eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into feature_watchdog_extension
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This commit is contained in:
Robin Müller 2023-02-28 15:11:03 +01:00
commit 543568be39
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GPG Key ID: 11D4952C8CCEF814
37 changed files with 2234 additions and 764 deletions
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1
CHANGELOG.md
View File

@ -27,6 +27,7 @@ will consitute of a breaking change warranting a new major release:
debugging images 2 minutes to start the watchdog without the watch functionality.
- The SD card prefix is now set earlier inside the `CoreController` constructor
- The watchdog handling was moved outside the `CoreController` into the main loop.
- Move ACS board polling to separate worker thread.
## Fixed

67
bsp_q7s/core/ObjectFactory.cpp
View File

@ -1,8 +1,12 @@
#include "ObjectFactory.h"
#include <fsfw/subsystem/Subsystem.h>
#include <linux/devices/AcsBoardPolling.h>
#include <linux/devices/ImtqPollingTask.h>
#include <linux/devices/RwPollingTask.h>
#include <mission/devices/GyrL3gCustomHandler.h>
#include <mission/devices/MgmLis3CustomHandler.h>
#include <mission/devices/MgmRm3100CustomHandler.h>
#include <mission/system/objects/CamSwitcher.h>
#include "OBSWConfig.h"
@ -59,6 +63,7 @@
#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif
#include <mission/devices/GyrAdis1650XHandler.h>
#include <mission/devices/ImtqHandler.h>
#include <mission/devices/PcduHandler.h>
#include <mission/devices/SyrlinksHandler.h>
@ -85,7 +90,6 @@
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/BpxBatteryHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
@ -241,8 +245,8 @@ ReturnValue_t ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF,
return returnvalue::OK;
}
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher) {
void ObjectFactory::createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF,
SerialComIF* uartComIF, PowerSwitchIF& pwrSwitcher) {
using namespace gpio;
GpioCookie* gpioCookieAcsBoard = new GpioCookie();
@ -345,14 +349,16 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
static_cast<void>(fdir);
#if OBSW_ADD_ACS_BOARD == 1
new AcsBoardPolling(objects::ACS_BOARD_POLLING_TASK, spiComIF, *gpioComIF);
std::string spiDev = q7s::SPI_DEFAULT_DEV;
std::array<DeviceHandlerBase*, 8> assemblyChildren;
SpiCookie* spiCookie =
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto mgmLis3Handler0 = new MgmLIS3MDLHandler(
objects::MGM_0_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
auto mgmLis3Handler0 =
new MgmLis3CustomHandler(objects::MGM_0_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
mgmLis3Handler0->setCustomFdir(fdir);
assemblyChildren[0] = mgmLis3Handler0;
@ -364,12 +370,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto mgmRm3100Handler1 =
new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
new MgmRm3100CustomHandler(objects::MGM_1_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
mgmRm3100Handler1->setCustomFdir(fdir);
assemblyChildren[1] = mgmRm3100Handler1;
@ -380,12 +386,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
#if OBSW_DEBUG_ACS == 1
mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, MGMLIS3MDL::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, mgmLis3::MAX_BUFFER_SIZE,
spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto* mgmLis3Handler2 = new MgmLIS3MDLHandler(
objects::MGM_2_LIS3_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::LIS3_TRANSITION_DELAY);
auto* mgmLis3Handler2 =
new MgmLis3CustomHandler(objects::MGM_2_LIS3_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::LIS3_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
mgmLis3Handler2->setCustomFdir(fdir);
assemblyChildren[2] = mgmLis3Handler2;
@ -397,12 +403,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
spiCookie =
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, RM3100::MAX_BUFFER_SIZE,
new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, mgmRm3100::MAX_BUFFER_SIZE,
spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto* mgmRm3100Handler3 =
new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
spi::RM3100_TRANSITION_DELAY);
new MgmRm3100CustomHandler(objects::MGM_3_RM3100_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::RM3100_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
mgmRm3100Handler3->setCustomFdir(fdir);
assemblyChildren[3] = mgmRm3100Handler3;
@ -416,12 +422,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
// Commented until ACS board V2 in in clean room again
// Gyro 0 Side A
spiCookie =
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto adisHandler =
new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie,
ADIS1650X::Type::ADIS16505);
new GyrAdis1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[4] = adisHandler;
@ -433,11 +439,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
adisHandler->enablePeriodicPrintouts(true, 10);
#endif
// Gyro 1 Side A
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto gyroL3gHandler1 = new GyroHandlerL3GD20H(
objects::GYRO_1_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
auto gyroL3gHandler1 =
new GyrL3gCustomHandler(objects::GYRO_1_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
gyroL3gHandler1->setCustomFdir(fdir);
assemblyChildren[5] = gyroL3gHandler1;
@ -450,11 +457,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
#endif
// Gyro 2 Side B
spiCookie =
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, ADIS1650X::MAXIMUM_REPLY_SIZE,
new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, adis1650x::MAXIMUM_REPLY_SIZE,
spi::DEFAULT_ADIS16507_MODE, spi::DEFAULT_ADIS16507_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_MAIN_COM_IF,
spiCookie, ADIS1650X::Type::ADIS16505);
adisHandler =
new GyrAdis1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, adis1650x::Type::ADIS16505);
fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
adisHandler->setCustomFdir(fdir);
assemblyChildren[6] = adisHandler;
@ -463,11 +471,12 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialCo
adisHandler->setToGoToNormalModeImmediately();
#endif
// Gyro 3 Side B
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, L3GD20H::MAX_BUFFER_SIZE,
spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, l3gd20h::MAX_BUFFER_SIZE,
spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::ACS_BOARD_CS_TIMEOUT);
auto gyroL3gHandler3 = new GyroHandlerL3GD20H(
objects::GYRO_3_L3G_HANDLER, objects::SPI_MAIN_COM_IF, spiCookie, spi::L3G_TRANSITION_DELAY);
auto gyroL3gHandler3 =
new GyrL3gCustomHandler(objects::GYRO_3_L3G_HANDLER, objects::ACS_BOARD_POLLING_TASK,
spiCookie, spi::L3G_TRANSITION_DELAY);
fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
gyroL3gHandler3->setCustomFdir(fdir);
assemblyChildren[7] = gyroL3gHandler3;

3
bsp_q7s/core/ObjectFactory.h
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@ -2,6 +2,7 @@
#define BSP_Q7S_OBJECTFACTORY_H_
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/devices/HeaterHandler.h>
#include <mission/system/objects/Stack5VHandler.h>
#include <mission/tmtc/CcsdsIpCoreHandler.h>
@ -31,7 +32,7 @@ void createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF,
PowerSwitchIF* pwrSwitcher, Stack5VHandler& stackHandler);
void createTmpComponents();
ReturnValue_t createRadSensorComponent(LinuxLibgpioIF* gpioComIF, Stack5VHandler& handler);
void createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
void createAcsBoardComponents(SpiComIF& spiComIF, LinuxLibgpioIF* gpioComIF, SerialComIF* uartComIF,
PowerSwitchIF& pwrSwitcher);
void createHeaterComponents(GpioIF* gpioIF, PowerSwitchIF* pwrSwitcher, HealthTableIF* healthTable,
HeaterHandler*& heaterHandler);

12
bsp_q7s/core/scheduling.cpp
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@ -194,6 +194,15 @@ void scheduling::initTasks() {
scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
}
#if OBSW_ADD_ACS_BOARD == 1
PeriodicTaskIF* acsBrdPolling = factory->createPeriodicTask(
"ACS_BOARD_POLLING", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = acsBrdPolling->addComponent(objects::ACS_BOARD_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("ACS_BOARD_POLLING", objects::ACS_BOARD_POLLING_TASK);
}
#endif
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
"RW_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
@ -351,6 +360,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_SA_DEPL == 1
solarArrayDeplTask->startTask();
#endif
#if OBSW_ADD_ACS_BOARD == 1
acsBrdPolling->startTask();
#endif
#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif

2
bsp_q7s/fmObjectFactory.cpp
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@ -43,7 +43,7 @@ void ObjectFactory::produce(void* args) {
#endif
#if OBSW_ADD_ACS_BOARD == 1
createAcsBoardComponents(gpioComIF, uartComIF, *pwrSwitcher);
createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
#endif
HeaterHandler* heaterHandler;
createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);

4
common/config/eive/objects.h
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@ -123,7 +123,9 @@ enum commonObjects : uint32_t {
// CCSDS_IP_CORE_BRIDGE = 0x73500000,
/* 0x49 ('I') for Communication Interfaces */
SPI_RTD_COM_IF = 0x49020006,
ACS_BOARD_POLLING_TASK = 0x49060004,
RW_POLLING_TASK = 0x49060005,
SPI_RTD_COM_IF = 0x49060006,
// 0x60 for other stuff
HEATER_0_PLOC_PROC_BRD = 0x60000000,

16
dummies/GyroAdisDummy.cpp
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@ -1,6 +1,6 @@
#include "GyroAdisDummy.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
GyroAdisDummy::GyroAdisDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
@ -40,13 +40,13 @@ uint32_t GyroAdisDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { r
ReturnValue_t GyroAdisDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({-0.5}, true));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.2}, true));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({-1.2}, true));
localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

3
dummies/GyroAdisDummy.h
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@ -2,8 +2,7 @@
#define DUMMIES_GYROADISDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
class GyroAdisDummy : public DeviceHandlerBase {
public:

10
dummies/GyroL3GD20Dummy.cpp
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@ -1,6 +1,6 @@
#include "GyroL3GD20Dummy.h"
#include "fsfw_hal/devicehandlers/devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
GyroL3GD20Dummy::GyroL3GD20Dummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie) {}
@ -40,9 +40,9 @@ uint32_t GyroL3GD20Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t GyroL3GD20Dummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({1.2}, true));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({-0.1}, true));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.7}, true));
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
return returnvalue::OK;
}

