rework SUS polling

2023-02-28 19:14:15 +01:00
parent 0fabe3adb6
commit 11f476878d
22 changed files with 281 additions and 112 deletions
--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -78,15 +78,16 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
  SusFdir* fdir = nullptr;
  std::array<SusHandler*, 12> susHandlers = {};
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
-                                       spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  SpiCookie* spiCookie =
+      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, susMax1227::MAX_CMD_SIZE,
+                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[0] =
      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  susHandlers[0]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[1] =
@ -94,7 +95,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  susHandlers[1]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[2] =
@ -102,7 +103,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
  susHandlers[2]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[3] =
@ -110,7 +111,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
  susHandlers[3]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[4] =
@ -118,7 +119,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
  susHandlers[4]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[5] =
@ -126,7 +127,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  susHandlers[5]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[6] =
@ -134,7 +135,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
  susHandlers[6]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[7] =
@ -142,7 +143,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
  susHandlers[7]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[8] =
@ -150,7 +151,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
  susHandlers[8]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[9] =
@ -158,7 +159,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  susHandlers[9]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[10] =
@ -166,7 +167,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
  fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  susHandlers[10]->setCustomFdir(fdir);

-  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, SUS::MAX_CMD_SIZE,
+  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, susMax1227::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
  susHandlers[11] =
--- a/linux/devices/AcsBoardPolling.h
+++ b/linux/devices/AcsBoardPolling.h
@ -24,7 +24,6 @@ class AcsBoardPolling : public SystemObject,
  MutexIF* ipcLock;
  SemaphoreIF* semaphore;
  std::array<uint8_t, 32> cmdBuf;
-  std::array<uint8_t, 32> replyBuf;

  struct DevBase {
    SpiCookie* cookie = nullptr;
--- a/linux/devices/CMakeLists.txt
+++ b/linux/devices/CMakeLists.txt
@ -7,6 +7,7 @@ target_sources(
  PRIVATE Max31865RtdPolling.cpp
          ScexUartReader.cpp
          ImtqPollingTask.cpp
+          SusPolling.cpp
          ScexDleParser.cpp
          ScexHelper.cpp
          RwPollingTask.cpp
--- a/linux/devices/SusPolling.cpp
+++ b/linux/devices/SusPolling.cpp
@ -0,0 +1,109 @@
+#include "SusPolling.h"
+
+#include <fsfw/tasks/SemaphoreFactory.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+
+using namespace returnvalue;
+
+SusPolling::SusPolling(object_id_t objectId, SpiComIF& spiComIF, GpioIF& gpioIF)
+    : SystemObject(objectId), spiComIF(spiComIF), gpioIF(gpioIF) {
+  semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
+  semaphore->acquire();
+  ipcLock = MutexFactory::instance()->createMutex();
+}
+
+ReturnValue_t SusPolling::performOperation(uint8_t operationCode) {
+  while (true) {
+    ipcLock->lockMutex();
+    state = InternalState::IDLE;
+    ipcLock->unlockMutex();
+    semaphore->acquire();
+    // TODO: Perform SUS polling here.
+  }
+  return OK;
+}
+
+ReturnValue_t SusPolling::initialize() { return OK; }
+
+ReturnValue_t SusPolling::initializeInterface(CookieIF* cookie) {
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return FAILED;
+  }
+  int susIdx = addressToIndex(spiCookie->getSpiAddress());
+  if (susIdx < 0) {
+    return FAILED;
+  }
+  susDevs[susIdx].cookie = spiCookie;
+  return spiComIF.initializeInterface(cookie);
+}
+
+ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) {
+  auto* spiCookie = dynamic_cast<SpiCookie*>(cookie);
+  if (spiCookie == nullptr) {
+    return FAILED;
+  }
+  int susIdx = addressToIndex(spiCookie->getSpiAddress());
+  if (susIdx < 0) {
+    return FAILED;
+  }
+  if (sendLen != sizeof(acs::SusRequest)) {
+    return FAILED;
+  }
+  const auto* susReq = reinterpret_cast<const acs::SusRequest*>(sendData);
+  if (susDevs[susIdx].mode != susReq->mode) {
+  }
+  return OK;
+}
+
+ReturnValue_t SusPolling::getSendSuccess(CookieIF* cookie) { return OK; }
+
+ReturnValue_t SusPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) { return OK; }
+
+ReturnValue_t SusPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
+  return OK;
+}
+
+int SusPolling::addressToIndex(address_t addr) {
+  switch (addr) {
+    case (addresses::SUS_0):
+      return 0;
+      break;
+    case (addresses::SUS_1):
+      return 1;
+      break;
+    case (addresses::SUS_2):
+      return 2;
+      break;
+    case (addresses::SUS_3):
+      return 3;
+      break;
+    case (addresses::SUS_4):
+      return 4;
+      break;
+    case (addresses::SUS_5):
+      return 5;
+      break;
+    case (addresses::SUS_6):
+      return 6;
+      break;
+    case (addresses::SUS_7):
+      return 7;
+      break;
+    case (addresses::SUS_8):
+      return 8;
+      break;
+    case (addresses::SUS_9):
+      return 9;
+      break;
+    case (addresses::SUS_10):
+      return 10;
+      break;
+    case (addresses::SUS_11):
+      return 11;
+      break;
+    default: {
+      return -1;
+    }
+  }
+}
--- a/linux/devices/SusPolling.h
+++ b/linux/devices/SusPolling.h
@ -0,0 +1,50 @@
+#ifndef LINUX_DEVICES_SUSPOLLING_H_
+#define LINUX_DEVICES_SUSPOLLING_H_
+
+#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
+#include <fsfw/objectmanager/SystemObject.h>
+#include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/tasks/SemaphoreIF.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+
+#include "devices/addresses.h"
+#include "mission/devices/devicedefinitions/acsPolling.h"
+
+class SusPolling : public SystemObject, public ExecutableObjectIF, public DeviceCommunicationIF {
+ public:
+  SusPolling(object_id_t objectId, SpiComIF& spiComIF, GpioIF& gpioIF);
+
+  ReturnValue_t performOperation(uint8_t operationCode) override;
+  ReturnValue_t initialize() override;
+
+ private:
+  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
+
+  struct SusDev {
+    SpiCookie* cookie = nullptr;
+    bool performStartup = false;
+    acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+    ReturnValue_t replyResult = returnvalue::OK;
+    acs::SusReply ownReply{};
+    acs::SusReply readerReply{};
+  };
+
+  MutexIF* ipcLock;
+  SemaphoreIF* semaphore;
+  uint8_t* rawReply = nullptr;
+  size_t dummy = 0;
+  SpiComIF& spiComIF;
+  GpioIF& gpioIF;
+
+  std::array<SusDev, 12> susDevs;
+
+  ReturnValue_t initializeInterface(CookieIF* cookie) override;
+  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
+  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
+  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
+  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
+
+  static int addressToIndex(address_t addr);
+};
+
+#endif /* LINUX_DEVICES_SUSPOLLING_H_ */
--- a/linux/fsfwconfig/returnvalues/classIds.h
+++ b/linux/fsfwconfig/returnvalues/classIds.h
@ -13,8 +13,8 @@
 namespace CLASS_ID {
 enum {
  CLASS_ID_START = COMMON_CLASS_ID_END,
-  SCRATCH_BUFFER,       // SCBU
-  CLASS_ID_END          // [EXPORT] : [END]
+  SCRATCH_BUFFER,  // SCBU
+  CLASS_ID_END     // [EXPORT] : [END]
 };
 }

