Merge branch 'mueller/master' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into mueller/master
This commit is contained in:
commit
299136f1a5
@ -12,6 +12,6 @@ else()
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add_subdirectory(gpio)
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add_subdirectory(core)
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add_subdirectory(memory)
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add_subdirectory(spiCallbacks)
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add_subdirectory(callbacks)
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add_subdirectory(devices)
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endif()
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|
@ -44,7 +44,7 @@ static constexpr uint32_t GPIO_MGM_1_RM3100_CS = 16;
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static constexpr uint32_t GPIO_MGM_3_RM3100_CS = 10;
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// Active low reset pin
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static constexpr uint32_t GPIO_RESET_GNSS_0 = 8; // D22
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static constexpr uint32_t GPIO_RESET_GNSS_0 = 9; // C22
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static constexpr uint32_t GPIO_RESET_GNSS_1 = 12; // B21
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static constexpr uint32_t GPIO_RAD_SENSOR_CS = 19; // R18
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|
@ -1,3 +1,4 @@
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target_sources(${TARGET_NAME} PRIVATE
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rwSpiCallback.cpp
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gnssCallback.cpp
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)
|
26
bsp_q7s/callbacks/gnssCallback.cpp
Normal file
26
bsp_q7s/callbacks/gnssCallback.cpp
Normal file
@ -0,0 +1,26 @@
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#include "gnssCallback.h"
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#include "devices/gpioIds.h"
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#include "fsfw/tasks/TaskFactory.h"
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ReturnValue_t gps::triggerGpioResetPin(void *args) {
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ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
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if(args == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if (resetArgs->gpioComIF == nullptr) {
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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gpioId_t gpioId;
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if(resetArgs->gnss1) {
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gpioId = gpioIds::GNSS_1_NRESET;
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}
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else {
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gpioId = gpioIds::GNSS_0_NRESET;
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}
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resetArgs->gpioComIF->pullLow(gpioId);
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TaskFactory::delayTask(resetArgs->waitPeriodMs);
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resetArgs->gpioComIF->pullHigh(gpioId);
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return HasReturnvaluesIF::RETURN_OK;
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}
|
19
bsp_q7s/callbacks/gnssCallback.h
Normal file
19
bsp_q7s/callbacks/gnssCallback.h
Normal file
@ -0,0 +1,19 @@
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#ifndef BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
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#define BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_
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#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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struct ResetArgs {
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bool gnss1 = false;
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LinuxLibgpioIF* gpioComIF = nullptr;
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uint32_t waitPeriodMs = 100;
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};
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namespace gps {
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ReturnValue_t triggerGpioResetPin(void* args);
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}
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#endif /* BSP_Q7S_CALLBACKS_GNSSCALLBACK_H_ */
|
@ -1,9 +1,10 @@
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#include <bsp_q7s/spiCallbacks/rwSpiCallback.h>
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#include <fsfw/serviceinterface/ServiceInterface.h>
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#include <mission/devices/RwHandler.h>
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#include <fsfw_hal/linux/spi/SpiCookie.h>
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#include <fsfw_hal/linux/UnixFileGuard.h>
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#include "rwSpiCallback.h"
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#include "devices/gpioIds.h"
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#include "mission/devices/RwHandler.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw/serviceinterface/ServiceInterface.h"
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namespace rwSpiCallback {
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|
@ -1,9 +1,9 @@
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#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_
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#define BSP_Q7S_RW_SPI_CALLBACK_H_
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw_hal/linux/spi/SpiComIF.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include "fsfw/returnvalues/HasReturnvaluesIF.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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#include "fsfw_hal/common/gpio/GpioCookie.h"
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namespace rwSpiCallback {
|
@ -9,12 +9,13 @@
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#include "devices/powerSwitcherList.h"
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#include "bsp_q7s/gpio/gpioCallbacks.h"
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#include "bsp_q7s/core/CoreController.h"
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#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"
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#include "bsp_q7s/boardtest/Q7STestTask.h"
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#include "bsp_q7s/memory/FileSystemHandler.h"
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#include "bsp_q7s/devices/PlocSupervisorHandler.h"
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#include "bsp_q7s/devices/PlocUpdater.h"
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#include "bsp_q7s/devices/PlocMemoryDumper.h"
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#include "bsp_q7s/callbacks/rwSpiCallback.h"