6
dummies/MgmLIS3MDLDummy.cpp
View File

@ -1,6 +1,6 @@
#include "MgmLIS3MDLDummy.h"
#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
MgmLIS3MDLDummy::MgmLIS3MDLDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comif, comCookie), dataset(this) {}
@ -40,8 +40,8 @@ uint32_t MgmLIS3MDLDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmLIS3MDLDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS,
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS,
new PoolEntry<float>({1.02, 0.56, -0.78}, true));
return returnvalue::OK;
}

5
dummies/MgmLIS3MDLDummy.h
View File

@ -2,8 +2,7 @@
#define DUMMIES_MGMLIS3MDLDUMMY_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
class MgmLIS3MDLDummy : public DeviceHandlerBase {
public:
@ -17,7 +16,7 @@ class MgmLIS3MDLDummy : public DeviceHandlerBase {
virtual ~MgmLIS3MDLDummy();
protected:
MGMLIS3MDL::MgmPrimaryDataset dataset;
mgmLis3::MgmPrimaryDataset dataset;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

2
dummies/MgmRm3100Dummy.cpp
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@ -36,7 +36,7 @@ uint32_t MgmRm3100Dummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
ReturnValue_t MgmRm3100Dummy::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS,
localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS,
new PoolEntry<float>({0.87, -0.95, 0.11}, true));
return returnvalue::OK;
}

5
dummies/MgmRm3100Dummy.h
View File

@ -1,8 +1,9 @@
#ifndef DUMMIES_MGMRM3100DUMMY_H_
#define DUMMIES_MGMRM3100DUMMY_H_
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw_hal/devicehandlers/devicedefinitions/MgmRM3100HandlerDefs.h"
class MgmRm3100Dummy : public DeviceHandlerBase {
public:
@ -10,7 +11,7 @@ class MgmRm3100Dummy : public DeviceHandlerBase {
virtual ~MgmRm3100Dummy();
protected:
RM3100::Rm3100PrimaryDataset dataset;
mgmRm3100::Rm3100PrimaryDataset dataset;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;

