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Update FSFW from Upstream #27

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muellerr merged 523 commits from mueller/update-from-upstream into develop 2022-05-17 10:06:59 +02:00
Conversation 0 Commits 523 Files Changed 936 +78 -85
7 changed files with 78 additions and 85 deletions
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Showing only changes of commit aebd4817b8 - Show all commits

35
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp
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@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC
CookieIF *comCookie, uint32_t transitionDelayMs) CookieIF *comCookie, uint32_t transitionDelayMs)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs), transitionDelayMs(transitionDelayMs),
dataset(this) { dataset(this) {}
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
@ -193,22 +189,22 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset; float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 if (periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */ /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl;
sif::info << "X: " << angVelocX << std::endl; sif::info << "X: " << angVelocX << std::endl;
sif::info << "Y: " << angVelocY << std::endl; sif::info << "Y: " << angVelocY << std::endl;
sif::info << "Z: " << angVelocZ << std::endl; sif::info << "Z: " << angVelocZ << std::endl;
#else #else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n");
sif::printInfo("X: %f\n", angVelocX); sif::printInfo("X: %f\n", angVelocX);
sif::printInfo("Y: %f\n", angVelocY); sif::printInfo("Y: %f\n", angVelocY);
sif::printInfo("Z: %f\n", angVelocZ); sif::printInfo("Z: %f\n", angVelocZ);
#endif #endif
}
} }
#endif
PoolReadGuard readSet(&dataset); PoolReadGuard readSet(&dataset);
if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim
this->absLimitY = limitY; this->absLimitY = limitY;
this->absLimitZ = limitZ; this->absLimitZ = limitZ;
} }
void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

8
hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h
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@ -5,7 +5,6 @@
#include <fsfw/globalfunctions/PeriodicOperationDivider.h> #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h" #include "devicedefinitions/GyroL3GD20Definitions.h"
#include "fsfw/FSFW.h"
/** /**
* @brief Device Handler for the L3GD20H gyroscope sensor * @brief Device Handler for the L3GD20H gyroscope sensor
@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs); uint32_t transitionDelayMs);
virtual ~GyroHandlerL3GD20H(); virtual ~GyroHandlerL3GD20H();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in degrees per second. * 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 * The dataset values will be marked as invalid if that limit is exceeded
@ -80,9 +81,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
// Set default value // Set default value
float sensitivity = L3GD20H::SENSITIVITY_00; float sensitivity = L3GD20H::SENSITIVITY_00;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider *debugDivider = nullptr; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

52
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp
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@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this), dataset(this),
transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
// Set to default values right away // Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
@ -264,7 +261,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
int16_t mgmMeasurementRawZ = int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX]; packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
/* Target value in microtesla */ // Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor * float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor * float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
@ -272,23 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor * float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if (periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Magnetic field strength in" sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" " microtesla:"
<< std::endl; << std::endl;
sif::info << "X: " << mgmX << " uT" << std::endl; sif::info << "X: " << mgmX << " uT" << std::endl;
sif::info << "Y: " << mgmY << " uT" << std::endl; sif::info << "Y: " << mgmY << " uT" << std::endl;
sif::info << "Z: " << mgmZ << " uT" << std::endl; sif::info << "Z: " << mgmZ << " uT" << std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", mgmX); sif::printInfo("X: %f uT\n", mgmX);
sif::printInfo("Y: %f uT\n", mgmY); sif::printInfo("Y: %f uT\n", mgmY);
sif::printInfo("Z: %f uT\n", mgmZ); sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
}
} }
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
PoolReadGuard readHelper(&dataset); PoolReadGuard readHelper(&dataset);
if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
if (std::abs(mgmX) < absLimitX) { if (std::abs(mgmX) < absLimitX) {
@ -318,15 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
case MGMLIS3MDL::READ_TEMPERATURE: { case MGMLIS3MDL::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1]; int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0); float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 if (periodicPrintout) {
if (debugDivider->check()) { if (debugDivider.check()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl;
#else #else
sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif #endif
}
} }
#endif
ReturnValue_t result = dataset.read(); ReturnValue_t result = dataset.read();
if (result == HasReturnvaluesIF::RETURN_OK) { if (result == HasReturnvaluesIF::RETURN_OK) {
dataset.temperature = tempValue; dataset.temperature = tempValue;
@ -462,7 +461,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
return RETURN_OK; return RETURN_OK;
} }
void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {} void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
DeviceHandlerBase::doTransition(modeFrom, subModeFrom);
}
uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; } uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
@ -482,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim
this->absLimitY = yLimit; this->absLimitY = yLimit;
this->absLimitZ = zLimit; this->absLimitZ = zLimit;
} }
void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

