sus delay implementation
This commit is contained in:
parent
e1e69539ca
commit
2d170a1f61
@ -158,10 +158,10 @@ void initmission::initTasks() {
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}
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#else
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FixedTimeslotTaskIF * pollingSequenceTableTE0720 = factory->createFixedTimeslotTask(
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"PST_TASK_TE0720", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
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FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 5.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceTE0720(pollingSequenceTableTE0720);
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result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
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}
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@ -198,7 +198,7 @@ void initmission::initTasks() {
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gomSpacePstTask->startTask();
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pollingSequenceTableTaskDefault->startTask();
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#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
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pollingSequenceTableTE0720->startTask();
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pollingSequenceTaskTE0720->startTask();
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#endif
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pusVerification->startTask();
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@ -105,14 +105,12 @@ void ObjectFactory::produce(){
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new UartComIF(objects::UART_COM_IF);
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#if Q7S_ADD_SPI_TEST == 0
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new SpiComIF(objects::SPI_COM_IF, gpioComIF);
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#endif
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#endif /* Q7S_ADD_SPI_TEST == 0 */
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/* Temperature sensors */
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new Tmp1075Handler(objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
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new Tmp1075Handler(objects::TMP1075_HANDLER_2, objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
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GpioCookie* heaterGpiosCookie = new GpioCookie;
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#if TE0720 == 0
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CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
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addresses::P60DOCK);
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@ -161,8 +159,7 @@ void ObjectFactory::produce(){
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spi::DEFAULT_MAX_1227_SPEED);
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RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
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objects::SPI_COM_IF, spiCookieRadSensor);
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// (void) radSensor;
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radSensor->setStartUpImmediately();
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(void) radSensor;
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GpioCookie* gpioCookieSus = new GpioCookie();
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@ -210,43 +207,43 @@ void ObjectFactory::produce(){
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SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
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std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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SUS::SUS_MAX_1227_SPEED);
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SUS::MAX1227_SPI_FREQ);
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SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
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gpioIds::CS_SUS_1);
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@ -254,7 +251,7 @@ void ObjectFactory::produce(){
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SusHandler* sus2 = new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
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gpioIds::CS_SUS_2);
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(void) sus2;
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sus2->setStartUpImmediately();
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SusHandler* sus3 = new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
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gpioIds::CS_SUS_3);
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@ -270,25 +267,26 @@ void ObjectFactory::produce(){
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gpioIds::CS_SUS_7);
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SusHandler* sus8 = new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
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gpioIds::CS_SUS_8);
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// (void) sus8;
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sus8->setStartUpImmediately();
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(void) sus8;
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new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
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SusHandler* sus9 = new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
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gpioIds::CS_SUS_9);
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new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
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(void) sus9;
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SusHandler* sus10 = new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
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gpioIds::CS_SUS_10);
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(void) sus10;
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SusHandler* sus11 = new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11,
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gpioComIF, gpioIds::CS_SUS_11);
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(void) sus11;
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SusHandler* sus12 = new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
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gpioIds::CS_SUS_12);
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// sus12->setStartUpImmediately();
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(void) sus12;
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SusHandler* sus13 = new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
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gpioIds::CS_SUS_13);
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// sus13->setStartUpImmediately();
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(void) sus13;
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#if OBSW_ADD_ACS_BOARD == 1
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@ -364,6 +362,8 @@ void ObjectFactory::produce(){
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gyroL3gHandler->setStartUpImmediately();
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#endif
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GpioCookie* heaterGpiosCookie = new GpioCookie;
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/* Pin H2-11 on stack connector */
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GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
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std::string("Heater0"), gpio::OUT, 0);
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@ -595,14 +595,13 @@ void ObjectFactory::produce(){
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#if TE0720 == 1 && TEST_SUS_HANDLER == 1
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GpioCookie* gpioCookieSus = new GpioCookie;
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GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip0"), 9,
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GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
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std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
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gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
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gpioComIF->addGpios(gpioCookieSus);
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SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1,
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std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
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spi::DEFAULT_MAX_1227_SPEED);
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SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"),
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SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
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SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF,
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gpioIds::CS_SUS_1);
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@ -611,7 +610,7 @@ void ObjectFactory::produce(){
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#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
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GpioCookie* gpioCookieRadSensor = new GpioCookie;
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GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip0"), 9,
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GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
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std::string("Chip select radiation sensor"), gpio::OUT, 1);
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gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
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gpioComIF->addGpios(gpioCookieRadSensor);
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2
fsfw_hal
2
fsfw_hal
@ -1 +1 @@
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Subproject commit a85c01465bc8687773676f05c5e7eb8af54b25ff
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Subproject commit 425cfd2ababe3639355c6681ce3f9b606b893430
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@ -20,11 +20,11 @@ debugging. */
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#define OBSW_PRINT_MISSED_DEADLINES 1
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#define OBSW_ADD_TEST_CODE 1
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#define TEST_LIBGPIOD 0
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#define TEST_RADIATION_SENSOR_HANDLER 0
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#define TEST_RADIATION_SENSOR_HANDLER 1
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#define TEST_SUS_HANDLER 1
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#define TEST_PLOC_HANDLER 0
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#define TE0720 0
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#define TE0720 1
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#define TE0720_HEATER_TEST 0
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#define P60DOCK_DEBUG 0
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@ -144,18 +144,11 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
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/* Radiation sensor */
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// thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
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/* Sun sensor 1 */
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// thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
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if (length != 3000) {
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sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
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@ -165,95 +158,74 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
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/**
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* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
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* requests to a sun sensor must be performed consecutively. Another reason for calling multiple
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* device handler cycles is that some ADC conversions need a small delay before the results can
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* be read.
