SPI always has to be triggered, so there could be no periodic answer of
-     * the device, the device has to asked with a command, so periodic is zero.
-     *
-     * We dont read single registers, we just expect special
-     * reply from he Readall_MGM
-     */
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
     insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
     insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
@@ -475,7 +482,7 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
     rawPacket = commandBuffer;
     rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
 
-    /* We dont have to check if this is working because we just did it */
+    // We dont have to check if this is working because we just did i
     return RETURN_OK;
 }
 
@@ -503,3 +510,9 @@ ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(
             new PoolEntry<float>({0.0}));
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
+    this->absLimitX = xLimit;
+    this->absLimitY = yLimit;
+    this->absLimitZ = zLimit;
+}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h

@@ -31,9 +31,17 @@ public:
     static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
 
     MgmLIS3MDLHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF* comCookie,
-            uint8_t switchId, uint32_t transitionDelay = 10000);
+            uint32_t transitionDelay);
     virtual ~MgmLIS3MDLHandler();
 
+    /**
+     * Set the absolute limit for the values on the axis in microtesla. The dataset values will
+     * be marked as invalid if that limit is exceeded
+     * @param xLimit
+     * @param yLimit
+     * @param zLimit
+     */
+    void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
     void setToGoToNormalMode(bool enable);
 
 protected:
@@ -42,7 +50,7 @@ protected:
     void doShutDown() override;
     void doStartUp() override;
     void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
-    uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
+    virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
     ReturnValue_t buildCommandFromCommand(
             DeviceCommandId_t deviceCommand, const uint8_t *commandData,
             size_t commandDataLen) override;
@@ -52,7 +60,14 @@ protected:
             DeviceCommandId_t *id) override;
     ReturnValue_t scanForReply(const uint8_t *start, size_t len,
             DeviceCommandId_t *foundId, size_t *foundLen) override;
-    ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
+    /**
+     * This implementation is tailored towards space applications and will flag values larger
+     * than 100 microtesla on X,Y and 150 microtesla on Z as invalid
+     * @param id
+     * @param packet
+     * @return
+     */
+    virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
             const uint8_t *packet) override;
     void fillCommandAndReplyMap() override;
     void modeChanged(void) override;
@@ -61,15 +76,19 @@ protected:
 
 private:
     MGMLIS3MDL::MgmPrimaryDataset dataset;
-    //Length a sindgle command SPI answer
+    //Length a single command SPI answer
     static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
 
     uint32_t transitionDelay;
-    //Single SPIcommand has 2 bytes, first for adress, second for content
+    // Single SPI command has 2 bytes, first for adress, second for content
     size_t singleComandSize = 2;
-    //has the size for all adresses of the lis3mdl + the continous write bit
+    // Has the size for all adresses of the lis3mdl + the continous write bit
     uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
 
+    float absLimitX = 100;
+    float absLimitY = 100;
+    float absLimitZ = 150;
+
     /**
      * We want to save the registers we set, so we dont have to read the
      * registers when we want to change something.

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp

@@ -8,10 +8,9 @@
 
 
 MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId,
-        object_id_t deviceCommunication, CookieIF* comCookie, uint8_t switchId,
+        object_id_t deviceCommunication, CookieIF* comCookie, uint32_t transitionDelay):
-        uint32_t transitionDelay):
         DeviceHandlerBase(objectId, deviceCommunication, comCookie),
-        primaryDataset(this), switchId(switchId), transitionDelay(transitionDelay) {
+        primaryDataset(this), transitionDelay(transitionDelay) {
 #if FSFW_HAL_RM3100_MGM_DEBUG == 1
     debugDivider = new PeriodicOperationDivider(3);
 #endif
@@ -322,13 +321,7 @@ ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(
 }
 
 uint32_t MgmRM3100Handler::getTransitionDelayMs(Mode_t from, Mode_t to) {
-    return 25000;
+    return this->transitionDelay;
-}
-
-ReturnValue_t MgmRM3100Handler::getSwitches(const uint8_t **switches, uint8_t *numberOfSwitches) {
-    *switches = &switchId;
-    *numberOfSwitches = 1;
-    return HasReturnvaluesIF::RETURN_OK;
 }
 
 void MgmRM3100Handler::setToGoToNormalMode(bool enable) {

hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h

@@ -32,7 +32,7 @@ public:
 			SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
 
 	MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommunication,
-	        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay = 10000);
+	        CookieIF* comCookie, uint32_t transitionDelay);
 	virtual ~MgmRM3100Handler();
 
 	/**
@@ -48,21 +48,16 @@ protected:
 	        DeviceCommandId_t *id) override;
 	void doStartUp() override;
 	void doShutDown() override;
-	ReturnValue_t buildNormalDeviceCommand(
+	ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
-	        DeviceCommandId_t *id) override;
+	ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
-	ReturnValue_t buildCommandFromCommand(
+	        const uint8_t *commandData, size_t commandDataLen) override;
-	        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
-			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,
+	ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-	        const uint8_t *packet) override;
-    ReturnValue_t getSwitches(const uint8_t **switches,
-            uint8_t *numberOfSwitches) override;
 
 	void fillCommandAndReplyMap() override;
 	void modeChanged(void) 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;
 
@@ -97,7 +92,6 @@ private:
 	float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
 
 	bool goToNormalModeAtStartup = false;
-	uint8_t switchId;
 	uint32_t transitionDelay;
 
 	ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,

hal/src/fsfw_hal/linux/spi/SpiComIF.cpp

@@ -141,8 +141,8 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
     if(sendLen > spiCookie->getMaxBufferSize()) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length" << sendLen <<
+        sif::warning << "SpiComIF::sendMessage: Too much data sent, send length " << sendLen <<
-                "larger than maximum buffer length" << spiCookie->getMaxBufferSize() << std::endl;
+                "larger than maximum buffer length " << spiCookie->getMaxBufferSize() << std::endl;
 #else
         sif::printWarning("SpiComIF::sendMessage: Too much data sent, send length %lu larger "
                 "than maximum buffer length %lu!\n", static_cast<unsigned long>(sendLen),

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -7,14 +7,13 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
+    counter++;
     bool opNecessary = check();
     if(opNecessary) {
         if(resetAutomatically) {
-            counter = 1;
+            resetCounter();
         }
-        return opNecessary;
     }
-    counter++;
     return opNecessary;
 }