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rework SUS polling
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This commit is contained in:
Robin Müller
2023-02-28 19:14:15 +01:00
parent 0fabe3adb6
commit 11f476878d
22 changed files with 281 additions and 112 deletions
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60
mission/devices/SusHandler.cpp
View File

@ -43,25 +43,25 @@ ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
break;
}
case (ComStates::WRITE_SETUP): {
*id = SUS::WRITE_SETUP;
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_CONVERSIONS): {
*id = SUS::READ_EXT_TIMED_CONVERSIONS;
*id = susMax1227::READ_EXT_TIMED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::START_INT_CLOCKED_CONVERSIONS): {
*id = SUS::START_INT_TIMED_CONVERSIONS;
*id = susMax1227::START_INT_TIMED_CONVERSIONS;
comState = ComStates::READ_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::READ_INT_CLOCKED_CONVERSIONS): {
*id = SUS::READ_INT_TIMED_CONVERSIONS;
*id = susMax1227::READ_INT_TIMED_CONVERSIONS;
comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_TEMP): {
*id = SUS::READ_EXT_TIMED_TEMPS;
*id = susMax1227::READ_EXT_TIMED_TEMPS;
return buildCommandFromCommand(*id, nullptr, 0);
}
}
@ -70,7 +70,7 @@ ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (comState == ComStates::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
@ -81,32 +81,32 @@ ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceComman
size_t commandDataLen) {
using namespace max1227;
switch (deviceCommand) {
case (SUS::WRITE_SETUP): {
case (susMax1227::WRITE_SETUP): {
if (clkMode == ClkModes::INT_CLOCKED) {
cmdBuffer[0] = SUS::SETUP_INT_CLOKED;
cmdBuffer[0] = susMax1227::SETUP_INT_CLOKED;
} else {
cmdBuffer[0] = SUS::SETUP_EXT_CLOCKED;
cmdBuffer[0] = susMax1227::SETUP_EXT_CLOCKED;
}
rawPacket = cmdBuffer;
rawPacketLen = 1;
break;
}
case (SUS::START_INT_TIMED_CONVERSIONS): {
case (susMax1227::START_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = max1227::buildResetByte(true);
cmdBuffer[1] = SUS::CONVERSION;
cmdBuffer[1] = susMax1227::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
break;
}
case (SUS::READ_INT_TIMED_CONVERSIONS): {
case (susMax1227::READ_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = SUS::SIZE_READ_INT_CONVERSIONS;
rawPacketLen = susMax1227::SIZE_READ_INT_CONVERSIONS;
break;
}
case (SUS::READ_EXT_TIMED_CONVERSIONS): {
case (susMax1227::READ_EXT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
for (uint8_t idx = 0; idx < 6; idx++) {
@ -114,10 +114,10 @@ ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceComman
cmdBuffer[idx * 2 + 1] = 0;
}
cmdBuffer[12] = 0x00;
rawPacketLen = SUS::SIZE_READ_EXT_CONVERSIONS;
rawPacketLen = susMax1227::SIZE_READ_EXT_CONVERSIONS;
break;
}
case (SUS::READ_EXT_TIMED_TEMPS): {
case (susMax1227::READ_EXT_TIMED_TEMPS): {
cmdBuffer[0] = buildConvByte(ScanModes::N_ONCE, 0, true);
std::memset(cmdBuffer + 1, 0, 24);
rawPacket = cmdBuffer;
@ -131,13 +131,13 @@ ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceComman
}
void SusHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(SUS::WRITE_SETUP, 1);
insertInCommandAndReplyMap(SUS::START_INT_TIMED_CONVERSIONS, 1);
insertInCommandAndReplyMap(SUS::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
SUS::SIZE_READ_INT_CONVERSIONS);
insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
SUS::SIZE_READ_EXT_CONVERSIONS);
insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_TEMPS, 1);
insertInCommandAndReplyMap(susMax1227::WRITE_SETUP, 1);
insertInCommandAndReplyMap(susMax1227::START_INT_TIMED_CONVERSIONS, 1);
insertInCommandAndReplyMap(susMax1227::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_INT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_EXT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_TEMPS, 1);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@ -149,16 +149,16 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSiz
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case SUS::WRITE_SETUP: {
case susMax1227::WRITE_SETUP: {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
return returnvalue::OK;
}
case SUS::START_INT_TIMED_CONVERSIONS: {
case susMax1227::START_INT_TIMED_CONVERSIONS: {
return returnvalue::OK;
}
case SUS::READ_INT_TIMED_CONVERSIONS: {
case susMax1227::READ_INT_TIMED_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = max1227::getTemperature(((packet[0] & 0x0f) << 8) | packet[1]);
for (uint8_t idx = 0; idx < 6; idx++) {
@ -168,7 +168,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
printDataset();
break;
}
case (SUS::READ_EXT_TIMED_CONVERSIONS): {
case (susMax1227::READ_EXT_TIMED_CONVERSIONS): {
PoolReadGuard readSet(&dataset);
for (uint8_t idx = 0; idx < 6; idx++) {
dataset.channels[idx] = packet[idx * 2 + 1] << 8 | packet[idx * 2 + 2];
@ -181,7 +181,7 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8
printDataset();
break;
}
case (SUS::READ_EXT_TIMED_TEMPS): {
case (susMax1227::READ_EXT_TIMED_TEMPS): {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = max1227::getTemperature(((packet[23] & 0x0f) << 8) | packet[24]);
dataset.temperatureCelcius.setValid(true);
@ -200,8 +200,8 @@ uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { retu
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, &tempC);
localDataPoolMap.emplace(SUS::CHANNEL_VEC, &channelVec);
localDataPoolMap.emplace(susMax1227::TEMPERATURE_C, &tempC);
localDataPoolMap.emplace(susMax1227::CHANNEL_VEC, &channelVec);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(dataset.getSid(), false, 5.0));
return returnvalue::OK;

