eive-obsw/mission/devices/RadiationSensorHandler.cpp

240 lines
8.8 KiB
C++
Raw Normal View History

2022-01-17 15:58:27 +01:00
#include <OBSWConfig.h>
2022-02-24 11:47:32 +01:00
#include <devices/gpioIds.h>
2021-05-02 13:48:39 +02:00
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/RadiationSensorHandler.h>
2022-12-21 14:11:31 +01:00
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/max1227.h>
2021-05-02 13:48:39 +02:00
RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF,
2022-12-21 14:11:31 +01:00
CookieIF *comCookie, GpioIF *gpioIF,
2022-12-22 11:00:04 +01:00
Stack5VHandler &stackHandler)
: DeviceHandlerBase(objectId, comIF, comCookie),
dataset(this),
gpioIF(gpioIF),
stackHandler(stackHandler) {
2022-02-24 11:47:32 +01:00
if (comCookie == nullptr) {
2022-01-17 15:58:27 +01:00
sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
}
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
RadiationSensorHandler::~RadiationSensorHandler() {}
2021-05-02 13:48:39 +02:00
2022-01-17 15:58:27 +01:00
void RadiationSensorHandler::doStartUp() {
2022-12-22 11:00:04 +01:00
if (internalState == InternalState::OFF) {
ReturnValue_t retval = stackHandler.deviceToOn(StackCommander::RAD_SENSOR);
if (retval == BUSY) {
return;
}
internalState = InternalState::POWER_SWITCHING;
}
if (internalState == InternalState::POWER_SWITCHING) {
if (stackHandler.isSwitchOn()) {
2022-12-22 16:18:30 +01:00
internalState = InternalState::SETUP;
2022-12-22 11:00:04 +01:00
}
}
2022-01-17 15:58:27 +01:00
if (internalState == InternalState::CONFIGURED) {
2022-02-22 20:20:14 +01:00
if (goToNormalMode) {
setMode(MODE_NORMAL);
2022-12-22 11:00:04 +01:00
} else {
2022-02-22 20:20:14 +01:00
setMode(_MODE_TO_ON);
}
2022-01-17 15:58:27 +01:00
}
2021-05-02 13:48:39 +02:00
}
void RadiationSensorHandler::doShutDown() {
ReturnValue_t retval = stackHandler.deviceToOff(StackCommander::RAD_SENSOR);
if (retval == BUSY) {
return;
}
internalState = InternalState::OFF;
setMode(_MODE_POWER_DOWN);
}
2021-05-03 12:49:14 +02:00
2022-01-17 15:58:27 +01:00
ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
switch (communicationStep) {
2021-05-03 12:49:14 +02:00
case CommunicationStep::START_CONVERSION: {
2022-01-17 15:58:27 +01:00
*id = RAD_SENSOR::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
2021-05-03 12:05:19 +02:00
}
case CommunicationStep::READ_CONVERSIONS: {
2022-01-17 15:58:27 +01:00
*id = RAD_SENSOR::READ_CONVERSIONS;
communicationStep = CommunicationStep::START_CONVERSION;
break;
2021-05-03 12:05:19 +02:00
}
default: {
2022-01-17 15:58:27 +01:00
sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknown communication "
<< "step" << std::endl;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2021-05-03 12:05:19 +02:00
}
2022-01-17 15:58:27 +01:00
}
return buildCommandFromCommand(*id, nullptr, 0);
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (internalState == InternalState::SETUP) {
*id = RAD_SENSOR::WRITE_SETUP;
} else {
return NOTHING_TO_SEND;
}
return buildCommandFromCommand(*id, nullptr, 0);
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (RAD_SENSOR::WRITE_SETUP): {
cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION;
rawPacket = cmdBuffer;
rawPacketLen = 1;
internalState = InternalState::CONFIGURED;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2022-01-17 15:58:27 +01:00
}
case (RAD_SENSOR::START_CONVERSION): {
2022-02-24 11:55:06 +01:00
ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
2022-08-24 17:27:47 +02:00
if (result != returnvalue::OK) {
2022-02-24 11:55:06 +01:00
#if OBSW_VERBOSE_LEVEL >= 1
2022-12-21 14:11:31 +01:00
sif::warning
<< "RadiationSensorHandler::buildCommandFromCommand: Pulling RADFET Enable pin "
"high failed"
<< std::endl;
2022-02-24 11:55:06 +01:00
#endif
}
2022-01-17 15:58:27 +01:00
/* First the fifo will be reset here */
cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2022-01-17 15:58:27 +01:00
}
case (RAD_SENSOR::READ_CONVERSIONS): {
cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE;
std::memset(cmdBuffer, RAD_SENSOR::DUMMY_BYTE, RAD_SENSOR::READ_SIZE);
rawPacket = cmdBuffer;
rawPacketLen = RAD_SENSOR::READ_SIZE;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2022-01-17 15:58:27 +01:00
}
2022-03-30 18:11:21 +02:00
case RAD_SENSOR::ENABLE_DEBUG_OUTPUT: {
2022-04-04 13:40:45 +02:00
printPeriodicData = true;
rawPacketLen = 0;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2022-04-04 13:40:45 +02:00
}
case RAD_SENSOR::DISABLE_DEBUG_OUTPUT: {
rawPacketLen = 0;
printPeriodicData = false;
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2022-04-04 13:40:45 +02:00
}
2021-05-03 12:49:14 +02:00
default:
2022-01-17 15:58:27 +01:00
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