730
linux/devices/AcsBoardPolling.cpp Normal file
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@ -0,0 +1,730 @@
#include "AcsBoardPolling.h"
#include <fcntl.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <fsfw_hal/linux/UnixFileGuard.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <fsfw_hal/linux/utility.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <sys/ioctl.h>
#include "devices/gpioIds.h"
using namespace returnvalue;
AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF)
: SystemObject(objectId), spiComIF(lowLevelComIF), gpioIF(gpioIF) {
semaphore = SemaphoreFactory::instance()->createBinarySemaphore();
semaphore->acquire();
ipcLock = MutexFactory::instance()->createMutex();
}
ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
while (true) {
ipcLock->lockMutex();
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
// Give all tasks or the PST some time to submit all consecutive requests.
TaskFactory::delayTask(2);
gyroAdisHandler(gyro0Adis);
gyroAdisHandler(gyro2Adis);
gyroL3gHandler(gyro1L3g);
gyroL3gHandler(gyro3L3g);
mgmRm3100Handler(mgm1Rm3100);
mgmRm3100Handler(mgm3Rm3100);
mgmLis3Handler(mgm0Lis3);
mgmLis3Handler(mgm2Lis3);
// To prevent task being not reactivated by tardy tasks
TaskFactory::delayTask(20);
}
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::initialize() { return returnvalue::OK; }
ReturnValue_t AcsBoardPolling::initializeInterface(CookieIF* cookie) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
mgm0Lis3.cookie = spiCookie;
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
mgm1Rm3100.cookie = spiCookie;
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
mgm2Lis3.cookie = spiCookie;
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
mgm3Rm3100.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
gyro0Adis.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
gyro1L3g.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
gyro2Adis.cookie = spiCookie;
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
gyro3L3g.cookie = spiCookie;
break;
}
default: {
sif::error << "AcsBoardPollingTask: invalid spi cookie" << std::endl;
}
}
return spiComIF.initializeInterface(cookie);
}
ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
auto handleAdisRequest = [&](GyroAdis& adis) {
if (sendLen != sizeof(acs::Adis1650XRequest)) {
sif::error << "AcsBoardPolling: invalid adis request send length";
adis.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::Adis1650XRequest*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != adis.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
adis.type = req->type;
adis.countdown.setTimeout(adis1650x::START_UP_TIME);
adis.countdown.resetTimer();
if (adis.type == adis1650x::Type::ADIS16507) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
} else if (adis.type == adis1650x::Type::ADIS16505) {
adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
}
adis.performStartup = true;
} else if (req->mode == acs::SimpleSensorMode::OFF) {
adis.performStartup = false;
adis.ownReply.cfgWasSet = false;
adis.ownReply.dataWasSet = false;
}
adis.mode = req->mode;
}
return returnvalue::OK;
};
auto handleL3gRequest = [&](GyroL3g& gyro) {
if (sendLen != sizeof(acs::GyroL3gRequest)) {
sif::error << "AcsBoardPolling: invalid l3g request send length";
gyro.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::GyroL3gRequest*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != gyro.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
gyro.performStartup = true;
} else {
gyro.ownReply.cfgWasSet = false;
}
gyro.mode = req->mode;
}
return returnvalue::OK;
};
auto handleLis3Request = [&](MgmLis3& mgm) {
if (sendLen != sizeof(acs::MgmLis3Request)) {
sif::error << "AcsBoardPolling: invalid lis3 request send length";
mgm.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmLis3Request*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
} else {
mgm.ownReply.dataWasSet = false;
mgm.ownReply.temperatureWasSet = false;
}
mgm.mode = req->mode;
}
return returnvalue::OK;
};
auto handleRm3100Request = [&](MgmRm3100& mgm) {
if (sendLen != sizeof(acs::MgmRm3100Request)) {
sif::error << "AcsBoardPolling: invalid rm3100 request send length";
mgm.replyResult = returnvalue::FAILED;
return returnvalue::FAILED;
}
auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
MutexGuard mg(ipcLock);
if (req->mode != mgm.mode) {
if (req->mode == acs::SimpleSensorMode::NORMAL) {
mgm.performStartup = true;
} else {
mgm.ownReply.dataWasRead = false;
}
mgm.mode = req->mode;
}
return returnvalue::OK;
};
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
handleLis3Request(mgm0Lis3);
break;
}
case (gpioIds::MGM_1_RM3100_CS): {
handleRm3100Request(mgm1Rm3100);
break;
}
case (gpioIds::MGM_2_LIS3_CS): {
handleLis3Request(mgm2Lis3);
break;
}
case (gpioIds::MGM_3_RM3100_CS): {
handleRm3100Request(mgm3Rm3100);
break;
}
case (gpioIds::GYRO_0_ADIS_CS): {
handleAdisRequest(gyro0Adis);
break;
}
case (gpioIds::GYRO_2_ADIS_CS): {
handleAdisRequest(gyro2Adis);
break;
}
case (gpioIds::GYRO_1_L3G_CS): {
handleL3gRequest(gyro1L3g);
break;
}
case (gpioIds::GYRO_3_L3G_CS): {
handleL3gRequest(gyro3L3g);
break;
}
}
MutexGuard mg(ipcLock);
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
}
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::getSendSuccess(CookieIF* cookie) { return returnvalue::OK; }
ReturnValue_t AcsBoardPolling::requestReceiveMessage(CookieIF* cookie, size_t requestLen) {
return returnvalue::OK;
}
ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer,
size_t* size) {
SpiCookie* spiCookie = dynamic_cast<SpiCookie*>(cookie);
if (spiCookie == nullptr) {
return returnvalue::FAILED;
}
MutexGuard mg(ipcLock);
auto handleAdisReply = [&](GyroAdis& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::Adis1650XReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
*size = sizeof(acs::Adis1650XReply);
return gyro.replyResult;
};
auto handleL3gReply = [&](GyroL3g& gyro) {
std::memcpy(&gyro.readerReply, &gyro.ownReply, sizeof(acs::GyroL3gReply));
*buffer = reinterpret_cast<uint8_t*>(&gyro.readerReply);
*size = sizeof(acs::GyroL3gReply);
return gyro.replyResult;
};
auto handleRm3100Reply = [&](MgmRm3100& mgm) {
std::memcpy(&mgm.readerReply, &mgm.ownReply, sizeof(acs::MgmRm3100Reply));
*buffer = reinterpret_cast<uint8_t*>(&mgm.readerReply);
*size = sizeof(acs::MgmRm3100Reply);
return mgm.replyResult;
};
auto handleLis3Reply = [&](MgmLis3& mgm) {
std::memcpy(&mgm.readerReply, &mgm.ownReply, sizeof(acs::MgmLis3Reply));
*buffer = reinterpret_cast<uint8_t*>(&mgm.readerReply);
*size = sizeof(acs::MgmLis3Reply);
return mgm.replyResult;
};
switch (spiCookie->getChipSelectPin()) {
case (gpioIds::MGM_0_LIS3_CS): {
return handleLis3Reply(mgm0Lis3);
}
case (gpioIds::MGM_1_RM3100_CS): {
return handleRm3100Reply(mgm1Rm3100);
}
case (gpioIds::MGM_2_LIS3_CS): {
return handleLis3Reply(mgm2Lis3);
}
case (gpioIds::MGM_3_RM3100_CS): {
return handleRm3100Reply(mgm3Rm3100);
}
case (gpioIds::GYRO_0_ADIS_CS): {
return handleAdisReply(gyro0Adis);
}
case (gpioIds::GYRO_2_ADIS_CS): {
return handleAdisReply(gyro2Adis);
}
case (gpioIds::GYRO_1_L3G_CS): {
return handleL3gReply(gyro1L3g);
}
case (gpioIds::GYRO_3_L3G_CS): {
return handleL3gReply(gyro3L3g);
}
}
return returnvalue::OK;
}
void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool gyroPerformStartup;
{
MutexGuard mg(ipcLock);
mode = l3g.mode;
gyroPerformStartup = l3g.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (gyroPerformStartup) {
cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
std::memcpy(cmdBuf.data() + 1, l3g.sensorCfg, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
}
// Ignore useless reply and red config
cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, 5);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::OK;
}
MutexGuard mg(ipcLock);
// Cross check configuration as verification that communication is working
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
sif::warning << "AcsBoardPolling: l3g config check missmatch" << std::endl;
l3g.replyResult = returnvalue::FAILED;
return;
}
}
l3g.performStartup = false;
l3g.ownReply.cfgWasSet = true;
l3g.ownReply.sensitivity = l3gd20h::ctrlReg4ToSensitivity(l3g.sensorCfg[3]);
}
cmdBuf[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, l3gd20h::READ_LEN);
result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), l3gd20h::READ_LEN + 1);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
l3g.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
// The regular read function always returns the full sensor config as well. Use that
// to verify communications.
for (uint8_t idx = 0; idx < 5; idx++) {
if (rawReply[idx + 1] != l3g.sensorCfg[idx]) {
sif::warning << "AcsBoardPolling: l3g config check missmatch" << std::endl;
l3g.replyResult = returnvalue::FAILED;
return;
}
}
l3g.ownReply.statusReg = rawReply[l3gd20h::STATUS_IDX];
l3g.ownReply.angVelocities[0] = (rawReply[l3gd20h::OUT_X_H] << 8) | rawReply[l3gd20h::OUT_X_L];
l3g.ownReply.angVelocities[1] = (rawReply[l3gd20h::OUT_Y_H] << 8) | rawReply[l3gd20h::OUT_Y_L];
l3g.ownReply.angVelocities[2] = (rawReply[l3gd20h::OUT_Z_H] << 8) | rawReply[l3gd20h::OUT_Z_L];
l3g.ownReply.tempOffsetRaw = rawReply[l3gd20h::TEMPERATURE_IDX];
}
}
ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen) {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = spiComIF.getSpiDev();
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie.assignWriteBuffer(cmdBuf.data());
cookie.setTransferSize(2);
gpioId_t gpioId = cookie.getChipSelectPin();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF* mutex = spiComIF.getCsMutex();
cookie.getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid"
<< std::endl;
return returnvalue::FAILED;
}
size_t idx = 0;
spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
while (idx < transferLen) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
#endif
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullHigh(gpioId);
}
mutex->unlockMutex();
idx += 2;
transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2;
if (idx < transferLen) {
usleep(adis1650x::STALL_TIME_MICROSECONDS);
}
}
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
cookie.setTransferSize(transferLen);
return returnvalue::OK;
}
void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool cdHasTimedOut = false;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
mode = gyro.mode;
cdHasTimedOut = gyro.countdown.hasTimedOut();
mustPerformStartup = gyro.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
if (mustPerformStartup) {
uint8_t regList[6];
// Read configuration
regList[0] = adis1650x::DIAG_STAT_REG;
regList[1] = adis1650x::FILTER_CTRL_REG;
regList[2] = adis1650x::RANG_MDL_REG;
regList[3] = adis1650x::MSC_CTRL_REG;
regList[4] = adis1650x::DEC_RATE_REG;
regList[5] = adis1650x::PROD_ID_REG;
size_t transferLen =
adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
result = readAdisCfg(*gyro.cookie, transferLen);
if (result != returnvalue::OK) {
gyro.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = result;
return;
}
uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
sif::warning << "AcsPollingTask: Invalid ADIS product ID " << prodId << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
gyro.ownReply.cfgWasSet = true;
gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.cfg.prodId = prodId;
gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
gyro.performStartup = false;
}
// Read regular registers
std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
adis1650x::BURST_READ_ENABLE.size());
std::memset(cmdBuf.data() + 2, 0, 10 * 2);
result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
if (result != returnvalue::OK) {
gyro.replyResult = returnvalue::FAILED;
return;
}
result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
if (result != returnvalue::OK or rawReply == nullptr) {
gyro.replyResult = returnvalue::FAILED;
return;
}
uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += rawReply[idx];
}
if (checksum != calcChecksum) {
sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
" not implemented!"
<< std::endl;
gyro.replyResult = returnvalue::FAILED;
return;
}
MutexGuard mg(ipcLock);
gyro.ownReply.dataWasSet = true;
gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
}
}
void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (mustPerformStartup) {
// To check valid communication, read back identification
// register which should always be the same value.
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
cmdBuf[1] = 0x00;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
if (rawReply[1] != mgmLis3::DEVICE_ID) {
sif::error << "AcsPollingTask: invalid MGM lis3 device ID" << std::endl;
mgm.replyResult = result;
return;
}
mgm.cfg[0] = mgmLis3::CTRL_REG1_DEFAULT;
mgm.cfg[1] = mgmLis3::CTRL_REG2_DEFAULT;
mgm.cfg[2] = mgmLis3::CTRL_REG3_DEFAULT;
mgm.cfg[3] = mgmLis3::CTRL_REG4_DEFAULT;
mgm.cfg[4] = mgmLis3::CTRL_REG5_DEFAULT;
cmdBuf[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
std::memcpy(cmdBuf.data() + 1, mgm.cfg, 5);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 6);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Done here. We can always read back config and data during periodic handling
mgm.performStartup = false;
}
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
std::memset(cmdBuf.data() + 1, 0, mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS);
result =
spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
// Verify communication by re-checking config
if (rawReply[1] != mgm.cfg[0] or rawReply[2] != mgm.cfg[1] or rawReply[3] != mgm.cfg[2] or
rawReply[4] != mgm.cfg[3] or rawReply[5] != mgm.cfg[4]) {
mgm.replyResult = result;
return;
}
{
MutexGuard mg(ipcLock);
mgm.ownReply.dataWasSet = true;
mgm.ownReply.sensitivity = mgmLis3::getSensitivityFactor(mgmLis3::getSensitivity(mgm.cfg[1]));
mgm.ownReply.mgmValuesRaw[0] =
(rawReply[mgmLis3::X_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::X_LOWBYTE_IDX];
mgm.ownReply.mgmValuesRaw[1] =
(rawReply[mgmLis3::Y_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::Y_LOWBYTE_IDX];
mgm.ownReply.mgmValuesRaw[2] =
(rawReply[mgmLis3::Z_HIGHBYTE_IDX] << 8) | rawReply[mgmLis3::Z_LOWBYTE_IDX];
}
// Read tempetature
cmdBuf[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 3);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != returnvalue::OK) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
mgm.ownReply.temperatureWasSet = true;
mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
}
}
void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
ReturnValue_t result;
acs::SimpleSensorMode mode;
bool mustPerformStartup = false;
{
MutexGuard mg(ipcLock);
mode = mgm.mode;
mustPerformStartup = mgm.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if (mustPerformStartup) {
// Configure CMM first
cmdBuf[0] = mgmRm3100::CMM_REGISTER;
cmdBuf[1] = mgmRm3100::CMM_VALUE;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Read back register
cmdBuf[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
cmdBuf[1] = 0;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
if (rawReply[1] != mgmRm3100::CMM_VALUE) {
sif::error << "AcsBoardPolling: MGM RM3100 read back CMM invalid" << std::endl;
mgm.replyResult = result;
return;
}
// Configure TMRC register
cmdBuf[0] = mgmRm3100::TMRC_REGISTER;
// hardcoded for now
cmdBuf[1] = mgm.tmrcValue;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
// Read back and verify value
cmdBuf[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
cmdBuf[1] = 0;
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 2);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
if (rawReply[1] != mgm.tmrcValue) {
sif::error << "AcsBoardPolling: MGM RM3100 read back TMRC invalid" << std::endl;
mgm.replyResult = result;
return;
}
mgm.performStartup = false;
}
// Regular read operation
cmdBuf[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
std::memset(cmdBuf.data() + 1, 0, 9);
result = spiComIF.sendMessage(mgm.cookie, cmdBuf.data(), 10);
if (result != OK) {
mgm.replyResult = result;
return;
}
result = spiComIF.readReceivedMessage(mgm.cookie, &rawReply, &dummy);
if (result != OK) {
mgm.replyResult = result;
return;
}
MutexGuard mg(ipcLock);
for (uint8_t idx = 0; idx < 3; idx++) {
// Hardcoded, but note that the gain depends on the cycle count
// value which is configurable!
mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
}
mgm.ownReply.dataWasRead = true;
// Bitshift trickery to account for 24 bit signed value.
mgm.ownReply.mgmValuesRaw[0] =
((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;
mgm.ownReply.mgmValuesRaw[1] =
((rawReply[4] << 24) | (rawReply[5] << 16) | (rawReply[6] << 8)) >> 8;
mgm.ownReply.mgmValuesRaw[2] =
((rawReply[7] << 24) | (rawReply[8] << 16) | (rawReply[9] << 8)) >> 8;
}
}

89
linux/devices/AcsBoardPolling.h Normal file
View File

@ -0,0 +1,89 @@
#ifndef LINUX_DEVICES_ACSBOARDPOLLING_H_
#define LINUX_DEVICES_ACSBOARDPOLLING_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
class AcsBoardPolling : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
MutexIF* ipcLock;
SemaphoreIF* semaphore;
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 32> replyBuf;
struct DevBase {
SpiCookie* cookie = nullptr;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult = returnvalue::OK;
};
struct GyroAdis : public DevBase {
adis1650x::Type type;
Countdown countdown;
acs::Adis1650XReply ownReply;
acs::Adis1650XReply readerReply;
};
GyroAdis gyro0Adis{};
GyroAdis gyro2Adis{};
struct GyroL3g : public DevBase {
uint8_t sensorCfg[5];
acs::GyroL3gReply ownReply;
acs::GyroL3gReply readerReply;
};
GyroL3g gyro1L3g{};
GyroL3g gyro3L3g{};
struct MgmRm3100 : public DevBase {
uint8_t tmrcValue = mgmRm3100::TMRC_DEFAULT_37HZ_VALUE;
acs::MgmRm3100Reply ownReply;
acs::MgmRm3100Reply readerReply;
};
MgmRm3100 mgm1Rm3100;
MgmRm3100 mgm3Rm3100;
struct MgmLis3 : public DevBase {
uint8_t cfg[5]{};
acs::MgmLis3Reply ownReply;
acs::MgmLis3Reply readerReply;
};
MgmLis3 mgm0Lis3;
MgmLis3 mgm2Lis3;
uint8_t* rawReply = nullptr;
size_t dummy = 0;
SpiComIF& spiComIF;
GpioIF& gpioIF;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void gyroL3gHandler(GyroL3g& l3g);
void gyroAdisHandler(GyroAdis& gyro);
void mgmLis3Handler(MgmLis3& mgm);
void mgmRm3100Handler(MgmRm3100& mgm);
// Special readout: 16us stall time between small 2 byte transfers.
ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};
#endif /* LINUX_DEVICES_ACSBOARDPOLLING_H_ */