6
mission/devices/SusHandler.h
View File

@ -2,8 +2,8 @@
#define MISSION_DEVICES_SUSHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include "devicedefinitions/SusDefinitions.h"
#include "events/subsystemIdRanges.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/max1227.h"
@ -71,7 +71,7 @@ class SusHandler : public DeviceHandlerBase {
bool goToNormalModeImmediately = false;
bool commandExecuted = false;
SUS::SusDataset dataset;
susMax1227::SusDataset dataset;
// Read temperature in each alternating communication step when using
// externally clocked mode
ClkModes clkMode = ClkModes::INT_CLOCKED;
@ -79,7 +79,7 @@ class SusHandler : public DeviceHandlerBase {
PoolEntry<uint16_t> channelVec = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0});
uint8_t susIdx = 0;
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
uint8_t cmdBuffer[susMax1227::MAX_CMD_SIZE];
ComStates comState = ComStates::IDLE;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;

10
mission/devices/devicedefinitions/acsPolling.h
View File

@ -76,6 +76,16 @@ struct MgmLis3Reply {
int16_t temperatureRaw = thermal::INVALID_TEMPERATURE;
};
struct SusRequest {
SimpleSensorMode mode = SimpleSensorMode::OFF;
};
struct SusReply {
bool dataWasSet = false;
uint16_t tempRaw = 0;
uint16_t channelsRaw[6]{};
};
} // namespace acs
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_ */

4
mission/devices/devicedefinitions/SusDefinitions.h → mission/devices/devicedefinitions/susMax1227Helpers.h
View File

@ -6,7 +6,7 @@
#include <cstdint>
namespace SUS {
namespace susMax1227 {
static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
@ -72,6 +72,6 @@ class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
lp_vec_t<uint16_t, 6> channels = lp_vec_t<uint16_t, 6>(sid.objectId, CHANNEL_VEC, this);
};
} // namespace SUS
} // namespace susMax1227
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SUS_H_ */