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* device handler cycles is that the ADC conversions take some time. Thus first the ADC
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* conversions are initiated and in a next step the results can be read from the internal FIFO.
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* One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
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* inserted between the device handler cycles of one SUS.
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*/
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/* Write setup */
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thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.6, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8, length * 0.8, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_8, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_8, length * 0.902, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.903, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.904, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8, length * 0.905, DeviceHandlerIF::GET_READ);
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/* Request temperature */
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// thisSequence->addSlot(objects::SUS_8, 2905, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_8, 2906, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2907, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2908, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_8, 2909, DeviceHandlerIF::GET_READ);
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//
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// /* Read temperature */
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// thisSequence->addSlot(objects::SUS_8, 2910, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_8, 2911, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2912, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2913, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_8, 2914, DeviceHandlerIF::GET_READ);
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//
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// /* Request and read ADC conversions */
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// thisSequence->addSlot(objects::SUS_8, 2915, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_8, 2916, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2917, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_8, 2918, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_8, 2919, DeviceHandlerIF::GET_READ);
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/* Start ADC conversions */
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thisSequence->addSlot(objects::SUS_8, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_8, length * 0.907, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.908, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.909, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8, length * 0.91, DeviceHandlerIF::GET_READ);
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/* Read ADC conversions from inernal FIFO */
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thisSequence->addSlot(objects::SUS_8, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_8, length * 0.912, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.913, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_8, length * 0.914, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_8, length * 0.915, DeviceHandlerIF::GET_READ);
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/* Write setup */
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// thisSequence->addSlot(objects::SUS_12, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_12, length * 0.921, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.922, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.923, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_12, length * 0.924, DeviceHandlerIF::GET_READ);
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//
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// /* Request temperature */
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// thisSequence->addSlot(objects::SUS_12, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_12, length * 0.926, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.927, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.928, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_12, length * 0.929, DeviceHandlerIF::GET_READ);
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//
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// /* Read temperature */
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// thisSequence->addSlot(objects::SUS_12, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_12, length * 0.931, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.932, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
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//
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// /* Request and read ADC conversions */
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// thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_12, length * 0.936, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_12, length * 0.937, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_12, length * 0.938, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_12, length * 0.939, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Write setup */
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.94, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.941, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.942, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.943, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.945, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Request temperature */
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.946, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.947, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.948, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.949, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.95, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Read temperature */
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.95, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.951, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.952, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.953, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.954, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Request and read ADC conversions */
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.955, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.956, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.957, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.958, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_13, length * 0.959, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.917, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.918, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.919, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.920, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.922, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.923, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.924, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.925, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Read ADC conversions from inernal FIFO */
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.927, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.928, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.929, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_12, length * 0.930, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Write setup */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.932, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.933, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.934, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.935, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Start ADC conversions */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.937, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.938, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.939, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.94, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Read ADC conversions from inernal FIFO */
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.941, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.942, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.943, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.944, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_2, length * 0.945, DeviceHandlerIF::GET_READ);
|
||||
|
||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -315,62 +287,62 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
|
||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
#if OBSW_ADD_ACS_BOARD == 1
|
||||
// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
// 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);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
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);
|
||||
|
||||
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
//
|
||||
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
|
||||
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
|
||||
// DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
|
||||
// DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
|
||||
// DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
|
||||
// DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
|
||||
// DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
|
||||
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
|
||||
|
||||
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
|
||||
@ -446,22 +418,68 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
|
||||
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if TEST_SUS_HANDLER == 1
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if TEST_RADIATION_SENSOR_HANDLER == 1
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
#if TEST_SUS_HANDLER == 1
|
||||
/* Write setup */
|
||||
// thisSequence->addSlot(objects::SUS_1, 1000, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1010, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1020, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1030, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1040, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Start ADC conversions */
|
||||
// thisSequence->addSlot(objects::SUS_1, 1050, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1060, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1070, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1080, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_1, 1090, DeviceHandlerIF::GET_READ);
|
||||
//
|
||||
// /* Read ADC conversions from inernal FIFO */
|
||||
// thisSequence->addSlot(objects::SUS_1, 2000, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_1, 2010, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 2020, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, 2030, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_1, 2040, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Cycle 1 */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Cycl2 */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::GET_READ);
|
||||
|
||||
/* Cycle 3 */
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
|
||||
|
||||
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
|
||||
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
|
||||
// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
|
||||
#endif
|
||||
|
||||
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Initialization of TE0720 PST failed" << std::endl;
|
||||
|
||||
@ -20,7 +20,8 @@ enum {
|
||||
SA_DEPL_HANDLER,
|
||||
SYRLINKS_HANDLER,
|
||||
IMTQ_HANDLER,
|
||||
PLOC_HANDLER
|
||||
PLOC_HANDLER,
|
||||
SUS_HANDLER
|
||||
};
|
||||
}
|
||||
|
||||
|
||||
@ -145,7 +145,7 @@ void RadiationSensorHandler::setNormalDatapoolEntriesInvalid(){
|
||||
}
|
||||
|
||||
uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
|
||||
return 5000;
|
||||
return 500;
|
||||
}
|
||||
|
||||
ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
|
||||
@ -1,6 +1,7 @@
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <mission/devices/SusHandler.h>
|
||||
#include <OBSWConfig.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
|
||||
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
|
||||
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
|
||||
@ -17,6 +18,24 @@ SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCo
|
||||
SusHandler::~SusHandler() {
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::initialize() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = DeviceHandlerBase::initialize();
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
auto spiComIF = dynamic_cast<SpiComIF*>(communicationInterface);
|
||||
if (spiComIF == nullptr) {
|
||||
sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
spiMutex = spiComIF->getMutex();
|
||||
if (spiMutex == nullptr) {
|
||||
sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void SusHandler::doStartUp(){
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
@ -62,8 +81,20 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
|
||||
* 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.