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#include "bsp_q7s/callbacks/gnssCallback.h"
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#include "linux/devices/HeaterHandler.h"
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#include "linux/devices/SolarArrayDeploymentHandler.h"
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@ -82,6 +83,9 @@
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#include "linux/boardtest/LibgpiodTest.h"
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#endif
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ResetArgs resetArgsGnss0;
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ResetArgs resetArgsGnss1;
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void ObjectFactory::setStatics() {
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Factory::setStaticFrameworkObjectIds();
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}
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@ -427,6 +431,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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"GNSS_1_NRESET", gpio::OUT, gpio::HIGH);
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gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);
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// GNSS enable pins must be pulled high
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gpioComIF->addGpios(gpioCookieAcsBoard);
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@ -485,6 +491,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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objects::SPI_COM_IF, spiCookie);
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gyroL3gHandler->setStartUpImmediately();
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resetArgsGnss1.gnss1 = true;
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resetArgsGnss1.gpioComIF = gpioComIF;
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resetArgsGnss1.waitPeriodMs = 100;
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resetArgsGnss0.gnss1 = false;
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resetArgsGnss0.gpioComIF = gpioComIF;
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resetArgsGnss0.waitPeriodMs = 100;
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auto uartCookieGps0 = new UartCookie(objects::GPS0_HANDLER, q7s::UART_GNSS_0_DEV,
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UartModes::CANONICAL, uart::GNSS_BAUD, uart::HYPERION_GPS_REPLY_MAX_BUFFER);
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uartCookieGps0->setToFlushInput(true);
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@ -495,9 +507,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
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uartCookieGps1->setReadCycles(6);
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auto gpsHandler0 = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF,
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uartCookieGps0, true);
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gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
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gpsHandler0->setStartUpImmediately();
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auto gpsHandler1 = new GPSHyperionHandler(objects::GPS1_HANDLER, objects::UART_COM_IF,
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uartCookieGps1, true);
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gpsHandler1->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss1);
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gpsHandler1->setStartUpImmediately();
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}
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|
2
fsfw
2
fsfw
@ -1 +1 @@
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||||
Subproject commit 924c150af27484f9eb4439ec80c048b46c226890
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Subproject commit 40adca5f1d13ef8d6c712842ebc37e37fe449446
|
1
generators/.gitignore
vendored
Normal file
1
generators/.gitignore
vendored
Normal file
@ -0,0 +1 @@
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||||
.~lock*
|
@ -6,6 +6,11 @@
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||||
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#include "lwgps/lwgps.h"
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#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
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#include <filesystem>
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#include <fstream>
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#endif
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GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, bool debugHyperionGps):
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DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this),
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@ -47,6 +52,22 @@ ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id
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ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t *commandData,
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size_t commandDataLen) {
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// By default, send nothing
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rawPacketLen = 0;
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switch(deviceCommand) {
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case(GpsHyperion::TRIGGER_RESET_PIN): {
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if(resetCallback != nullptr) {
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PoolReadGuard pg(&gpsSet);
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// Set HK entries invalid
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gpsSet.setValidity(false, true);
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// The user needs to implement this. Don't touch states for now, the device should
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// quickly reboot and send valid strings again.
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actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
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return resetCallback(resetCallbackArgs);
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}
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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@ -54,9 +75,9 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// Pass data to GPS library
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if(len > 0) {
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sif::info << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
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sif::debug << "GPSHandler::scanForReply: Received " << len << " bytes" << std::endl;
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if (internalState == InternalStates::WAIT_FIRST_MESSAGE) {
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// TODO: Check whether data is valid by chcking whether NMEA start string is valid
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// TODO: Check whether data is valid by checking whether NMEA start string is valid?