2022-08-24 17:27:47 +02:00
return returnvalue::FAILED;
2021-05-02 13:48:39 +02:00
}
void RadiationSensorHandler::fillCommandAndReplyMap() {
2022-01-17 15:58:27 +01:00
this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP);
this->insertInCommandMap(RAD_SENSOR::START_CONVERSION);
2022-03-30 18:11:21 +02:00
this->insertInCommandMap(RAD_SENSOR::ENABLE_DEBUG_OUTPUT);
this->insertInCommandMap(RAD_SENSOR::DISABLE_DEBUG_OUTPUT);
2022-01-17 15:58:27 +01:00
this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset,
RAD_SENSOR::READ_SIZE);
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
2021-07-01 17:27:51 +02:00
2022-01-17 15:58:27 +01:00
switch (*foundId) {
2021-07-01 17:27:51 +02:00
case RAD_SENSOR::START_CONVERSION:
case RAD_SENSOR::WRITE_SETUP:
2022-04-04 13:40:45 +02:00
*foundLen = remainingSize;
2022-01-17 15:58:27 +01:00
return IGNORE_REPLY_DATA;
2022-02-24 11:47:32 +01:00
case RAD_SENSOR::READ_CONVERSIONS: {
2022-02-24 11:55:06 +01:00
ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
2022-08-24 17:27:47 +02:00
if (result != returnvalue::OK) {
2022-02-24 11:55:06 +01:00
#if OBSW_VERBOSE_LEVEL >= 1
2022-03-30 18:11:21 +02:00
sif::warning << "RadiationSensorHandler::scanForReply; Pulling RADFET Enale pin "
2022-02-24 11:55:06 +01:00
"low failed"
<< std::endl;
#endif
}
2022-02-24 11:47:32 +01:00
break;
}
2022-03-30 18:11:21 +02:00
case RAD_SENSOR::ENABLE_DEBUG_OUTPUT:
case RAD_SENSOR::DISABLE_DEBUG_OUTPUT:
2022-04-04 13:40:45 +02:00
sif::info << "RadiationSensorHandler::scanForReply: " << remainingSize << std::endl;
break;
2021-07-01 17:27:51 +02:00
default:
2022-01-17 15:58:27 +01:00
break;
}
2021-07-01 17:27:51 +02:00
2022-01-17 15:58:27 +01:00
*foundLen = remainingSize;
2021-07-01 17:27:51 +02:00
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2021-05-02 13:48:39 +02:00
}
ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
2022-01-17 15:58:27 +01:00
const uint8_t *packet) {
switch (id) {
2021-05-03 12:49:14 +02:00
case RAD_SENSOR::READ_CONVERSIONS: {
2022-01-17 15:58:27 +01:00
uint8_t offset = 0;
PoolReadGuard readSet(&dataset);
uint16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
dataset.temperatureCelcius = max1227::getTemperature(tempRaw);
2022-01-17 15:58:27 +01:00
offset += 2;
2022-05-23 18:40:17 +02:00
dataset.ain0 = (*(packet + offset) << 8) | *(packet + offset + 1);
2022-01-17 15:58:27 +01:00
offset += 2;
2022-05-23 18:40:17 +02:00
dataset.ain1 = (*(packet + offset) << 8) | *(packet + offset + 1);
2022-01-17 15:58:27 +01:00
offset += 6;
2022-05-23 18:40:17 +02:00
dataset.ain4 = (*(packet + offset) << 8) | *(packet + offset + 1);
2022-01-17 15:58:27 +01:00
offset += 2;
2022-05-23 18:40:17 +02:00
dataset.ain5 = (*(packet + offset) << 8) | *(packet + offset + 1);
2022-01-17 15:58:27 +01:00
offset += 2;
2022-05-23 18:40:17 +02:00
dataset.ain6 = (*(packet + offset) << 8) | *(packet + offset + 1);
2022-01-17 15:58:27 +01:00
offset += 2;
2022-05-23 18:40:17 +02:00
dataset.ain7 = (*(packet + offset) << 8) | *(packet + offset + 1);
dataset.setValidity(true, true);
2022-03-17 10:48:35 +01:00
if (printPeriodicData) {
sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
<< std::dec << std::endl;
sif::info << "Radiation sensor ADC value channel 0: " << dataset.ain0 << std::endl;
sif::info << "Radiation sensor ADC value channel 1: " << dataset.ain1 << std::endl;
sif::info << "Radiation sensor ADC value channel 4: " << dataset.ain4 << std::endl;
sif::info << "Radiation sensor ADC value channel 5: " << dataset.ain5 << std::endl;
sif::info << "Radiation sensor ADC value channel 6: " << dataset.ain6 << std::endl;
sif::info << "Radiation sensor ADC value channel 7: " << dataset.ain7 << std::endl;
}
2022-01-17 15:58:27 +01:00
break;
2021-05-03 12:49:14 +02:00
}
default: {
2022-01-17 15:58:27 +01:00
sif::debug << "RadiationSensorHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
2021-05-03 12:49:14 +02:00
}
2022-01-17 15:58:27 +01:00
}
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
2021-05-02 13:48:39 +02:00
}
2022-01-17 15:58:27 +01:00
ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RAD_SENSOR::TEMPERATURE_C, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN5, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN6, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>({0}));
2022-08-15 11:57:57 +02:00
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 20.0));
2022-08-24 17:27:47 +02:00
return returnvalue::OK;
2021-05-02 13:48:39 +02:00
}
2022-02-22 20:20:14 +01:00
void RadiationSensorHandler::setToGoToNormalModeImmediately() { this->goToNormalMode = true; }
2022-03-17 10:48:35 +01:00
void RadiationSensorHandler::enablePeriodicDataPrint(bool enable) {
this->printPeriodicData = enable;
}