eive-obsw/mission/devices/GyrAdis1650XHandler.cpp

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#include "mission/devices/GyrAdis1650XHandler.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, adis1650x::Type type)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
adisType(type),
primaryDataset(this),
configDataset(this),
breakCountdown() {
adisRequest.type = adisType;
}
void GyrAdis1650XHandler::doStartUp() {
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if (internalState != InternalState::STARTUP) {
internalState = InternalState::STARTUP;
commandExecuted = false;
}
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// Initial 310 ms start up time after power-up
if (internalState == InternalState::STARTUP) {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(adis1650x::START_UP_TIME);
commandExecuted = true;
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
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internalState = InternalState::NONE;
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}
}
}
void GyrAdis1650XHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
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if (internalState == InternalState::SHUTDOWN and commandExecuted) {
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updatePeriodicReply(false, adis1650x::REPLY);
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internalState = InternalState::NONE;
commandExecuted = false;
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setMode(MODE_OFF);
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}
}
ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = adis1650x::REQUEST;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::STARTUP): {
*id = adis1650x::REQUEST;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
case (InternalState::SHUTDOWN): {
*id = adis1650x::REQUEST;
acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
request->mode = acs::SimpleSensorMode::OFF;
request->type = adisType;
return returnvalue::OK;
}
default: {
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return NOTHING_TO_SEND;
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}
}
return returnvalue::OK;
}
ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
void GyrAdis1650XHandler::fillCommandAndReplyMap() {
insertInCommandMap(adis1650x::REQUEST);
insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
}
ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
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if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or
getMode() == _MODE_POWER_DOWN) {
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return IGNORE_FULL_PACKET;
}
if (remainingSize != sizeof(acs::Adis1650XReply)) {
*foundLen = remainingSize;
return returnvalue::FAILED;
}
*foundId = adis1650x::REPLY;
*foundLen = remainingSize;
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if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
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return returnvalue::OK;
}
ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
using namespace adis1650x;
const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
switch (adisType) {
case (adis1650x::Type::ADIS16507): {
if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< reply->cfg.prodId << "for ADIS type 16507" << std::endl;
return returnvalue::FAILED;
}
break;
}
case (adis1650x::Type::ADIS16505): {
if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< reply->cfg.prodId << "for ADIS type 16505" << std::endl;
return returnvalue::FAILED;
}
break;
}
}
PoolReadGuard rg(&configDataset);
configDataset.setValidity(true, true);
configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
configDataset.rangMdl = reply->cfg.rangMdl;
configDataset.diagStatReg = reply->cfg.diagStat;
configDataset.filterSetting = reply->cfg.filterSetting;
configDataset.decRateReg = reply->cfg.decRateReg;
commandExecuted = true;
}
if (reply->dataWasSet) {
{
PoolReadGuard rg(&configDataset);
configDataset.diagStatReg = reply->cfg.diagStat;
}
auto sensitivity = reply->data.sensitivity;
auto accelSensitivity = reply->data.accelScaling;
PoolReadGuard pg(&primaryDataset);
primaryDataset.setValidity(true, true);
primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
// TODO: Check whether we need to divide by INT16_MAX
primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
}
return returnvalue::OK;
}
LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
return &primaryDataset;
} else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
return &configDataset;
}
return nullptr;
}
uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
uint8_t valueTwo) {
uint8_t secondReg = startReg + 1;
startReg |= adis1650x::WRITE_MASK;
secondReg |= adis1650x::WRITE_MASK;
cmdBuf[0] = startReg;
cmdBuf[1] = valueOne;
cmdBuf[2] = secondReg;
cmdBuf[3] = valueTwo;
this->rawPacketLen = 4;
this->rawPacket = cmdBuf.data();
}
ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
return returnvalue::OK;
}
adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
using namespace adis1650x;
configDataset.mscCtrlReg.read();
uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
configDataset.mscCtrlReg.commit();
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}
void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
adisRequest.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
rawPacketLen = sizeof(acs::Adis1650XRequest);
return returnvalue::OK;
}