9
linux/devices/CMakeLists.txt
View File

@ -4,8 +4,13 @@ endif()
target_sources(
${OBSW_NAME}
PRIVATE Max31865RtdPolling.cpp ScexUartReader.cpp ImtqPollingTask.cpp
ScexDleParser.cpp ScexHelper.cpp RwPollingTask.cpp)
PRIVATE Max31865RtdPolling.cpp
ScexUartReader.cpp
ImtqPollingTask.cpp
ScexDleParser.cpp
ScexHelper.cpp
RwPollingTask.cpp
AcsBoardPolling.cpp)
add_subdirectory(ploc)

1
linux/fsfwconfig/objects/systemObjectList.h
View File

@ -47,7 +47,6 @@ enum sourceObjects : uint32_t {
GPIO_IF = 0x49010005,
/* Custom device handler */
RW_POLLING_TASK = 0x49020005,
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,

16
mission/controller/ThermalController.cpp
View File

@ -3,13 +3,13 @@
#include <bsp_q7s/core/CoreDefinitions.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/thermal/ThermalComponentIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
@ -854,7 +854,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempGyro0 =
lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, ADIS1650X::TEMPERATURE);
lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
@ -867,7 +867,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, L3GD20H::TEMPERATURE);
lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
@ -881,7 +881,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempGyro2 =
lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, ADIS1650X::TEMPERATURE);
lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, adis1650x::TEMPERATURE);
PoolReadGuard pg(&tempGyro2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
@ -894,7 +894,7 @@ void ThermalController::copyDevices() {
}
{
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, L3GD20H::TEMPERATURE);
lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, l3gd20h::TEMPERATURE);
PoolReadGuard pg(&tempGyro3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
@ -908,7 +908,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempMgm0 =
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, MGMLIS3MDL::TEMPERATURE_CELCIUS);
lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
@ -922,7 +922,7 @@ void ThermalController::copyDevices() {
{
lp_var_t<float> tempMgm2 =
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, MGMLIS3MDL::TEMPERATURE_CELCIUS);
lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, mgmLis3::TEMPERATURE_CELCIUS);
PoolReadGuard pg(&tempMgm2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg.getReadResult() != returnvalue::OK) {
sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;

16
mission/controller/acs/SensorValues.h
View File

@ -1,6 +1,7 @@
#ifndef SENSORVALUES_H_
#define SENSORVALUES_H_
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include <mission/devices/devicedefinitions/imtqHelpers.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
@ -9,7 +10,6 @@
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "mission/devices/devicedefinitions/GPSDefinitions.h"
#include "mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
namespace ACS {
@ -27,14 +27,12 @@ class SensorValues {
ReturnValue_t updateStr();
ReturnValue_t updateRw();
MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
mgmLis3::MgmPrimaryDataset mgm0Lis3Set = mgmLis3::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
mgmRm3100::Rm3100PrimaryDataset mgm1Rm3100Set =
mgmRm3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
mgmLis3::MgmPrimaryDataset mgm2Lis3Set = mgmLis3::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
mgmRm3100::Rm3100PrimaryDataset mgm3Rm3100Set =
mgmRm3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
imtq::RawMtmMeasurementNoTorque imtqMgmSet =
imtq::RawMtmMeasurementNoTorque(objects::IMTQ_HANDLER);

210
mission/core/pollingSeqTables.cpp
View File

@ -189,110 +189,7 @@ ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg) {
/* Length of a communication cycle */
uint32_t length = thisSequence->getPeriodMs();
bool enableAside = true;
bool enableBside = true;
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
// SUS: 16 ms
bool addSus0 = true;
bool addSus1 = true;
@ -583,6 +480,113 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
}
bool enableAside = true;
bool enableBside = true;
if (cfg.scheduleAcsBoard) {
if (enableAside) {
// A side
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
}
if (enableBside) {
// B side
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
}
if (enableAside) {
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
if (enableBside) {
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_2_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER,
length * config::acs::SCHED_BLOCK_3_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_2_PERIOD,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * config::acs::SCHED_BLOCK_3_PERIOD,
DeviceHandlerIF::GET_READ);
}
}
if (cfg.scheduleImtq) {
// This is the MTM measurement cycle
thisSequence->addSlot(objects::IMTQ_HANDLER, length * config::acs::SCHED_BLOCK_1_PERIOD,

5
mission/devices/CMakeLists.txt
View File

@ -14,7 +14,10 @@ target_sources(
ImtqHandler.cpp
HeaterHandler.cpp
RadiationSensorHandler.cpp
GyroADIS1650XHandler.cpp
GyrAdis1650XHandler.cpp
GyrL3gCustomHandler.cpp
MgmRm3100CustomHandler.cpp
MgmLis3CustomHandler.cpp
RwHandler.cpp
max1227.cpp
SusHandler.cpp

225
mission/devices/GyrAdis1650XHandler.cpp Normal file
View File

@ -0,0 +1,225 @@
#include "mission/devices/GyrAdis1650XHandler.h"
#include "fsfw/action/HasActionsIF.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, adis1650x::Type type)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
adisType(type),
primaryDataset(this),
configDataset(this),
breakCountdown() {
adisRequest.type = adisType;
}
void GyrAdis1650XHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
internalState = InternalState::STARTUP;
commandExecuted = false;
}
// Initial 310 ms start up time after power-up
if (internalState == InternalState::STARTUP) {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(adis1650x::START_UP_TIME);
commandExecuted = true;
}
if (breakCountdown.hasTimedOut()) {
updatePeriodicReply(true, adis1650x::REPLY);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
internalState = InternalState::NONE;
}
}
}
void GyrAdis1650XHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, adis1650x::REPLY);
internalState = InternalState::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
}
ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = adis1650x::REQUEST;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::STARTUP): {
*id = adis1650x::REQUEST;
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
case (InternalState::SHUTDOWN): {
*id = adis1650x::REQUEST;
acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
request->mode = acs::SimpleSensorMode::OFF;
request->type = adisType;
return returnvalue::OK;
}
default: {
return NOTHING_TO_SEND;
}
}
return returnvalue::OK;
}
ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
void GyrAdis1650XHandler::fillCommandAndReplyMap() {
insertInCommandMap(adis1650x::REQUEST);
insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
}
ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (remainingSize != sizeof(acs::Adis1650XReply)) {
*foundLen = remainingSize;
return returnvalue::FAILED;
}
*foundId = adis1650x::REPLY;
*foundLen = remainingSize;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
using namespace adis1650x;
const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
switch (adisType) {
case (adis1650x::Type::ADIS16507): {
if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< reply->cfg.prodId << "for ADIS type 16507" << std::endl;
return returnvalue::FAILED;
}
break;
}
case (adis1650x::Type::ADIS16505): {
if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< reply->cfg.prodId << "for ADIS type 16505" << std::endl;
return returnvalue::FAILED;
}
break;
}
}
PoolReadGuard rg(&configDataset);
configDataset.setValidity(true, true);
configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
configDataset.rangMdl = reply->cfg.rangMdl;
configDataset.diagStatReg = reply->cfg.diagStat;
configDataset.filterSetting = reply->cfg.filterSetting;
configDataset.decRateReg = reply->cfg.decRateReg;
commandExecuted = true;
}
if (reply->dataWasSet) {
{
PoolReadGuard rg(&configDataset);
configDataset.diagStatReg = reply->cfg.diagStat;
}
auto sensitivity = reply->data.sensitivity;
auto accelSensitivity = reply->data.accelScaling;
PoolReadGuard pg(&primaryDataset);
primaryDataset.setValidity(true, true);
primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
// TODO: Check whether we need to divide by INT16_MAX
primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
}
return returnvalue::OK;
}
LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
return &primaryDataset;
} else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
return &configDataset;
}
return nullptr;
}
uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
uint8_t valueTwo) {
uint8_t secondReg = startReg + 1;
startReg |= adis1650x::WRITE_MASK;
secondReg |= adis1650x::WRITE_MASK;
cmdBuf[0] = startReg;
cmdBuf[1] = valueOne;
cmdBuf[2] = secondReg;
cmdBuf[3] = valueTwo;
this->rawPacketLen = 4;
this->rawPacket = cmdBuf.data();
}
ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
return returnvalue::OK;
}
adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
using namespace adis1650x;
configDataset.mscCtrlReg.read();
uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
configDataset.mscCtrlReg.commit();
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}
void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
adisRequest.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
rawPacketLen = sizeof(acs::Adis1650XRequest);
return returnvalue::OK;
}

42
mission/devices/GyroADIS1650XHandler.h → mission/devices/GyrAdis1650XHandler.h
View File

