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working SUS in externally clocked mode

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This commit is contained in:
Jakob Meier
2021-05-09 16:48:55 +02:00
parent 906c813e4c
commit 189bdb7c90
6 changed files with 170 additions and 129 deletions
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168
mission/devices/SusHandler.cpp
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@ -9,6 +9,9 @@ SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCo
if (comCookie == NULL) {
sif::error << "SusHandler: Invalid com cookie" << std::endl;
}
if (gpioComIF == NULL) {
sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
}
}
SusHandler::~SusHandler() {
@ -16,13 +19,11 @@ SusHandler::~SusHandler() {
void SusHandler::doStartUp(){
if (internalState == InternalState::CONFIGURED) {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
setMode(_MODE_TO_ON);
#endif
}
}
void SusHandler::doShutDown(){
@ -33,34 +34,26 @@ ReturnValue_t SusHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
if (communicationStep == CommunicationStep::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
communicationStep = CommunicationStep::REQUEST_TEMP;
// communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
communicationStep = CommunicationStep::REQUEST_TEMPERATURE;
}
else if (communicationStep == CommunicationStep::PERFORM_CONVERSIONS) {
*id = SUS::PERFORM_CONVERSIONS;
else if (communicationStep == CommunicationStep::REQUEST_TEMPERATURE) {
*id = SUS::REQUEST_TEMPERATURE;
communicationStep = CommunicationStep::READ_TEMPERATURE;
}
else if (communicationStep == CommunicationStep::READ_TEMPERATURE) {
*id = SUS::READ_TEMPERATURE;
communicationStep = CommunicationStep::READ_CHANNELS;
}
else if (communicationStep == CommunicationStep::READ_CHANNELS) {
*id = SUS::READ_CHANNELS;
communicationStep = CommunicationStep::WRITE_SETUP;
// communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
}
else if (communicationStep == CommunicationStep::REQUEST_TEMP) {
*id = SUS::RQUEST_TEMP;
communicationStep = CommunicationStep::READ_TEMP;
}
else if (communicationStep == CommunicationStep::READ_TEMP) {
*id = SUS::READ_TEMP;
communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
if (internalState == InternalState::SETUP) {
*id = SUS::WRITE_SETUP;
}
else {
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::buildCommandFromCommand(
@ -68,59 +61,46 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
size_t commandDataLen) {
switch(deviceCommand) {
case(SUS::WRITE_SETUP): {
/**
* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
* measurement the setup has to be rewritten. There must also be a little delay between
* the transmission of the setup byte and the first conversion. Thus the conversion
* will be performed in an extra step.
*/
//TODO: Protect spi bus with mutex
gpioComIF->pullLow(chipSelectId);
cmdBuffer[0] = SUS::SETUP_DEFINITION;
rawPacket = cmdBuffer;
rawPacketLen = 1;
internalState = InternalState::CONFIGURED;
return RETURN_OK;
}
case(SUS::PERFORM_CONVERSIONS): {
// gpioComIF->pullLow(chipSelectId);
case(SUS::READ_CHANNELS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
/**
* The sun sensor ADC is shutdown when CS is pulled high so each time requesting a
* measurement the setup has to be rewritten
*/
// cmdBuffer[0] = SUS::RESET_FIFO;
cmdBuffer[0] = SUS::SETUP_DEFINITION;
// wirte one dummy byte here
// cmdBuffer[2] = SUS::CONVERT_TEMPERATURE;
cmdBuffer[1] = SUS::CONVERT_DIFF_CHANNEL_0;
cmdBuffer[2] = SUS::DUMMY_BYTE;
cmdBuffer[3] = SUS::CONVERT_DIFF_CHANNEL_1;
cmdBuffer[4] = SUS::DUMMY_BYTE;
cmdBuffer[5] = SUS::CONVERT_DIFF_CHANNEL_2;
cmdBuffer[6] = SUS::DUMMY_BYTE;
cmdBuffer[7] = SUS::CONVERT_DIFF_CHANNEL_3;
cmdBuffer[8] = SUS::DUMMY_BYTE;
cmdBuffer[9] = SUS::CONVERT_DIFF_CHANNEL_4;
cmdBuffer[10] = SUS::DUMMY_BYTE;
cmdBuffer[11] = SUS::CONVERT_DIFF_CHANNEL_5;
cmdBuffer[0] = SUS::CONVERT_DIFF_CHANNEL_0;
cmdBuffer[1] = SUS::DUMMY_BYTE;
cmdBuffer[2] = SUS::CONVERT_DIFF_CHANNEL_1;
cmdBuffer[3] = SUS::DUMMY_BYTE;
cmdBuffer[4] = SUS::CONVERT_DIFF_CHANNEL_2;
cmdBuffer[5] = SUS::DUMMY_BYTE;
cmdBuffer[6] = SUS::CONVERT_DIFF_CHANNEL_3;
cmdBuffer[7] = SUS::DUMMY_BYTE;
cmdBuffer[8] = SUS::CONVERT_DIFF_CHANNEL_4;