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commandExecuted = true;
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}
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int result = lwgps_process(&gpsData, start, len);
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@ -83,7 +104,13 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
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gpsSet.latitude.value = gpsData.latitude;
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// Negative longitude -> West direction
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gpsSet.longitude.value = gpsData.longitude;
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gpsSet.altitude.value = gpsData.altitude;
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if(gpsData.altitude > 600000.0 or gpsData.altitude < 400000.0) {
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gpsSet.altitude.setValid(false);
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}
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else {
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gpsSet.altitude.setValid(true);
|
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gpsSet.altitude.value = gpsData.altitude;
|
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}
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gpsSet.fixMode.value = gpsData.fix_mode;
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gpsSet.satInUse.value = gpsData.sats_in_use;
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Clock::TimeOfDay_t timeStruct = {};
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@ -102,6 +129,7 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
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||||
gpsSet.hours = gpsData.hours;
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gpsSet.minutes = gpsData.minutes;
|
||||
gpsSet.seconds = gpsData.seconds;
|
||||
gpsSet.unixSeconds = timeval.tv_sec;
|
||||
if(debugHyperionGps) {
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sif::info << "GPS Data" << std::endl;
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printf("Valid status: %d\n", gpsData.is_valid);
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@ -110,6 +138,13 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
printf("Altitude: %f meters\n", gpsData.altitude);
|
||||
}
|
||||
#if FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV == 1
|
||||
std::string filename = "/mnt/sd0/gps_log.txt";
|
||||
std::ofstream gpsFile;
|
||||
if(not std::filesystem::exists(filename)) {
|
||||
gpsFile.open(filename, std::ofstream::out);
|
||||
}
|
||||
gpsFile.open(filename, std::ofstream::out | std::ofstream::app);
|
||||
gpsFile.write(reinterpret_cast<const char*>(start), len);
|
||||
#endif
|
||||
}
|
||||
*foundLen = len;
|
||||
@ -149,12 +184,19 @@ ReturnValue_t GPSHyperionHandler::initializeLocalDataPool(
|
||||
void GPSHyperionHandler::fillCommandAndReplyMap() {
|
||||
// Reply length does not matter, packets should always arrive periodically
|
||||
insertInReplyMap(GpsHyperion::GPS_REPLY, 4, &gpsSet, 0, true);
|
||||
insertInCommandMap(GpsHyperion::TRIGGER_RESET_PIN);
|
||||
}
|
||||
|
||||
void GPSHyperionHandler::modeChanged() {
|
||||
internalState = InternalStates::NONE;
|
||||
}
|
||||
|
||||
void GPSHyperionHandler::setResetPinTriggerFunction(gpioResetFunction_t resetCallback,
|
||||
void *args) {
|
||||
this->resetCallback = resetCallback;
|
||||
resetCallbackArgs = args;
|
||||
}
|
||||
|
||||
void GPSHyperionHandler::debugInterface(uint8_t positionTracker, object_id_t objectId,
|
||||
uint32_t parameter) {
|
||||
}
|
||||
|
@ -6,7 +6,6 @@
|
||||
#include "devicedefinitions/GPSDefinitions.h"
|
||||
#include "lwgps/lwgps.h"
|
||||
|
||||
|
||||
/**
|
||||
* @brief Device handler for the Hyperion HT-GPS200 device
|
||||
* @details
|
||||
@ -15,12 +14,17 @@
|
||||
*/
|
||||
class GPSHyperionHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
using gpioResetFunction_t = ReturnValue_t (*) (void* args);
|
||||
GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie, bool debugHyperionGps = false);
|
||||
virtual ~GPSHyperionHandler();
|
||||
|
||||
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
|
||||
protected:
|
||||
|
||||
gpioResetFunction_t resetCallback = nullptr;
|
||||
