diff --git a/CHANGELOG.md b/CHANGELOG.md index 82b6443c..55a1a84f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -22,6 +22,14 @@ list yields a list of all related PRs for each release. - Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC - Syrlinks module now always included for both EM and FM +## Fixed + +- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL` + register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the + previous range setting was wrong. Also fixed a small error properly set internal state + on shut-down. + PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342 + # [v1.19.0] 10.01.2023 ## Changed diff --git a/bsp_q7s/obsw.cpp b/bsp_q7s/obsw.cpp index dd0c486b..91bad041 100644 --- a/bsp_q7s/obsw.cpp +++ b/bsp_q7s/obsw.cpp @@ -1,13 +1,13 @@ #include "obsw.h" +#include +#include +#include + #include #include #include -#include -#include -#include - #include "OBSWConfig.h" #include "commonConfig.h" #include "core/scheduling.h" @@ -44,8 +44,8 @@ int obsw::obsw() { const char* homedir = nullptr; homedir = getenv("HOME"); - if(homedir == nullptr) { - homedir = getpwuid(getuid())->pw_dir; + if (homedir == nullptr) { + homedir = getpwuid(getuid())->pw_dir; } std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt"; // Init delay handling. diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index 2f1e5360..135981b6 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 240 translations. * @details - * Generated on: 2023-01-18 14:34:15 + * Generated on: 2023-01-18 16:08:56 */ #include "translateEvents.h" diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 7593d8cc..4d0f5c1f 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 150 translations. - * Generated on: 2023-01-18 14:34:15 + * Generated on: 2023-01-18 16:08:56 */ #include "translateObjects.h" diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index 2f1e5360..135981b6 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** * @brief Auto-generated event translation file. Contains 240 translations. * @details - * Generated on: 2023-01-18 14:34:15 + * Generated on: 2023-01-18 16:08:56 */ #include "translateEvents.h" diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 7593d8cc..4d0f5c1f 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -2,7 +2,7 @@ * @brief Auto-generated object translation file. * @details * Contains 150 translations. - * Generated on: 2023-01-18 14:34:15 + * Generated on: 2023-01-18 16:08:56 */ #include "translateObjects.h" diff --git a/mission/devices/GyroADIS1650XHandler.cpp b/mission/devices/GyroADIS1650XHandler.cpp index 79e529b6..5b59d7f6 100644 --- a/mission/devices/GyroADIS1650XHandler.cpp +++ b/mission/devices/GyroADIS1650XHandler.cpp @@ -63,6 +63,7 @@ void GyroADIS1650XHandler::doStartUp() { void GyroADIS1650XHandler::doShutDown() { commandExecuted = false; + internalState = InternalState::STARTUP; setMode(_MODE_POWER_DOWN); } @@ -99,12 +100,13 @@ ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t de switch (deviceCommand) { case (ADIS1650X::READ_OUT_CONFIG): { this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE; - uint8_t regList[5] = {}; + uint8_t regList[6] = {}; regList[0] = ADIS1650X::DIAG_STAT_REG; regList[1] = ADIS1650X::FILTER_CTRL_REG; - regList[2] = ADIS1650X::MSC_CTRL_REG; - regList[3] = ADIS1650X::DEC_RATE_REG; - regList[4] = ADIS1650X::PROD_ID_REG; + regList[2] = ADIS1650X::RANG_MDL_REG; + regList[3] = ADIS1650X::MSC_CTRL_REG; + regList[4] = ADIS1650X::DEC_RATE_REG; + regList[5] = ADIS1650X::PROD_ID_REG; prepareReadCommand(regList, sizeof(regList)); this->rawPacket = commandBuffer.data(); break; @@ -203,9 +205,10 @@ ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t re ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { + using namespace ADIS1650X; switch (id) { case (ADIS1650X::READ_OUT_CONFIG): { - uint16_t readProdId = packet[10] << 8 | packet[11]; + uint16_t readProdId = packet[12] << 8 | packet[13]; if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or ((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) { #if OBSW_VERBOSE_LEVEL >= 1 @@ -220,8 +223,32 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id, PoolReadGuard rg(&configDataset); configDataset.diagStatReg.value = packet[2] << 8 | packet[3]; configDataset.filterSetting.value = packet[4] << 8 | packet[5]; - configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7]; - configDataset.decRateReg.value = packet[8] << 8 | packet[9]; + uint16_t rangMdlRaw = packet[6] << 8 | packet[7]; + ADIS1650X::RangMdlBitfield bitfield = + static_cast((rangMdlRaw >> 2) & 0b11); + switch (bitfield) { + case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): { + rangeMultiplicator = RANGE_1BMLZ; + break; + } + case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): { + rangeMultiplicator = RANGE_2BMLZ; + break; + } + case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): { + rangeMultiplicator = RANGE_3BMLZ; + break; + } + case (RangMdlBitfield::RESERVED): { +#if FSFW_CPP_OSTREAM_ENABLED == 1 + sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl; +#endif + break; + } + } + configDataset.rangMdl.value = rangMdlRaw; + configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9]; + configDataset.decRateReg.value = packet[10] << 8 | packet[11]; configDataset.setValidity(true, true); if (internalState == InternalState::CONFIG) { commandExecuted = true; @@ -272,13 +299,13 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) { PoolReadGuard pg(&primaryDataset); int16_t angVelocXRaw = packet[4] << 8 | packet[5]; primaryDataset.angVelocX.value = - static_cast(angVelocXRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE; + static_cast(angVelocXRaw) / static_cast(INT16_MAX) * rangeMultiplicator; int16_t angVelocYRaw = packet[6] << 8 | packet[7]; primaryDataset.angVelocY.value = - static_cast(angVelocYRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE; + static_cast(angVelocYRaw) / static_cast(INT16_MAX) * rangeMultiplicator; int16_t angVelocZRaw = packet[8] << 8 | packet[9]; primaryDataset.angVelocZ.value = - static_cast(angVelocZRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE; + static_cast(angVelocZRaw) / static_cast(INT16_MAX) * rangeMultiplicator; float accelScaling = 0; if (adisType == ADIS1650X::Type::ADIS16507) { diff --git a/mission/devices/GyroADIS1650XHandler.h b/mission/devices/GyroADIS1650XHandler.h index 9ad56206..f664407c 100644 --- a/mission/devices/GyroADIS1650XHandler.h +++ b/mission/devices/GyroADIS1650XHandler.h @@ -46,6 +46,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase { ADIS1650X::Type adisType; AdisGyroPrimaryDataset primaryDataset; AdisGyroConfigDataset configDataset; + double rangeMultiplicator = ADIS1650X::RANGE_UNSET; + bool goToNormalMode = false; bool warningSwitch = true; diff --git a/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h index 5932b756..fb9e4d44 100644 --- a/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h +++ b/mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h @@ -13,7 +13,19 @@ enum class Type { ADIS16505, ADIS16507 }; static constexpr size_t MAXIMUM_REPLY_SIZE = 64; static constexpr uint8_t WRITE_MASK = 0b1000'0000; -static constexpr uint32_t GYRO_RANGE = 125; +// Ranges in deg / s +static constexpr double RANGE_UNSET = 0.0; +static constexpr double RANGE_1BMLZ = 125.0; +static constexpr double RANGE_2BMLZ = 500.0; +static constexpr double RANGE_3BMLZ = 2000.0; + +enum RangMdlBitfield { + RANGE_125_1BMLZ = 0b00, + RANGE_500_2BMLZ = 0b01, + RESERVED = 0b10, + RANGE_2000_3BMLZ = 0b11 +}; + static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392; static constexpr float ACCELEROMETER_RANGE_16505 = 78.4; @@ -33,6 +45,7 @@ static constexpr dur_millis_t SELF_TEST_BREAK = 24; static constexpr uint8_t DIAG_STAT_REG = 0x02; static constexpr uint8_t FILTER_CTRL_REG = 0x5c; +static constexpr uint8_t RANG_MDL_REG = 0x5e; static constexpr uint8_t MSC_CTRL_REG = 0x60; static constexpr uint8_t DEC_RATE_REG = 0x64; static constexpr uint8_t GLOB_CMD = 0x68; @@ -54,7 +67,7 @@ static constexpr uint16_t BURST_SEL_BIT = 1 << 8; static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7; static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6; -static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2; +static constexpr size_t CONFIG_READOUT_SIZE = 12 + 2; static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2; static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA; @@ -78,6 +91,7 @@ enum PrimaryPoolIds : lp_id_t { TEMPERATURE, DIAG_STAT_REGISTER, FILTER_SETTINGS, + RANG_MDL, MSC_CTRL_REGISTER, DEC_RATE_REGISTER, }; @@ -130,6 +144,7 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> { lp_var_t diagStatReg = lp_var_t(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER); lp_var_t filterSetting = lp_var_t(sid.objectId, ADIS1650X::FILTER_SETTINGS); + lp_var_t rangMdl = lp_var_t(sid.objectId, ADIS1650X::RANG_MDL); lp_var_t mscCtrlReg = lp_var_t(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER); lp_var_t decRateReg = lp_var_t(sid.objectId, ADIS1650X::DEC_RATE_REGISTER); diff --git a/tmtc b/tmtc index 43e6f0ce..118b4392 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 43e6f0cefa2fd5dfe1f885ca9b818e1486dda568 +Subproject commit 118b439272a1f541a0ba9ba5a2ffd992190d7ea7