@ -1,27 +1,24 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
#include "FSFWConfig.h"
#include "OBSWConfig.h"
#include "devicedefinitions/GyroADIS1650XDefinitions.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#ifdef FSFW_OSAL_LINUX
class SpiComIF;
class SpiCookie;
#endif
/**
* @brief Device handle for the ADIS16507 Gyroscope by Analog Devices
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/ADIS16507_Gyro
*/
class GyroADIS1650XHandler : public DeviceHandlerBase {
class GyrAdis1650XHandler : public DeviceHandlerBase {
public:
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
ADIS1650X::Type type);
GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
adis1650x::Type type);
void enablePeriodicPrintouts(bool enable, uint8_t divider);
void setToGoToNormalModeImmediately();
@ -40,42 +37,31 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
std::array<uint8_t, 32> commandBuffer;
ADIS1650X::Type adisType;
std::array<uint8_t, 32> cmdBuf;
acs::Adis1650XRequest adisRequest;
adis1650x::Type adisType;
AdisGyroPrimaryDataset primaryDataset;
AdisGyroConfigDataset configDataset;
double sensitivity = ADIS1650X::SENSITIVITY_UNSET;
double sensitivity = adis1650x::SENSITIVITY_UNSET;
bool goToNormalMode = false;
bool warningSwitch = true;
enum class InternalState { STARTUP, CONFIG, IDLE };
enum class BurstModes {
BURST_16_BURST_SEL_0,
BURST_16_BURST_SEL_1,
BURST_32_BURST_SEL_0,
BURST_32_BURST_SEL_1
};
enum class InternalState { NONE, STARTUP, SHUTDOWN };
InternalState internalState = InternalState::STARTUP;
bool commandExecuted = false;
PoolEntry<uint16_t> rangMdl = PoolEntry<uint16_t>();
void prepareReadCommand(uint8_t *regList, size_t len);
BurstModes getBurstMode();
#ifdef FSFW_OSAL_LINUX
static ReturnValue_t spiSendCallback(SpiComIF *comIf, SpiCookie *cookie, const uint8_t *sendData,
size_t sendLen, void *args);
#endif
adis1650x::BurstModes getBurstMode();
Countdown breakCountdown;
void prepareWriteCommand(uint8_t startReg, uint8_t valueOne, uint8_t valueTwo);
ReturnValue_t preparePeriodicRequest(acs::SimpleSensorMode mode);
ReturnValue_t handleSensorData(const uint8_t *packet);

191
mission/devices/GyrL3gCustomHandler.cpp Normal file
View File

@ -0,0 +1,191 @@
#include <mission/devices/GyrL3gCustomHandler.h>
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
GyrL3gCustomHandler::GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelayMs)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
transitionDelayMs(transitionDelayMs),
dataset(this) {}
GyrL3gCustomHandler::~GyrL3gCustomHandler() = default;
void GyrL3gCustomHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
internalState = InternalState::STARTUP;
updatePeriodicReply(true, l3gd20h::REPLY);
commandExecuted = false;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goNormalModeImmediately) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
internalState = InternalState::NONE;
commandExecuted = false;
}
}
}
void GyrL3gCustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
internalState = InternalState::SHUTDOWN;
dataset.setValidity(false, true);
commandExecuted = false;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
internalState = InternalState::NONE;
updatePeriodicReply(false, l3gd20h::REPLY);
commandExecuted = false;
setMode(_MODE_POWER_DOWN);
}
}
ReturnValue_t GyrL3gCustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::NONE):
case (InternalState::NORMAL): {
return NOTHING_TO_SEND;
}
case (InternalState::STARTUP): {
*id = l3gd20h::REQUEST;
gyrRequest.ctrlRegs[0] = l3gd20h::CTRL_REG_1_VAL;
gyrRequest.ctrlRegs[1] = l3gd20h::CTRL_REG_2_VAL;
gyrRequest.ctrlRegs[2] = l3gd20h::CTRL_REG_3_VAL;
gyrRequest.ctrlRegs[3] = l3gd20h::CTRL_REG_4_VAL;
gyrRequest.ctrlRegs[4] = l3gd20h::CTRL_REG_5_VAL;
return doPeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
case (InternalState::SHUTDOWN): {
*id = l3gd20h::REQUEST;
return doPeriodicRequest(acs::SimpleSensorMode::OFF);
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
/* Might be a configuration error. */
sif::warning << "GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!"
<< std::endl;
#else
sif::printDebug(
"GyroL3GD20Handler::buildTransitionDeviceCommand: "
"Unknown internal state!\n");
#endif
return returnvalue::OK;
}
return returnvalue::OK;
}
ReturnValue_t GyrL3gCustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = l3gd20h::REQUEST;
return doPeriodicRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t GyrL3gCustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return returnvalue::OK;
}
ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::GyroL3gReply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = l3gd20h::REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t GyrL3gCustomHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
const acs::GyroL3gReply *reply = reinterpret_cast<const acs::GyroL3gReply *>(packet);
if (reply->cfgWasSet) {
if (internalState == InternalState::STARTUP) {
commandExecuted = true;
}
PoolReadGuard pg(&dataset);
dataset.setValidity(true, true);
dataset.angVelocX = static_cast<float>(reply->angVelocities[0]) * reply->sensitivity;
dataset.angVelocY = static_cast<float>(reply->angVelocities[1]) * reply->sensitivity;
dataset.angVelocZ = static_cast<float>(reply->angVelocities[2]) * reply->sensitivity;
if (std::abs(dataset.angVelocX.value) > absLimitX) {
dataset.angVelocX.setValid(false);
}
if (std::abs(dataset.angVelocY.value) > absLimitY) {
dataset.angVelocY.setValid(false);
}
if (std::abs(dataset.angVelocZ.value) > absLimitZ) {
dataset.angVelocZ.setValid(false);
}
dataset.temperature = 25.0 - reply->tempOffsetRaw;
}
return returnvalue::OK;
}
uint32_t GyrL3gCustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelayMs;
}
void GyrL3gCustomHandler::setToGoToNormalMode(bool enable) { this->goNormalModeImmediately = true; }
ReturnValue_t GyrL3gCustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
return returnvalue::OK;
}
void GyrL3gCustomHandler::fillCommandAndReplyMap() {
insertInCommandMap(l3gd20h::REQUEST);
insertInReplyMap(l3gd20h::REPLY, 5, nullptr, 0, true);
}
void GyrL3gCustomHandler::modeChanged() { internalState = InternalState::NONE; }
void GyrL3gCustomHandler::setAbsoluteLimits(float limitX, float limitY, float limitZ) {
this->absLimitX = limitX;
this->absLimitY = limitY;
this->absLimitZ = limitZ;
}
void GyrL3gCustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
LocalPoolDataSetBase *GyrL3gCustomHandler::getDataSetHandle(sid_t sid) {
if (sid == dataset.getSid()) {
return &dataset;
}
return nullptr;
}
ReturnValue_t GyrL3gCustomHandler::doPeriodicRequest(acs::SimpleSensorMode mode) {
gyrRequest.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&gyrRequest);
rawPacketLen = sizeof(acs::GyroL3gRequest);
return returnvalue::OK;
}

91
mission/devices/GyrL3gCustomHandler.h Normal file
View File

@ -0,0 +1,91 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
* @details
* Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
*
* Data is read big endian with the smallest possible range of 245 degrees per second.
*/
class GyrL3gCustomHandler : public DeviceHandlerBase {
public:
GyrL3gCustomHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelayMs);
virtual ~GyrL3gCustomHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in degrees per second.
* The dataset values will be marked as invalid if that limit is exceeded
* @param xLimit
* @param yLimit
* @param zLimit
*/
void setAbsoluteLimits(float limitX, float limitY, float limitZ);
/**
* @brief Configure device handler to go to normal mode immediately
*/
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
float absLimitX = l3gd20h::RANGE_DPS_00;
float absLimitY = l3gd20h::RANGE_DPS_00;
float absLimitZ = l3gd20h::RANGE_DPS_00;
enum class InternalState { NONE, STARTUP, SHUTDOWN, NORMAL };
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
acs::GyroL3gRequest gyrRequest{};
// Set default value
float sensitivity = l3gd20h::SENSITIVITY_00;
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
ReturnValue_t doPeriodicRequest(acs::SimpleSensorMode mode);
};
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

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#include "GyroADIS1650XHandler.h"
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include "fsfw/FSFW.h"
#ifdef FSFW_OSAL_LINUX
#include <sys/ioctl.h>
#include <unistd.h>
#include "fsfw_hal/linux/UnixFileGuard.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/utility.h"
#endif
GyroADIS1650XHandler::GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, ADIS1650X::Type type)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
adisType(type),
primaryDataset(this),
configDataset(this),
breakCountdown() {
#ifdef FSFW_OSAL_LINUX
SpiCookie *cookie = dynamic_cast<SpiCookie *>(comCookie);
if (cookie != nullptr) {
cookie->setCallbackMode(&spiSendCallback, this);
}
#endif
}
void GyroADIS1650XHandler::doStartUp() {
// Initial 310 ms start up time after power-up
if (internalState == InternalState::STARTUP) {
if (not commandExecuted) {
warningSwitch = true;
breakCountdown.setTimeout(ADIS1650X::START_UP_TIME);
commandExecuted = true;
}
if (breakCountdown.hasTimedOut()) {
internalState = InternalState::CONFIG;
commandExecuted = false;
}
}
// Read all configuration registers first
if (internalState == InternalState::CONFIG) {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::IDLE;
}
}
if (internalState == InternalState::IDLE) {
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(MODE_ON);
}
}
}
void GyroADIS1650XHandler::doShutDown() {
commandExecuted = false;
internalState = InternalState::STARTUP;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroADIS1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = ADIS1650X::READ_SENSOR_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch (internalState) {
case (InternalState::CONFIG): {
*id = ADIS1650X::READ_OUT_CONFIG;
buildCommandFromCommand(*id, nullptr, 0);
break;
}
case (InternalState::STARTUP): {
return NOTHING_TO_SEND;
break;
}
default: {
// Might be a configuration error
sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
"Unknown internal state!"
<< std::endl;
return returnvalue::OK;
}
}
return returnvalue::OK;
}
ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (ADIS1650X::READ_OUT_CONFIG): {
this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
uint8_t regList[6] = {};
regList[0] = ADIS1650X::DIAG_STAT_REG;
regList[1] = ADIS1650X::FILTER_CTRL_REG;
regList[2] = ADIS1650X::RANG_MDL_REG;
regList[3] = ADIS1650X::MSC_CTRL_REG;
regList[4] = ADIS1650X::DEC_RATE_REG;
regList[5] = ADIS1650X::PROD_ID_REG;
prepareReadCommand(regList, sizeof(regList));
this->rawPacket = commandBuffer.data();
break;
}
case (ADIS1650X::READ_SENSOR_DATA): {
if (breakCountdown.isBusy()) {
// A glob command is pending and sensor data can't be read currently
return NO_REPLY_EXPECTED;
}
std::memcpy(commandBuffer.data(), ADIS1650X::BURST_READ_ENABLE.data(),
ADIS1650X::BURST_READ_ENABLE.size());
std::memset(commandBuffer.data() + 2, 0, 10 * 2);
this->rawPacketLen = ADIS1650X::SENSOR_READOUT_SIZE;
this->rawPacket = commandBuffer.data();
break;
}
case (ADIS1650X::SELF_TEST_SENSORS): {
if (breakCountdown.isBusy()) {
// Another glob command is pending
return HasActionsIF::IS_BUSY;
}
prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SENSOR_SELF_TEST, 0x00);
breakCountdown.setTimeout(ADIS1650X::SELF_TEST_BREAK);
break;
}
case (ADIS1650X::SELF_TEST_MEMORY): {
if (breakCountdown.isBusy()) {
// Another glob command is pending
return HasActionsIF::IS_BUSY;
}
prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_TEST, 0x00);
breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_TEST_BREAK);
break;
}
case (ADIS1650X::UPDATE_NV_CONFIGURATION): {
if (breakCountdown.isBusy()) {
// Another glob command is pending
return HasActionsIF::IS_BUSY;
}
prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FLASH_MEMORY_UPDATE, 0x00);
breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_UPDATE_BREAK);
break;
}
case (ADIS1650X::RESET_SENSOR_CONFIGURATION): {
if (breakCountdown.isBusy()) {
// Another glob command is pending
return HasActionsIF::IS_BUSY;
}
prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::FACTORY_CALIBRATION, 0x00);
breakCountdown.setTimeout(ADIS1650X::FACTORY_CALIBRATION_BREAK);
break;
}
case (ADIS1650X::SW_RESET): {
if (breakCountdown.isBusy()) {
// Another glob command is pending
return HasActionsIF::IS_BUSY;
}
prepareWriteCommand(ADIS1650X::GLOB_CMD, ADIS1650X::GlobCmds::SOFTWARE_RESET, 0x00);
breakCountdown.setTimeout(ADIS1650X::SW_RESET_BREAK);
break;
}
case (ADIS1650X::PRINT_CURRENT_CONFIGURATION): {
#if OBSW_VERBOSE_LEVEL >= 1
PoolReadGuard pg(&configDataset);
sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4)
<< std::setfill('0') << "0x" << configDataset.diagStatReg.value << std::endl;
sif::info << "MSC_CTRL: " << std::hex << std::setw(4) << "0x"
<< configDataset.mscCtrlReg.value << " | FILT_CTRL: 0x"
<< configDataset.filterSetting.value << " | DEC_RATE: 0x"
<< configDataset.decRateReg.value << std::setfill(' ') << std::endl;
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
}
}
return returnvalue::OK;
}
void GyroADIS1650XHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(ADIS1650X::READ_SENSOR_DATA, 1, &primaryDataset);
insertInCommandAndReplyMap(ADIS1650X::READ_OUT_CONFIG, 1, &configDataset);
insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_SENSORS, 1);
insertInCommandAndReplyMap(ADIS1650X::SELF_TEST_MEMORY, 1);
insertInCommandAndReplyMap(ADIS1650X::UPDATE_NV_CONFIGURATION, 1);
insertInCommandAndReplyMap(ADIS1650X::RESET_SENSOR_CONFIGURATION, 1);
insertInCommandAndReplyMap(ADIS1650X::SW_RESET, 1);
insertInCommandAndReplyMap(ADIS1650X::PRINT_CURRENT_CONFIGURATION, 1);
}
ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
// For SPI, the ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
return returnvalue::OK;
}
ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
using namespace ADIS1650X;
switch (id) {
case (ADIS1650X::READ_OUT_CONFIG): {
uint16_t readProdId = packet[12] << 8 | packet[13];
if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
if (warningSwitch) {
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
}
warningSwitch = false;
#endif
return returnvalue::FAILED;
}
PoolReadGuard rg(&configDataset);
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
configDataset.filterSetting.value = packet[4] << 8 | packet[5];
uint16_t rangMdlRaw = packet[6] << 8 | packet[7];
ADIS1650X::RangMdlBitfield bitfield =
static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
switch (bitfield) {
case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
sensitivity = SENSITIVITY_1BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
sensitivity = SENSITIVITY_2BMLZ;
break;
}
case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
sensitivity = SENSITIVITY_3BMLZ;
break;
}
case (RangMdlBitfield::RESERVED): {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
#endif
break;
}
}
configDataset.rangMdl.value = rangMdlRaw;
configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9];
configDataset.decRateReg.value = packet[10] << 8 | packet[11];
configDataset.setValidity(true, true);
if (internalState == InternalState::CONFIG) {
commandExecuted = true;
}
break;
}
case (ADIS1650X::READ_SENSOR_DATA): {
return handleSensorData(packet);
}
}
return returnvalue::OK;
}
ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
BurstModes burstMode = getBurstMode();
switch (burstMode) {
case (BurstModes::BURST_16_BURST_SEL_1):
case (BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!"
<< std::endl;
return returnvalue::OK;
}
case (BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for (size_t idx = 2; idx < 20; idx++) {
calcChecksum += packet[idx];
}
if (checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
"Invalid checksum detected!"
<< std::endl;
#endif
return returnvalue::FAILED;
}
ReturnValue_t result = configDataset.diagStatReg.read();
if (result == returnvalue::OK) {
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
configDataset.diagStatReg.setValid(true);
}
configDataset.diagStatReg.commit();
{
PoolReadGuard pg(&primaryDataset);
int16_t angVelocXRaw = packet[4] << 8 | packet[5];
primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) * sensitivity;
int16_t angVelocYRaw = packet[6] << 8 | packet[7];
primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) * sensitivity;
int16_t angVelocZRaw = packet[8] << 8 | packet[9];
primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) * sensitivity;
float accelScaling = 0;
if (adisType == ADIS1650X::Type::ADIS16507) {
accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16507;
} else if (adisType == ADIS1650X::Type::ADIS16505) {
accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "GyroADIS1650XHandler::handleSensorData: "
"Unknown ADIS type"
<< std::endl;
}
int16_t accelXRaw = packet[10] << 8 | packet[11];
primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX * accelScaling;
int16_t accelYRaw = packet[12] << 8 | packet[13];
primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX * accelScaling;
int16_t accelZRaw = packet[14] << 8 | packet[15];
primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX * accelScaling;
int16_t temperatureRaw = packet[16] << 8 | packet[17];
primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
// Ignore data counter for now
primaryDataset.setValidity(true, true);
}
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
sif::info << "X: " << primaryDataset.accelX.value << std::endl;
sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
}
}
break;
}
case (BurstModes::BURST_32_BURST_SEL_0): {
break;
}
}
return returnvalue::OK;
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
uint8_t valueTwo) {
uint8_t secondReg = startReg + 1;
startReg |= ADIS1650X::WRITE_MASK;
secondReg |= ADIS1650X::WRITE_MASK;
commandBuffer[0] = startReg;
commandBuffer[1] = valueOne;
commandBuffer[2] = secondReg;
commandBuffer[3] = valueTwo;
this->rawPacketLen = 4;
this->rawPacket = commandBuffer.data();
}
void GyroADIS1650XHandler::prepareReadCommand(uint8_t *regList, size_t len) {
for (size_t idx = 0; idx < len; idx++) {
commandBuffer[idx * 2] = regList[idx];
commandBuffer[idx * 2 + 1] = 0x00;
}
commandBuffer[len * 2] = 0x00;
commandBuffer[len * 2 + 1] = 0x00;
}
ReturnValue_t GyroADIS1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_X, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Y, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::ACCELERATION_Z, new PoolEntry<double>({0.0}));
localDataPoolMap.emplace(ADIS1650X::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(ADIS1650X::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(ADIS1650X::FILTER_SETTINGS, new PoolEntry<uint8_t>());
localDataPoolMap.emplace(ADIS1650X::RANG_MDL, &rangMdl);
localDataPoolMap.emplace(ADIS1650X::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
localDataPoolMap.emplace(ADIS1650X::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
return returnvalue::OK;
}
GyroADIS1650XHandler::BurstModes GyroADIS1650XHandler::getBurstMode() {
configDataset.mscCtrlReg.read();
uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
configDataset.mscCtrlReg.commit();
if ((currentCtrlReg & ADIS1650X::BURST_32_BIT) == ADIS1650X::BURST_32_BIT) {
if ((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
return BurstModes::BURST_32_BURST_SEL_1;
} else {
return BurstModes::BURST_32_BURST_SEL_0;
}
} else {
if ((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
return BurstModes::BURST_16_BURST_SEL_1;
} else {
return BurstModes::BURST_16_BURST_SEL_0;
}
}
}
#ifdef FSFW_OSAL_LINUX
ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen,
void *args) {
GyroADIS1650XHandler *handler = reinterpret_cast<GyroADIS1650XHandler *>(args);
if (handler == nullptr) {
sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
<< std::endl;
return returnvalue::FAILED;
}
DeviceCommandId_t currentCommand = handler->getPendingCommand();
switch (currentCommand) {
case (ADIS1650X::READ_SENSOR_DATA): {
return comIf->performRegularSendOperation(cookie, sendData, sendLen);
}
case (ADIS1650X::READ_OUT_CONFIG):
default: {
ReturnValue_t result = returnvalue::OK;
int retval = 0;
// Prepare transfer
int fileDescriptor = 0;
std::string device = comIf->getSpiDev();
UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
if (fileHelper.getOpenResult() != returnvalue::OK) {
return SpiComIF::OPENING_FILE_FAILED;
}
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
uint32_t spiSpeed = 0;
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
cookie->assignWriteBuffer(sendData);
cookie->setTransferSize(2);
gpioId_t gpioId = cookie->getChipSelectPin();
GpioIF &gpioIF = comIf->getGpioInterface();
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 0;
MutexIF *mutex = comIf->getCsMutex();
cookie->getMutexParams(timeoutType, timeoutMs);
if (mutex == nullptr) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
"Mutex or GPIO interface invalid"
<< std::endl;
return returnvalue::FAILED;
#endif
}
if (gpioId != gpio::NO_GPIO) {
result = mutex->lockMutex(timeoutType, timeoutMs);
if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
#endif
return result;
}
}
size_t idx = 0;
spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
uint64_t origTx = transferStruct->tx_buf;
uint64_t origRx = transferStruct->rx_buf;
while (idx < sendLen) {
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullLow(gpioId);
}
// Execute transfer
// Initiate a full duplex SPI transfer.
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
if (retval < 0) {
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
comIf->performSpiWiretapping(cookie);
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
if (gpioId != gpio::NO_GPIO) {
gpioIF.pullHigh(gpioId);
}
idx += 2;
if (idx < sendLen) {
usleep(ADIS1650X::STALL_TIME_MICROSECONDS);
}
transferStruct->tx_buf += 2;
transferStruct->rx_buf += 2;
}
transferStruct->tx_buf = origTx;
transferStruct->rx_buf = origRx;
if (gpioId != gpio::NO_GPIO) {
mutex->unlockMutex();
}
}
}
return returnvalue::OK;
}
void GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyroADIS1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */

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#include <mission/devices/MgmLis3CustomHandler.h>
#include <cmath>
#include "fsfw/datapool/PoolReadGuard.h"
MgmLis3CustomHandler::MgmLis3CustomHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie, uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this),
transitionDelay(transitionDelay) {}
MgmLis3CustomHandler::~MgmLis3CustomHandler() = default;
void MgmLis3CustomHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, REPLY);
internalState = InternalState::STARTUP;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
setMode(MODE_NORMAL);
internalState = InternalState::NONE;
commandExecuted = false;
}
}
}
void MgmLis3CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, REPLY);
commandExecuted = false;
internalState = InternalState::NONE;
setMode(_MODE_POWER_DOWN);
}
}
ReturnValue_t MgmLis3CustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (internalState == InternalState::STARTUP) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
} else if (internalState == InternalState::SHUTDOWN) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::OFF);
}
return NOTHING_TO_SEND;
}
ReturnValue_t MgmLis3CustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t MgmLis3CustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
ReturnValue_t MgmLis3CustomHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::MgmLis3Reply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t MgmLis3CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
const auto *reply = reinterpret_cast<const acs::MgmLis3Reply *>(packet);
if (reply->dataWasSet) {
if (internalState == InternalState::STARTUP) {
commandExecuted = true;
}
PoolReadGuard pg(&dataset);
for (uint8_t idx = 0; idx < 3; idx++) {
dataset.fieldStrengths[idx] =
reply->mgmValuesRaw[idx] * reply->sensitivity * mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
}
dataset.setValidity(true, true);
if (std::abs(dataset.fieldStrengths[0]) > absLimitX or
std::abs(dataset.fieldStrengths[1]) > absLimitY or
std::abs(dataset.fieldStrengths[2]) > absLimitZ) {
dataset.fieldStrengths.setValid(false);
}
dataset.temperature = 25.0 + ((static_cast<float>(reply->temperatureRaw)) / 8.0);
}
return returnvalue::OK;
}
void MgmLis3CustomHandler::fillCommandAndReplyMap() {
insertInCommandMap(REQUEST);
insertInReplyMap(REPLY, 5, nullptr, 0, true);
}
void MgmLis3CustomHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
uint32_t MgmLis3CustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return transitionDelay;
}
void MgmLis3CustomHandler::modeChanged(void) { internalState = InternalState::NONE; }
ReturnValue_t MgmLis3CustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
return returnvalue::OK;
}
void MgmLis3CustomHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLimit) {
this->absLimitX = xLimit;
this->absLimitY = yLimit;
this->absLimitZ = zLimit;
}
void MgmLis3CustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
ReturnValue_t MgmLis3CustomHandler::prepareRequest(acs::SimpleSensorMode mode) {
request.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&request);
rawPacketLen = sizeof(acs::MgmLis3Request);
return returnvalue::OK;
}
LocalPoolDataSetBase *MgmLis3CustomHandler::getDataSetHandle(sid_t sid) {
if (sid == dataset.getSid()) {
return &dataset;
}
return nullptr;
}

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mission/devices/MgmLis3CustomHandler.h Normal file
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#ifndef MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
#define MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
class PeriodicOperationDivider;
/**
* @brief Device handler object for the LIS3MDL 3-axis magnetometer
* by STMicroeletronics
* @details
* Datasheet can be found online by googling LIS3MDL.
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/LIS3MDL_MGM
* @author L. Loidold, R. Mueller
*/
class MgmLis3CustomHandler : public DeviceHandlerBase {
public:
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
// Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
MgmLis3CustomHandler(uint32_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmLis3CustomHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Set the absolute limit for the values on the axis in microtesla. The dataset values will
* be marked as invalid if that limit is exceeded
* @param xLimit
* @param yLimit
* @param zLimit
*/
void setAbsoluteLimits(float xLimit, float yLimit, float zLimit);
void setToGoToNormalMode(bool enable);
protected:
/** DeviceHandlerBase overrides */
void doShutDown() override;
void doStartUp() override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
* @param id
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
mgmLis3::MgmPrimaryDataset dataset;
acs::MgmLis3Request request{};
uint32_t transitionDelay;
float absLimitX = 100;
float absLimitY = 100;
float absLimitZ = 150;
uint8_t statusRegister = 0;
bool goToNormalMode = false;
enum class InternalState {
NONE,
STARTUP,
SHUTDOWN,
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
PoolEntry<float> temperature = PoolEntry<float>();
/*------------------------------------------------------------------------*/
/* Device specific commands and variables */
/*------------------------------------------------------------------------*/
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
};
#endif /* MISSION_DEVICES_MGMLIS3CUSTOMHANDLER_H_ */

138
mission/devices/MgmRm3100CustomHandler.cpp Normal file
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#include <mission/devices/MgmRm3100CustomHandler.h>
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/devicehandlers/DeviceHandlerMessage.h"
#include "fsfw/globalfunctions/bitutility.h"
#include "fsfw/objectmanager/SystemObjectIF.h"
#include "fsfw/returnvalues/returnvalue.h"
MgmRm3100CustomHandler::MgmRm3100CustomHandler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this),
transitionDelay(transitionDelay) {}
MgmRm3100CustomHandler::~MgmRm3100CustomHandler() = default;
void MgmRm3100CustomHandler::doStartUp() {
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, REPLY);
internalState = InternalState::STARTUP;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
commandExecuted = false;
internalState = InternalState::NONE;
setMode(MODE_NORMAL);
}
}
}
void MgmRm3100CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, REPLY);
setMode(_MODE_POWER_DOWN);
commandExecuted = false;
}
}
ReturnValue_t MgmRm3100CustomHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (internalState == InternalState::STARTUP) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
} else if (internalState == InternalState::SHUTDOWN) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::OFF);
}
return NOTHING_TO_SEND;
}
ReturnValue_t MgmRm3100CustomHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
return NOTHING_TO_SEND;
}
ReturnValue_t MgmRm3100CustomHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t MgmRm3100CustomHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::MgmRm3100Reply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t MgmRm3100CustomHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
const auto *reply = reinterpret_cast<const acs::MgmRm3100Reply *>(packet);
if (reply->dataWasRead) {
if (internalState == InternalState::STARTUP) {
commandExecuted = true;
}
PoolReadGuard pg(&primaryDataset);
for (uint8_t idx = 0; idx < 3; idx++) {
primaryDataset.fieldStrengths[idx] = reply->mgmValuesRaw[idx] * reply->scaleFactors[idx];
}
}
return returnvalue::OK;
}
void MgmRm3100CustomHandler::fillCommandAndReplyMap() {
insertInCommandMap(REQUEST);
insertInReplyMap(REPLY, 5, nullptr, 0, true);
}
void MgmRm3100CustomHandler::modeChanged() { internalState = InternalState::NONE; }
ReturnValue_t MgmRm3100CustomHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
return returnvalue::OK;
}
uint32_t MgmRm3100CustomHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return this->transitionDelay;
}
void MgmRm3100CustomHandler::setToGoToNormalMode(bool enable) { goToNormalModeAtStartup = enable; }
void MgmRm3100CustomHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
periodicPrintout = enable;
debugDivider.setDivider(divider);
}
ReturnValue_t MgmRm3100CustomHandler::prepareRequest(acs::SimpleSensorMode mode) {
request.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&request);
rawPacketLen = sizeof(acs::MgmRm3100Request);
return returnvalue::OK;
}
LocalPoolDataSetBase *MgmRm3100CustomHandler::getDataSetHandle(sid_t sid) {
if (sid == primaryDataset.getSid()) {
return &primaryDataset;
}
return nullptr;
}

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#ifndef MISSION_DEVICES_MGMRM3100CUSTOMHANDLER_H_
#define MISSION_DEVICES_MGMRM3100CUSTOMHANDLER_H_
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
* (https://www.pnicorp.com/rm3100/)
* @details
* Flight manual:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/
class MgmRm3100CustomHandler : public DeviceHandlerBase {
public:
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0
static constexpr Event TMRC_SET =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO);
//! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet =
event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MgmRm3100CustomHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie,
uint32_t transitionDelay);
virtual ~MgmRm3100CustomHandler();
void enablePeriodicPrintouts(bool enable, uint8_t divider);
/**
* Configure device handler to go to normal mode after startup immediately
* @param enable
*/
void setToGoToNormalMode(bool enable);
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
enum class InternalState { NONE, STARTUP, SHUTDOWN };
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
mgmRm3100::Rm3100PrimaryDataset primaryDataset;
acs::MgmRm3100Request request{};
// uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
// uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
// uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
// uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
// uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false;
uint32_t transitionDelay;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
bool periodicPrintout = false;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};
#endif /* MISSION_DEVICEHANDLING_MgmRm3100CustomHandler_H_ */