8
hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
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@ -3,8 +3,8 @@
#include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include "events/subsystemIdRanges.h" #include "events/subsystemIdRanges.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
class PeriodicOperationDivider; class PeriodicOperationDivider;
@ -30,6 +30,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmLIS3MDLHandler(); virtual ~MgmLIS3MDLHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will * 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 * be marked as invalid if that limit is exceeded
@ -167,9 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
*/ */
ReturnValue_t prepareCtrlRegisterWrite(); ReturnValue_t prepareCtrlRegisterWrite();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 bool periodicPrintout = false;
PeriodicOperationDivider *debugDivider; PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
#endif
}; };
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */

37
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp
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@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu
CookieIF *comCookie, uint32_t transitionDelay) CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this), primaryDataset(this),
transitionDelay(transitionDelay) { transitionDelay(transitionDelay) {}
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
debugDivider = new PeriodicOperationDivider(3);
#endif
}
MgmRM3100Handler::~MgmRM3100Handler() {} MgmRM3100Handler::~MgmRM3100Handler() {}
@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if FSFW_HAL_RM3100_MGM_DEBUG == 1 if (periodicPrintout) {
if (debugDivider->checkAndIncrement()) { if (debugDivider.checkAndIncrement()) {
#if FSFW_CPP_OSTREAM_ENABLED == 1 #if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "MgmRM3100Handler: Magnetic field strength in" sif::info << "MgmRM3100Handler: Magnetic field strength in"
" microtesla:" " microtesla:"
<< std::endl; << std::endl;
sif::info << "X: " << fieldStrengthX << " uT" << std::endl; sif::info << "X: " << fieldStrengthX << " uT" << std::endl;
sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; sif::info << "Y: " << fieldStrengthY << " uT" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl;
#else #else
sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n");
sif::printInfo("X: %f uT\n", fieldStrengthX); sif::printInfo("X: %f uT\n", fieldStrengthX);
sif::printInfo("Y: %f uT\n", fieldStrengthY); sif::printInfo("Y: %f uT\n", fieldStrengthY);
sif::printInfo("Z: %f uT\n", fieldStrengthZ); sif::printInfo("Z: %f uT\n", fieldStrengthZ);
#endif #endif
}
} }
#endif
// TODO: Sanity check on values? // TODO: Sanity check on values?
PoolReadGuard readGuard(&primaryDataset); PoolReadGuard readGuard(&primaryDataset);
@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) {
} }
return RETURN_OK; return RETURN_OK;
} }
void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}

11
hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h
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@ -2,12 +2,8 @@
#define MISSION_DEVICES_MGMRM3100HANDLER_H_ #define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MgmRM3100HandlerDefs.h" #include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include "fsfw/FSFW.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif
/** /**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase {
uint32_t transitionDelay); uint32_t transitionDelay);
virtual ~MgmRM3100Handler(); virtual ~MgmRM3100Handler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/** /**
* Configure device handler to go to normal mode after startup immediately * Configure device handler to go to normal mode after startup immediately
* @param enable * @param enable
@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase {
size_t commandDataLen); size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t *packet); ReturnValue_t handleDataReadout(const uint8_t *packet);
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
PeriodicOperationDivider *debugDivider; bool periodicPrintout = false;
#endif PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
}; };
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

12
src/fsfw/FSFW.h.in
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@ -57,16 +57,4 @@
#define FSFW_HAL_SPI_WIRETAPPING 0 #define FSFW_HAL_SPI_WIRETAPPING 0
#endif #endif
#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG
#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_ */ #endif /* FSFW_FSFW_H_ */