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lis 3 basic test code

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This commit is contained in:
Robin Müller 2021-02-24 00:24:14 +01:00 committed by Robin Mueller
parent bbd022e5be
commit 288bc0d38e
7 changed files with 101 additions and 25 deletions
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2
fsfw

@ -1 +1 @@
Subproject commit f3cc664d4f9fdadc2f6e2ebf814dd0c924e5ae33
Subproject commit 92f249dc62cf02a5052fee4e9877bc89b2be1ab5

14
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp
View File

@ -101,12 +101,14 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.5,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.75,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of ACS Board PST failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;

44
linux/boardtest/SpiTestClass.cpp
View File

@ -19,7 +19,7 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objec
if(gpioIF == nullptr) {
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
}
testMode = TestModes::NONE;
testMode = TestModes::MGM_LIS3MDL;
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
}
@ -30,6 +30,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::MGM_LIS3MDL): {
performLis3MdlTest(mgm0Lis3ChipSelect);
break;
}
case(TestModes::MGM_RM3100): {
@ -89,6 +90,47 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
std::endl;
}
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
/* Configure all SPI chip selects and pull them high */
acsInit();
/* Adapt accordingly */
if(lis3Id != mgm0Lis3ChipSelect and lis3Id != mgm2Lis3mdlChipSelect) {
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
}
gpioId_t currentGpioId = 0;
uint8_t chipSelectPin = lis3Id;
uint8_t whoAmIReg = 0b0000'1111;
if(chipSelectPin == mgm0Lis3ChipSelect) {
currentGpioId = gpioIds::MGM_0_LIS3_CS;
}
else {
currentGpioId = gpioIds::MGM_2_LIS3_CS;
}
uint32_t spiSpeed = 3'900'000;
spi::SpiMode spiMode = spi::SpiMode::MODE_3;
#ifdef RASPBERRY_PI
std::string deviceName = "/dev/spidev0.0";
#else
std::string deviceName = "placeholder";
#endif
int fileDescriptor = 0;
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
"SpiComIF::initializeInterface: ");
if(fileHelper.getOpenResult()) {
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
<< std::endl;
return;
}
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" <<
std::bitset<8>(whoAmIRegVal) << std::endl;
}
void SpiTestClass::acsInit() {
GpioCookie* gpioCookie = new GpioCookie();
std::string rpiGpioName = "gpiochip0";

2
linux/boardtest/SpiTestClass.h
View File

@ -31,6 +31,8 @@ private:
struct spi_ioc_transfer spiTransferStruct;
void performRm3100Test(uint8_t mgmId);
void performLis3MdlTest(uint8_t lis3Id);
/* ACS board specific code which pulls all GPIOs high */
void acsInit();

20
linux/spi/SpiComIF.cpp
View File

@ -6,6 +6,7 @@
#include <fsfw/ipc/MutexFactory.h>
#include <fsfw/ipc/MutexHelper.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <linux/spi/spidev.h>
#include <fcntl.h>
@ -170,6 +171,23 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
}
bool fullDuplex = spiCookie->isFullDuplex();
if(fullDuplex) {
uint8_t* readBuf = nullptr;
ReturnValue_t result = getReadBuffer(spiCookie->getSpiAddress(), &readBuf);
if (result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "SpiComIF::sendMessage: Could not get read buffer!" <<
std::endl;
#else
sif::printWarning("SpiComIF::sendMessage: Could not get read buffer!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
#endif /* FSFW_VERBOSE_LEVEL >= 1 */
return result;
}
spiCookie->assignReadBuffer(readBuf);
}
int retval = 0;
gpioId_t gpioId = spiCookie->getChipSelectPin();
@ -182,7 +200,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
if(fullDuplex) {
/* Initiate a full duplex SPI transfer. */
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), spiCookie->getTransferStructHandle());
if(retval != 0) {
if(retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = FULL_DUPLEX_TRANSFER_FAILED;
}

42
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -9,7 +9,7 @@ MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10);
#endif
// Set to default values right away.
/* Set to default values right away. */
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
@ -37,7 +37,7 @@ void MGMHandlerLIS3MDL::doStartUp() {
break;
case(InternalState::STATE_CHECK_REGISTERS): {
// Set up cached registers which will be used to configure the MGM.
/* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) {
commandExecuted = false;
setMode(_MODE_TO_ON);
@ -73,11 +73,17 @@ ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
default: {
/* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
#else
sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, NULL, 0);
}
@ -185,6 +191,9 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
if (start[1] != registers[0] or start[2] != registers[1] or
start[3] != registers[2] or start[4] != registers[3] or
start[5] != registers[4]) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
#endif
return DeviceHandlerIF::INVALID_DATA;
}
if(mode == _MODE_START_UP) {
@ -228,7 +237,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
break;
}
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
// TODO: Store configuration and sensor values in new local datasets.
// TODO: Store configuration in new local datasets.
uint8_t scale = getFullScale(registers[2]);
float sensitivityFactor = getSensitivityFactor(scale);
@ -240,7 +249,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
| packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;
// Target value in microtesla
/* Target value in microtesla */
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
* MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
@ -252,7 +261,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl;
// Set terminal to utf-8 if there is an issue with micro printout.
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << mgmX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << mgmY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << mgmZ << " \xC2\xB5T" << std::endl;
@ -273,9 +282,8 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->check()) {
// Set terminal to utf-8 if there is an issue with micro printout.
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C"
<< std::endl;
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "MGMHandlerLIS3: Temperature: " << tempValue<< " °C" << std::endl;
}
#endif
ReturnValue_t result = dataset.read();
@ -397,7 +405,6 @@ void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
}
ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
@ -406,7 +413,7 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
// We dont have to check if this is working because we just did it
/* We dont have to check if this is working because we just did it */
return RETURN_OK;
}
@ -415,7 +422,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
return 30000;
}
void MGMHandlerLIS3MDL::modeChanged(void) {
@ -434,3 +441,6 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerLIS3MDL::performOperationHook() {
}

2
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -161,6 +161,8 @@ private:
PeriodicOperationDivider* debugDivider;
#endif
void performOperationHook() override;
};
#endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */