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sus delay implementation

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This commit is contained in:
Jakob Meier
2021-05-12 13:06:56 +02:00
parent 50d9365702
commit 48af7ef0fb
10 changed files with 269 additions and 207 deletions
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39
mission/devices/SusHandler.cpp
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@ -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: {