|
||||
* Because the chip select is driven manually by the SusHandler the SPI bus must be
|
||||
* protected with a mutex here.
|
||||
*/
|
||||
//TODO: Protect spi bus with mutex
|
||||
ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if(result == MutexIF::MUTEX_TIMEOUT) {
|
||||
sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
|
||||
return ERROR_LOCK_MUTEX;
|
||||
}
|
||||
else if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex"
|
||||
<< std::endl;
|
||||
return ERROR_LOCK_MUTEX;
|
||||
}
|
||||
|
||||
gpioComIF->pullLow(chipSelectId);
|
||||
cmdBuffer[0] = SUS::SETUP;
|
||||
rawPacket = cmdBuffer;
|
||||
@ -132,6 +163,12 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
#endif
|
||||
/** SUS can now be shutdown and thus the SPI bus released again */
|
||||
gpioComIF->pullHigh(chipSelectId);
|
||||
ReturnValue_t result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex"
|
||||
<< std::endl;
|
||||
return ERROR_UNLOCK_MUTEX;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
|
||||
@ -4,6 +4,7 @@
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <mission/devices/devicedefinitions/SusDefinitions.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw/ipc/MutexGuard.h>
|
||||
|
||||
/**
|
||||
* @brief This is the device handler class for the SUS sensor. The sensor is
|
||||
@ -21,6 +22,8 @@ public:
|
||||
CookieIF * comCookie, LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId);
|
||||
virtual ~SusHandler();
|
||||
|
||||
virtual ReturnValue_t initialize();
|
||||
|
||||
protected:
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
@ -40,6 +43,11 @@ protected:
|
||||
|
||||
private:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
|
||||
|
||||
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
enum class CommunicationStep {
|
||||
WRITE_SETUP,
|
||||
START_CONVERSIONS,
|
||||
@ -54,6 +62,11 @@ private:
|
||||
|
||||
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
|
||||
CommunicationStep communicationStep = CommunicationStep::WRITE_SETUP;
|
||||
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
|
||||
MutexIF* spiMutex = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SUSHANDLER_H_ */
|
||||
|
||||
@ -4,10 +4,10 @@
|
||||
namespace SUS {
|
||||
|
||||
/**
|
||||
* The MAX1227 in externally clocked mode did not properly work with frequencies higher than
|
||||
* 1 MHz.
|
||||
* Some MAX1227 could not be reached with frequencies around 4 MHz. Maybe this is caused by
|
||||
* the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
|
||||
*/
|
||||
static const uint32_t SUS_MAX_1227_SPEED = 1000000;
|
||||
static const uint32_t MAX1227_SPI_FREQ = 1000000;
|
||||
|
||||
static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
|
||||
|
||||
@ -46,11 +46,6 @@ namespace SUS {
|
||||
*/
|
||||
static const uint8_t CONVERSION = 0b10101001;
|
||||
|
||||
/** Writing this value resets the fifo */
|
||||
static const uint8_t RESET_FIFO = 0b00011000;
|
||||
|
||||
static const uint8_t DUMMY_BYTE = 0x0;
|
||||
|
||||
static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS;
|
||||
|
||||
/** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */
|
||||
@ -60,7 +55,6 @@ namespace SUS {
|
||||
|
||||
static const uint8_t POOL_ENTRIES = 7;
|
||||
|
||||
|
||||
enum Max1227PoolIds: lp_id_t {
|
||||
TEMPERATURE_C,
|
||||
AIN0,
|
||||
|
||||
Loading…
Reference in New Issue
Block a user