void* resetCallbackArgs = nullptr;
|
||||
|
||||
enum class InternalStates {
|
||||
NONE,
|
||||
WAIT_FIRST_MESSAGE,
|
||||
|
@ -75,6 +75,10 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
|
||||
result = printStatus(deviceCommand);
|
||||
break;
|
||||
}
|
||||
case(GOMSPACE::REQUEST_HK_TABLE): {
|
||||
result = generateRequestFullHkTableCmd(hkTableReplySize);
|
||||
if(result != HasReturnvaluesIF::RETURN_OK){
|
||||
@ -95,6 +99,7 @@ void GomspaceDeviceHandler::fillCommandAndReplyMap(){
|
||||
this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
|
||||
this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
|
||||
this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
|
||||
this->insertInCommandMap(GOMSPACE::PRINT_OUT_ENB_STATUS);
|
||||
}
|
||||
|
||||
ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t *start,
|
||||
@ -396,3 +401,8 @@ LocalPoolDataSetBase* GomspaceDeviceHandler::getDataSetHandle(sid_t sid) {
|
||||
void GomspaceDeviceHandler::setModeNormal() {
|
||||
mode = MODE_NORMAL;
|
||||
}
|
||||
|
||||
ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
|
||||
sif::info << "No printHkTable implementation given.." << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
@ -88,6 +88,13 @@ protected:
|
||||
*/
|
||||
virtual ReturnValue_t generateRequestFullHkTableCmd(uint16_t hkTableSize);
|
||||
|
||||
/**
|
||||
* This command handles printing the HK table to the console. This is useful for debugging
|
||||
* purposes
|
||||
* @return
|
||||
*/
|
||||
virtual ReturnValue_t printStatus(DeviceCommandId_t cmd);
|
||||
|
||||
/**
|
||||
* @brief Because housekeeping tables are device specific the handling of the reply is
|
||||
* given to the child class.
|
||||
|
@ -1,11 +1,12 @@
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include "PDU1Handler.h"
|
||||
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
PDU1Handler::PDU1Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
|
||||
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
|
||||
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset), pdu1HkTableDataset(
|
||||
this) {
|
||||
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu1HkTableDataset),
|
||||
pdu1HkTableDataset(this) {
|
||||
}
|
||||
|
||||
PDU1Handler::~PDU1Handler() {
|
||||
@ -55,25 +56,9 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
|
||||
<< std::endl;
|
||||
sif::info << "PDU1 channel 8 current: " << pdu1HkTableDataset.currentOutChannel8
|
||||
<< std::endl;
|
||||
sif::info << "PDU1 TCS Board switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
|
||||
sif::info << "PDU1 Syrlinks switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
|
||||
sif::info << "PDU1 star tracker switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
|
||||
sif::info << "PDU1 MGT switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
|
||||
sif::info << "PDU1 SUS nominal switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
|
||||
sif::info << "PDU1 solar cell experiment switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
|
||||
sif::info << "PDU1 PLOC switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
|
||||
sif::info << "PDU1 ACS Side A switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
|
||||
sif::info << "PDU1 channel 8 switch: "
|
||||
<< static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
|
||||
sif::info << "PDU1 battery mode: " << static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
|
||||
printOutputSwitchStates();
|
||||
sif::info << "PDU1 battery mode: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.battMode.value) << std::endl;
|
||||
sif::info << "PDU1 VCC: " << pdu1HkTableDataset.vcc << " mV" << std::endl;
|
||||
float vbat = pdu1HkTableDataset.vbat.value * 0.001;
|
||||
sif::info << "PDU1 VBAT: " << vbat << "V" << std::endl;
|
||||
@ -87,9 +72,35 @@ void PDU1Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
|
||||
#endif
|
||||
}
|
||||
|
||||
void PDU1Handler::printOutputSwitchStates() {
|
||||
sif::info << "PDU1 TCS Board switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledTCSBoard3V3.value) << std::endl;
|
||||
sif::info << "PDU1 Syrlinks switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSyrlinks.value) << std::endl;
|
||||
sif::info << "PDU1 star tracker switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledStarTracker.value) << std::endl;