--- a/linux/ipcore/PdecHandler.cpp
+++ b/linux/ipcore/PdecHandler.cpp
@ -164,8 +164,8 @@ ReturnValue_t PdecHandler::polledOperation() {

 // See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
 ReturnValue_t PdecHandler::irqOperation() {
-	ReturnValue_t result = returnvalue::OK;
-	int fd = -1;
+  ReturnValue_t result = returnvalue::OK;
+  int fd = -1;
  // Used to unmask IRQ
  uint32_t info = 1;

@ -183,7 +183,7 @@ ReturnValue_t PdecHandler::irqOperation() {
      case State::INIT: {
        result = handleInitState();
        if (result == returnvalue::OK) {
-        	openIrqFile(&fd);
+          openIrqFile(&fd);
        }
        break;
      }
@ -196,7 +196,7 @@ ReturnValue_t PdecHandler::irqOperation() {
        break;
      }
      case State::RUNNING: {
-      	checkLocks();
+        checkLocks();
        checkAndHandleIrqs(fd, info);
        break;
      }
@ -238,13 +238,13 @@ ReturnValue_t PdecHandler::handleInitState() {
 }

 void PdecHandler::openIrqFile(int* fd) {
-	*fd = open(uioNames.irq, O_RDWR);
-	if (*fd < 0) {
-		sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
-							 << std::endl;
-		triggerEvent(OPEN_IRQ_FILE_FAILED);
-		state = State::WAIT_FOR_RECOVERY;
-	}
+  *fd = open(uioNames.irq, O_RDWR);
+  if (*fd < 0) {
+    sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
+               << std::endl;
+    triggerEvent(OPEN_IRQ_FILE_FAILED);
+    state = State::WAIT_FOR_RECOVERY;
+  }
 }

 ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
--- a/linux/ipcore/PdecHandler.h
+++ b/linux/ipcore/PdecHandler.h
@ -105,8 +105,7 @@ class PdecHandler : public SystemObject,
  //! [EXPORT] : [COMMENT] Failed to pull PDEC reset to low
  static constexpr Event PDEC_RESET_FAILED = event::makeEvent(SUBSYSTEM_ID, 10, severity::HIGH);
  //! [EXPORT] : [COMMENT] Failed to open the IRQ uio file
-  static constexpr Event OPEN_IRQ_FILE_FAILED =
-      event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);
+  static constexpr Event OPEN_IRQ_FILE_FAILED = event::makeEvent(SUBSYSTEM_ID, 11, severity::HIGH);

 private:
  static const uint8_t INTERFACE_ID = CLASS_ID::PDEC_HANDLER;