Merge remote-tracking branch 'origin/develop' into mueller/pl-pcdu-prep

bsp_q7s/core/ObjectFactory.cpp

@@ -299,8 +299,8 @@ void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
   SpiCookie* spiCookieRadSensor = new SpiCookie(
       addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
       RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
-  auto radSensor =
-      new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
+  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
+                                              spiCookieRadSensor, gpioComIF);
   static_cast<void>(radSensor);
 #if OBSW_TEST_RAD_SENSOR == 1
   radSensor->setStartUpImmediately();

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -5,9 +5,6 @@
 #include <fsfw/serviceinterface/ServiceInterfaceStream.h>
 #include <fsfw/tasks/FixedTimeslotTaskIF.h>
 
-#include "OBSWConfig.h"
-#include "objects/systemObjectList.h"
-
 ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
   // Length of a communication cycle
   uint32_t length = thisSequence->getPeriodMs();

mission/devices/RadiationSensorHandler.cpp

@@ -1,11 +1,12 @@
 #include <OBSWConfig.h>
+#include <devices/gpioIds.h>
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <mission/devices/RadiationSensorHandler.h>
 
 RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF,
-                                               CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comIF, comCookie), dataset(this) {
-  if (comCookie == NULL) {
+                                               CookieIF *comCookie, GpioIF *gpioIF)
+    : DeviceHandlerBase(objectId, comIF, comCookie), dataset(this), gpioIF(gpioIF) {
+  if (comCookie == nullptr) {
     sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl;
   }
 }
@@ -14,11 +15,13 @@ RadiationSensorHandler::~RadiationSensorHandler() {}
 
 void RadiationSensorHandler::doStartUp() {
   if (internalState == InternalState::CONFIGURED) {
-#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
+    if (goToNormalMode) {
       setMode(MODE_NORMAL);
-#else
+    }
+
+    else {
       setMode(_MODE_TO_ON);
-#endif
+    }
   }
 }
 
@@ -66,6 +69,14 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
       return RETURN_OK;
     }
     case (RAD_SENSOR::START_CONVERSION): {
+      ReturnValue_t result = gpioIF->pullHigh(gpioIds::ENABLE_RADFET);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::warning << "RadiationSensorHandler::buildCommandFromCommand; Pulling RADFET Enale pin "
+                        "high failed"
+                     << std::endl;
+#endif
+      }
       /* First the fifo will be reset here */
       cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
       cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
@@ -80,14 +91,6 @@ ReturnValue_t RadiationSensorHandler::buildCommandFromCommand(DeviceCommandId_t
       rawPacketLen = RAD_SENSOR::READ_SIZE;
       return RETURN_OK;
     }
-      //    case(RAD_SENSOR::AIN0_AND_TMP_CONVERSION): {
-      //        /* First the fifo will be reset here */
-      //        cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION;
-      //        cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION;
-      //        rawPacket = cmdBuffer;
-      //        rawPacketLen = 2;
-      //        return RETURN_OK;
-      //    }
     default:
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
   }
@@ -109,6 +112,17 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, size_t
     case RAD_SENSOR::START_CONVERSION:
     case RAD_SENSOR::WRITE_SETUP:
       return IGNORE_REPLY_DATA;
+    case RAD_SENSOR::READ_CONVERSIONS: {
+      ReturnValue_t result = gpioIF->pullLow(gpioIds::ENABLE_RADFET);
+      if (result != HasReturnvaluesIF::RETURN_OK) {
+#if OBSW_VERBOSE_LEVEL >= 1
+        sif::warning << "RadiationSensorHandler::buildCommandFromCommand; Pulling RADFET Enale pin "
+                        "low failed"
+                     << std::endl;
+#endif
+      }
+      break;
+    }
     default:
       break;
   }
@@ -124,7 +138,8 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
     case RAD_SENSOR::READ_CONVERSIONS: {
       uint8_t offset = 0;
       PoolReadGuard readSet(&dataset);
-      dataset.temperatureCelcius = (*(packet + offset) << 8 | *(packet + offset + 1)) * 0.125;
+      int16_t tempRaw = ((packet[offset] & 0x0f) << 8) | packet[offset + 1];
+      dataset.temperatureCelcius = tempRaw * 0.125;
       offset += 2;
       dataset.ain0 = (*(packet + offset) << 8 | *(packet + offset + 1));
       offset += 2;
@@ -138,7 +153,7 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
       offset += 2;
       dataset.ain7 = (*(packet + offset) << 8 | *(packet + offset + 1));
 
-#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RAD_SENSOR
+#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_RAD_SENSOR == 1
       sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C"
                 << std::endl;
       sif::info << "Radiation sensor ADC value channel 0: " << dataset.ain0 << std::endl;
@@ -158,8 +173,6 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id,
   return HasReturnvaluesIF::RETURN_OK;
 }
 
-void RadiationSensorHandler::setNormalDatapoolEntriesInvalid() {}
-
 uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
   return 5000;
 }
@@ -175,3 +188,5 @@ ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPoo
   localDataPoolMap.emplace(RAD_SENSOR::AIN7, new PoolEntry<uint16_t>({0}));
   return HasReturnvaluesIF::RETURN_OK;
 }
+
+void RadiationSensorHandler::setToGoToNormalModeImmediately() { this->goToNormalMode = true; }

mission/devices/RadiationSensorHandler.h

@@ -4,6 +4,8 @@
 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
 #include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
 
+class GpioIF;
+
 /**
  * @brief	This is the device handler class for radiation sensor on the OBC IF Board. The
  * sensor is based on the MAX1227 ADC converter.
@@ -14,8 +16,10 @@
  */
 class RadiationSensorHandler : public DeviceHandlerBase {
  public:
-  RadiationSensorHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie);
+  RadiationSensorHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
+                         GpioIF *gpioIF);
   virtual ~RadiationSensorHandler();
+  void setToGoToNormalModeImmediately();
 
  protected:
   void doStartUp() override;
@@ -28,7 +32,6 @@ class RadiationSensorHandler : public DeviceHandlerBase {
   ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId,
                              size_t *foundLen) override;
   ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
-  void setNormalDatapoolEntriesInvalid() override;
   uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
   ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                         LocalDataPoolManager &poolManager) override;
@@ -39,9 +42,10 @@ class RadiationSensorHandler : public DeviceHandlerBase {
   enum class InternalState { SETUP, CONFIGURED };
 
   RAD_SENSOR::RadSensorDataset dataset;
-
   static const uint8_t MAX_CMD_LEN = RAD_SENSOR::READ_SIZE;
+  GpioIF *gpioIF = nullptr;
 
+  bool goToNormalMode = false;
   uint8_t cmdBuffer[MAX_CMD_LEN];
   InternalState internalState = InternalState::SETUP;
   CommunicationStep communicationStep = CommunicationStep::START_CONVERSION;