|
||||
sif::info << "PDU1 MGT switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledMGT.value) << std::endl;
|
||||
sif::info << "PDU1 SUS nominal switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSUSNominal.value) << std::endl;
|
||||
sif::info << "PDU1 solar cell experiment switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledSolarCellExp.value) << std::endl;
|
||||
sif::info << "PDU1 PLOC switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledPLOC.value) << std::endl;
|
||||
sif::info << "PDU1 ACS Side A switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledAcsBoardSideA.value) << std::endl;
|
||||
sif::info << "PDU1 channel 8 switch: " <<
|
||||
static_cast<unsigned int>(pdu1HkTableDataset.outEnabledChannel8.value) << std::endl;
|
||||
}
|
||||
|
||||
void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
|
||||
uint16_t dataOffset = 0;
|
||||
pdu1HkTableDataset.read();
|
||||
PoolReadGuard pg(&pdu1HkTableDataset);
|
||||
ReturnValue_t readResult = pg.getReadResult();
|
||||
if(readResult != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
|
||||
return;
|
||||
}
|
||||
/* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
|
||||
* address. */
|
||||
dataOffset += 12;
|
||||
@ -249,8 +260,10 @@ void PDU1Handler::parseHkTableReply(const uint8_t *packet) {
|
||||
dataOffset += 3;
|
||||
pdu1HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);
|
||||
|
||||
pdu1HkTableDataset.commit();
|
||||
pdu1HkTableDataset.setChanged(true);
|
||||
if(not pdu1HkTableDataset.isValid()) {
|
||||
pdu1HkTableDataset.setValidity(true, true);
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t PDU1Handler::initializeLocalDataPool(
|
||||
@ -341,3 +354,20 @@ ReturnValue_t PDU1Handler::initializeLocalDataPool(
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PDU1Handler::printStatus(DeviceCommandId_t cmd) {
|
||||
switch(cmd) {
|
||||
case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
|
||||
PoolReadGuard pg(&pdu1HkTableDataset);
|
||||
ReturnValue_t readResult = pg.getReadResult();
|
||||
if(readResult != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Reading PDU1 HK table failed!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
printOutputSwitchStates();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
default: {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
@ -32,11 +32,13 @@ protected:
|
||||
*/
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
||||
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
|
||||
|
||||
private:
|
||||
/** Dataset for the housekeeping table of the PDU1 */
|
||||
PDU1::PDU1HkTableDataset pdu1HkTableDataset;
|
||||
|
||||
void printOutputSwitchStates();
|
||||
void parseHkTableReply(const uint8_t *packet);
|
||||
};
|
||||
|
||||
|
@ -1,20 +1,22 @@
|
||||
#include "OBSWConfig.h"
|
||||
#include "PDU2Handler.h"
|
||||
|
||||
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
|
||||
#include <OBSWConfig.h>
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
|
||||
PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
|
||||
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
|
||||
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset), pdu2HkTableDataset(
|
||||
this) {
|
||||
GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
|
||||
PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset),
|
||||
pdu2HkTableDataset(this) {
|
||||
}
|
||||
|
||||
PDU2Handler::~PDU2Handler() {
|
||||
}
|
||||
|
||||
ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t * id) {
|
||||
*id = GOMSPACE::REQUEST_HK_TABLE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
DeviceCommandId_t * id) {
|
||||
*id = GOMSPACE::REQUEST_HK_TABLE;
|
||||
return buildCommandFromCommand(*id, NULL, 0);
|
||||
}
|
||||
|
||||
void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
|
||||
@ -34,23 +36,7 @@ void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *pac
|
||||
sif::info << "PDU2 VBAT: " << vbat << std::endl;
|
||||
float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
|
||||
sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
|
||||
sif::info << "PDU2 Q7S enable state: " << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
|
||||
sif::info << "PDU2 Payload PCDU channel 1 enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