2
mission/devices/devicedefinitions/CMakeLists.txt
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@ -1,2 +1,2 @@
target_sources(${LIB_EIVE_MISSION} PRIVATE ScexDefinitions.cpp rwHelpers.cpp
imtqHelpers.cpp)
imtqHelpers.cpp gyroAdisHelpers.cpp)

16
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
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@ -6,7 +6,7 @@
#include <cstdint>
namespace L3GD20H {
namespace l3gd20h {
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@ -104,27 +104,27 @@ static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
} // namespace L3GD20H
} // namespace l3gd20h
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
: StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
: StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

81
mission/devices/devicedefinitions/acsPolling.h Normal file
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#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_
#include "fsfw/thermal/tcsDefinitions.h"
#include "gyroAdisHelpers.h"
namespace acs {
enum SimpleSensorMode { NORMAL = 0, OFF = 1 };
struct Adis1650XRequest {
SimpleSensorMode mode;
adis1650x::Type type;
};
struct Adis1650XConfig {
uint16_t diagStat;
uint16_t filterSetting;
uint16_t rangMdl;
uint16_t mscCtrlReg;
uint16_t decRateReg;
uint16_t prodId;
};
struct Adis1650XData {
double sensitivity = 0.0;
// Angular velocities in all axes (X, Y and Z)
int16_t angVelocities[3]{};
double accelScaling = 0.0;
// Accelerations in all axes
int16_t accelerations[3]{};
int16_t temperatureRaw = thermal::INVALID_TEMPERATURE;
};
struct Adis1650XReply {
bool cfgWasSet = false;
Adis1650XConfig cfg;
bool dataWasSet = false;
Adis1650XData data;
};
struct GyroL3gRequest {
SimpleSensorMode mode = SimpleSensorMode::OFF;
uint8_t ctrlRegs[5]{};
};
struct GyroL3gReply {
bool cfgWasSet = false;
uint8_t statusReg;
// Angular velocities in all axes (X, Y and Z)
int16_t angVelocities[3]{};
int8_t tempOffsetRaw = 0;
uint8_t ctrlRegs[5]{};
float sensitivity = 0.0;
};
struct MgmRm3100Request {
SimpleSensorMode mode = SimpleSensorMode::OFF;
};
struct MgmRm3100Reply {
bool dataWasRead = false;
float scaleFactors[3]{};
int32_t mgmValuesRaw[3]{};
};
struct MgmLis3Request {
SimpleSensorMode mode = SimpleSensorMode::OFF;
};
struct MgmLis3Reply {
bool dataWasSet = false;
float sensitivity = 0.0;
int16_t mgmValuesRaw[3]{};
bool temperatureWasSet = false;
int16_t temperatureRaw = thermal::INVALID_TEMPERATURE;
};
} // namespace acs
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_ACSPOLLING_H_ */

54
mission/devices/devicedefinitions/gyroAdisHelpers.cpp Normal file
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#include "gyroAdisHelpers.h"
size_t adis1650x::prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf,
size_t maxLen) {
if (len * 2 + 2 > maxLen) {
return 0;
}
for (size_t idx = 0; idx < len; idx++) {
outBuf[idx * 2] = regList[idx];
outBuf[idx * 2 + 1] = 0x00;
}
outBuf[len * 2] = 0x00;
outBuf[len * 2 + 1] = 0x00;
return len * 2 + 2;
}
adis1650x::BurstModes adis1650x::burstModeFromMscCtrl(uint16_t mscCtrl) {
if ((mscCtrl & adis1650x::BURST_32_BIT) == adis1650x::BURST_32_BIT) {
if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
return BurstModes::BURST_32_BURST_SEL_1;
} else {
return BurstModes::BURST_32_BURST_SEL_0;
}
} else {
if ((mscCtrl & adis1650x::BURST_SEL_BIT) == adis1650x::BURST_SEL_BIT) {
return BurstModes::BURST_16_BURST_SEL_1;
} else {
return BurstModes::BURST_16_BURST_SEL_0;
}
}
}
double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
adis1650x::RangMdlBitfield bitfield =
static_cast<adis1650x::RangMdlBitfield>((rangMdl >> 2) & 0b11);
switch (bitfield) {
case (adis1650x::RangMdlBitfield::RANGE_125_1BMLZ): {
return SENSITIVITY_1BMLZ;
}
case (adis1650x::RangMdlBitfield::RANGE_500_2BMLZ): {
return SENSITIVITY_2BMLZ;
}
case (adis1650x::RangMdlBitfield::RANGE_2000_3BMLZ): {
return SENSITIVITY_3BMLZ;
}
case (RangMdlBitfield::RESERVED):
default: {
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
#endif
return 0.0;
}
}
}

56
mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h → mission/devices/devicedefinitions/gyroAdisHelpers.h
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@ -6,9 +6,20 @@
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
namespace ADIS1650X {
namespace adis1650x {
enum class Type { ADIS16505, ADIS16507 };
enum class BurstModes {
BURST_16_BURST_SEL_0,
BURST_16_BURST_SEL_1,
BURST_32_BURST_SEL_0,
BURST_32_BURST_SEL_1
};
size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
double rangMdlToSensitivity(uint16_t rangMdl);
enum class Type : uint8_t { ADIS16505, ADIS16507 };
static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
static constexpr uint8_t WRITE_MASK = 0b1000'0000;
@ -67,6 +78,9 @@ static constexpr DeviceCommandId_t RESET_SENSOR_CONFIGURATION = 30;
static constexpr DeviceCommandId_t SW_RESET = 31;
static constexpr DeviceCommandId_t PRINT_CURRENT_CONFIGURATION = 32;
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static constexpr uint16_t BURST_32_BIT = 1 << 9;
static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
@ -111,57 +125,57 @@ enum FilterSettings : uint8_t {
SIXTYFOUR_TAPS = 6
};
} // namespace ADIS1650X
} // namespace adis1650x
class AdisGyroPrimaryDataset : public StaticLocalDataSet<8> {
public:
/** Constructor for data users like controllers */
AdisGyroPrimaryDataset(object_id_t adisId)
: StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_DATASET_ID)) {
: StaticLocalDataSet(sid_t(adisId, adis1650x::ADIS_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId, ADIS1650X::ANG_VELOC_X, this);
lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId, ADIS1650X::ANG_VELOC_Y, this);
lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId, ADIS1650X::ANG_VELOC_Z, this);
lp_var_t<double> accelX = lp_var_t<double>(sid.objectId, ADIS1650X::ACCELERATION_X, this);
lp_var_t<double> accelY = lp_var_t<double>(sid.objectId, ADIS1650X::ACCELERATION_Y, this);
lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId, ADIS1650X::ACCELERATION_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, ADIS1650X::TEMPERATURE, this);
lp_var_t<double> angVelocX = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_X, this);
lp_var_t<double> angVelocY = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Y, this);
lp_var_t<double> angVelocZ = lp_var_t<double>(sid.objectId, adis1650x::ANG_VELOC_Z, this);
lp_var_t<double> accelX = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_X, this);
lp_var_t<double> accelY = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Y, this);
lp_var_t<double> accelZ = lp_var_t<double>(sid.objectId, adis1650x::ACCELERATION_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, adis1650x::TEMPERATURE, this);
private:
friend class GyroADIS1650XHandler;
friend class GyrAdis1650XHandler;
friend class GyroAdisDummy;
/** Constructor for the data creator */
AdisGyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_DATASET_ID) {}
: StaticLocalDataSet(hkOwner, adis1650x::ADIS_DATASET_ID) {}
};
class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
AdisGyroConfigDataset(object_id_t adisId)
: StaticLocalDataSet(sid_t(adisId, ADIS1650X::ADIS_CFG_DATASET_ID)) {
: StaticLocalDataSet(sid_t(adisId, adis1650x::ADIS_CFG_DATASET_ID)) {
setAllVariablesReadOnly();
}
lp_var_t<uint16_t> diagStatReg =
lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER, this);
lp_var_t<uint16_t>(sid.objectId, adis1650x::DIAG_STAT_REGISTER, this);
lp_var_t<uint8_t> filterSetting =
lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS, this);
lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL, this);
lp_var_t<uint8_t>(sid.objectId, adis1650x::FILTER_SETTINGS, this);
lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, adis1650x::RANG_MDL, this);
lp_var_t<uint16_t> mscCtrlReg =
lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER, this);
lp_var_t<uint16_t>(sid.objectId, adis1650x::MSC_CTRL_REGISTER, this);
lp_var_t<uint16_t> decRateReg =
lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER, this);
lp_var_t<uint16_t>(sid.objectId, adis1650x::DEC_RATE_REGISTER, this);
private:
friend class GyroADIS1650XHandler;
friend class GyrAdis1650XHandler;
/** Constructor for the data creator */
AdisGyroConfigDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, ADIS1650X::ADIS_CFG_DATASET_ID) {}
: StaticLocalDataSet(hkOwner, adis1650x::ADIS_CFG_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_ */

7
mission/system/objects/AcsBoardAssembly.cpp
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@ -274,4 +274,9 @@ void AcsBoardAssembly::refreshHelperModes() {
}
}
ReturnValue_t AcsBoardAssembly::initialize() { return AssemblyBase::initialize(); }
ReturnValue_t AcsBoardAssembly::initialize() {
for (const auto& child : childrenMap) {
updateChildModeByObjId(child.first, MODE_OFF, 0);
}
return AssemblyBase::initialize();
}

7
mission/system/objects/SusAssembly.cpp
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@ -120,7 +120,12 @@ ReturnValue_t SusAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
return returnvalue::OK;
}
ReturnValue_t SusAssembly::initialize() { return AssemblyBase::initialize(); }
ReturnValue_t SusAssembly::initialize() {
for (const auto& child : childrenMap) {
updateChildModeByObjId(child.first, MODE_OFF, 0);
}
return AssemblyBase::initialize();
}
bool SusAssembly::isUseable(object_id_t object, Mode_t mode) {
if (healthHelper.healthTable->isFaulty(object)) {