cmdBuffer[9] = SUS::DUMMY_BYTE;
cmdBuffer[10] = SUS::CONVERT_DIFF_CHANNEL_5;
cmdBuffer[11] = SUS::DUMMY_BYTE;
cmdBuffer[12] = SUS::DUMMY_BYTE;
cmdBuffer[13] = SUS::DUMMY_BYTE;
// cmdBuffer[0] = SUS::SETUP_DEFINITION;
// cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
// cmdBuffer[2] = SUS::CONVERT_TEMPERATURE;
// cmdBuffer[26] = SUS::CONVERT_DIFF_CHANNEL_0_1;
// cmdBuffer[28] = SUS::CONVERT_DIFF_CHANNEL_2_3;
// cmdBuffer[30] = SUS::CONVERT_DIFF_CHANNEL_4_5;
rawPacket = cmdBuffer;
// rawPacketLen = SUS::SIZE_PERFORM_CONVERSIONS;
rawPacketLen = 14;
rawPacketLen = SUS::SIZE_READ_CHANNELS;
return RETURN_OK;
}
case(SUS::RQUEST_TEMP): {
// gpioComIF->pullLow(chipSelectId);
case(SUS::REQUEST_TEMPERATURE): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
// cmdBuffer[0] = SUS::RESET_FIFO;
// cmdBuffer[1] = SUS::SETUP_DEFINITION;
cmdBuffer[0] = SUS::CONVERT_TEMPERATURE;
rawPacket = cmdBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(SUS::READ_TEMP): {
case(SUS::READ_TEMPERATURE): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = 24;
@ -134,12 +114,10 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
// this->insertInCommandAndReplyMap(SUS::READ_TEMP, 1, &dataset, SUS::SIZE_PERFORM_CONVERSIONS);
this->insertInCommandAndReplyMap(SUS::PERFORM_CONVERSIONS, 1, &dataset, SUS::SIZE_PERFORM_CONVERSIONS);
this->insertInCommandAndReplyMap(SUS::READ_TEMP, 1, nullptr, SUS::SIZE_PERFORM_CONVERSIONS);
// this->insertInCommandAndReplyMap(SUS::PERFORM_CONVERSIONS, 1, &dataset,
// SUS::SIZE_PERFORM_CONVERSIONS);
this->insertInCommandMap(SUS::RQUEST_TEMP);
this->insertInCommandMap(SUS::REQUEST_TEMPERATURE);
this->insertInCommandAndReplyMap(SUS::READ_CHANNELS, 1, &dataset, SUS::SIZE_READ_CHANNELS);
this->insertInCommandAndReplyMap(SUS::READ_TEMPERATURE, 1, nullptr,
SUS::SIZE_READ_TEMPERATURE);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
@ -152,27 +130,42 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case SUS::PERFORM_CONVERSIONS: {
gpioComIF->pullHigh(chipSelectId);
case SUS::READ_CHANNELS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet + 25) << 8 | *(packet + 26)) * 0.125;
dataset.diffScanChannel0_1 = (*(packet + 29) << 8 | *(packet + 30));
dataset.diffScanChannel2_3 = (*(packet + 31) << 8 | *(packet + 32));
dataset.diffScanChannel4_5 = (*(packet + 33) << 8 | *(packet + 34));
dataset.ain0 = (*(packet + 1) << 8 | *(packet + 2));
dataset.ain1 = (*(packet + 3) << 8 | *(packet + 4));
dataset.ain2 = (*(packet + 5) << 8 | *(packet + 6));
dataset.ain3 = (*(packet + 7) << 8 | *(packet + 8));
dataset.ain4 = (*(packet + 9) << 8 | *(packet + 10));
dataset.ain5 = (*(packet + 11) << 8 | *(packet + 12));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 0/1: "
<< dataset.diffScanChannel0_1 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 2/3: "
<< dataset.diffScanChannel2_3 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 4/5: "
<< dataset.diffScanChannel4_5 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: "
<< std::dec << dataset.ain0 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: "
<< std::dec << dataset.ain1 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: "
<< std::dec << dataset.ain2 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: "
<< std::dec << dataset.ain3 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: "
<< std::dec << dataset.ain4 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: "
<< std::dec << dataset.ain5 << std::endl;
#endif
/**
* Reading the channel conversion results is the last communication step in one SUS
* sequence. SPI bus can now be released again.
*/
gpioComIF->pullHigh(chipSelectId);
break;
}
case SUS::READ_TEMP: {
// gpioComIF->pullHigh(chipSelectId);
case SUS::READ_TEMPERATURE: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet + 22) << 8 | *(packet + 23)) * 0.125;
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;
#endif
break;
}
default: {
@ -189,15 +182,18 @@ void SusHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 5000;
return 1000;
}
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_0_1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_2_3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_4_5, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}