|
||||
sif::info << "PDU2 reaction wheels enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
|
||||
sif::info << "PDU2 TCS Board 8V heater input enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
|
||||
sif::info << "PDU2 redundant SUS group enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
|
||||
sif::info << "PDU2 deployment mechanism enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
|
||||
sif::info << "PDU2 PCDU channel 6 enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
|
||||
sif::info << "PDU2 ACS board side B enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
|
||||
sif::info << "PDU2 payload camera enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
|
||||
printOutputSwitchStates();
|
||||
sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
|
||||
sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
|
||||
sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
|
||||
@ -323,3 +309,42 @@ ReturnValue_t PDU2Handler::initializeLocalDataPool(
|
||||
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
|
||||
switch(cmd) {
|
||||
case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
|
||||
PoolReadGuard pg(&pdu2HkTableDataset);
|
||||
ReturnValue_t readResult = pg.getReadResult();
|
||||
if(readResult != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::warning << "Reading PDU2 HK table failed!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
printOutputSwitchStates();
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
default: {
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PDU2Handler::printOutputSwitchStates() {
|
||||
sif::info << "PDU2 Q7S enable state: " <<
|
||||
unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
|
||||
sif::info << "PDU2 Payload PCDU channel 1 enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
|
||||
sif::info << "PDU2 reaction wheels enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
|
||||
sif::info << "PDU2 TCS Board 8V heater input enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
|
||||
sif::info << "PDU2 redundant SUS group enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
|
||||
sif::info << "PDU2 deployment mechanism enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
|
||||
sif::info << "PDU2 PCDU channel 6 enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
|
||||
sif::info << "PDU2 ACS board side B enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
|
||||
sif::info << "PDU2 payload camera enable state: "
|
||||
<< unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
|
||||
}
|
||||
|
@ -20,25 +20,27 @@
|
||||
*/
|
||||
class PDU2Handler: public GomspaceDeviceHandler {
|
||||
public:
|
||||
PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
|
||||
virtual ~PDU2Handler();
|
||||
PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie);
|
||||
virtual ~PDU2Handler();
|
||||
|
||||
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
||||
protected:
|
||||
/**
|
||||
* @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
|
||||
*/
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
||||
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
/**
|
||||
* @brief As soon as the device is in MODE_NORMAL, this function is executed periodically.
|
||||
*/
|
||||
virtual ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
||||
virtual void letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) override;
|
||||
ReturnValue_t printStatus(DeviceCommandId_t cmd) override;
|
||||
|
||||
private:
|
||||
|
||||
/** Dataset for the housekeeping table of the PDU2 */
|
||||
PDU2::PDU2HkTableDataset pdu2HkTableDataset;
|
||||
/** Dataset for the housekeeping table of the PDU2 */
|
||||
PDU2::PDU2HkTableDataset pdu2HkTableDataset;
|
||||
|
||||
void parseHkTableReply(const uint8_t *packet);
|
||||
void printOutputSwitchStates();
|
||||
void parseHkTableReply(const uint8_t *packet);
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_PDU2HANDLER_H_ */
|
||||
|
@ -7,6 +7,7 @@
|
||||
namespace GpsHyperion {
|
||||
|
||||
static constexpr DeviceCommandId_t GPS_REPLY = 0;
|
||||
static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
|
||||
|
||||
static constexpr uint32_t DATASET_ID = 0;
|
||||
|
||||
|
File diff suppressed because it is too large
Load Diff
Loading…
Reference in New Issue
Block a user