eive/eive-obsw
eive/eive-obsw
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save before implementing SusHandler with chip select

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This commit is contained in:
Jakob Meier 2021-05-06 18:00:58 +02:00
parent 3c6ec68faa
commit 5ce0a63ad6
8 changed files with 246 additions and 140 deletions
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147
bsp_q7s/ObjectFactory.cpp
View File

@ -150,6 +150,23 @@ void ObjectFactory::produce(){
/* Adding gpios for chip select decoding to the gpioComIf */
gpioCallbacks::initSpiCsDecoder(gpioComIF);
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
// SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
// std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
// spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
// RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
// objects::SPI_COM_IF, spiCookieRadSensor);
// (void) radSensor;
// radSensor->setStartUpImmediately();
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
@ -195,47 +212,70 @@ void ObjectFactory::produce(){
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1,
std::string("/dev/spidev2.0"), SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpioIds::CS_SUS_12,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpioIds::CS_SUS_13,
std::string("/dev/spidev2.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpioIds::CS_SUS_12, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpioIds::CS_SUS_13, std::string("/dev/spidev2.0"),
SUS::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1);
(void) sus1;
// sus1->setStartUpImmediately();
(void) sus1;
SusHandler* sus2 = new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2);
// sus2->setStartUpImmediately();
(void) sus2;
SusHandler* sus3 = new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3);
sus3->setStartUpImmediately();
(void) sus3;
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8);
SusHandler* sus8 = new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8);
// sus8->setStartUpImmediately();
(void) sus8;
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11);
SusHandler* sus11 = new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieRadSensor);
sus11->setStartUpImmediately();
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13);
@ -526,19 +566,6 @@ void ObjectFactory::produce(){
// plocHandler->setStartUpImmediately();
(void) plocHandler;
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
std::string("Chip Select Radiation Sensor"), gpio::OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
objects::SPI_COM_IF, spiCookieRadSensor);
radSensor->setStartUpImmediately();
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, objects::TM_STORE,
@ -552,8 +579,40 @@ void ObjectFactory::produce(){
GpioCookie* gpioCookie = new GpioCookie;
gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
#endif
#if TE0720 == 1 && TEST_SUS_HANDLER == 1
GpioCookie* gpioCookieSus = new GpioCookie;
GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip0"), 9,
std::string("Chip Select Sus Sensor"), gpio::OUT, 1);
gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
gpioComIF->addGpios(gpioCookieSus);
SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1,
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
SusHandler* sus1 = new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus);
sus1->setStartUpImmediately();
#endif
#if TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
GpioCookie* gpioCookieRadSensor = new GpioCookie;
GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip0"), 9,
std::string("Chip select radiation sensor"), gpio::OUT, 1);
gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
gpioComIF->addGpios(gpioCookieRadSensor);
SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
spi::DEFAULT_MAX_1227_SPEED);
RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
objects::SPI_COM_IF, spiCookieRadSensor);
radSensor->setStartUpImmediately();
#endif
#if TE0720 == 1 && TEST_PLOC_HANDLER == 1
UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
PLOC::MAX_REPLY_SIZE);
/* Testing PlocHandler on TE0720-03-1CFA */

13
fsfwconfig/OBSWConfig.h
View File

@ -16,12 +16,15 @@
/* These defines should be disabled for mission code but are useful for
debugging. */
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define TEST_RADIATION_SENSOR_HANDLER 0
#define TEST_SUS_HANDLER 1
#define TEST_PLOC_HANDLER 0
#define TE0720 0
#define TE0720 1
#define TE0720_HEATER_TEST 0
#define P60DOCK_DEBUG 0

3
fsfwconfig/devices/spi.h
View File

@ -20,7 +20,8 @@ static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
//static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 2'900'000;
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
}

29
fsfwconfig/objects/systemObjectList.h
View File

@ -54,6 +54,21 @@ namespace objects {
IMTQ_HANDLER = 0x44000014,
PLOC_HANDLER = 0x44000015,
SUS_1 = 0x44000016,
SUS_2 = 0x44000017,
SUS_3 = 0x44000018,
SUS_4 = 0x44000019,
SUS_5 = 0x4400001A,
SUS_6 = 0x4400001B,
SUS_7 = 0x4400001C,
SUS_8 = 0x4400001D,
SUS_9 = 0x4400001E,
SUS_10 = 0x4400001F,
SUS_11 = 0x44000021,
SUS_12 = 0x44000022,
SUS_13 = 0x44000023,
/* Custom device handler */
PCDU_HANDLER = 0x44001000,
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
@ -84,20 +99,6 @@ namespace objects {
RAD_SENSOR = 0x54000050,
SUS_1 = 0x54000051,
SUS_2 = 0x54000052,
SUS_3 = 0x54000053,
SUS_4 = 0x54000054,
SUS_5 = 0x54000055,
SUS_6 = 0x54000056,
SUS_7 = 0x54000057,
SUS_8 = 0x54000058,
SUS_9 = 0x54000059,
SUS_10 = 0x5400005A,
SUS_11 = 0x5400005B,
SUS_12 = 0x5400005C,
SUS_13 = 0x5400005D,
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,
LIBGPIOD_TEST = 0x54123456,

56
fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -144,11 +144,11 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
/* Radiation sensor */
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
/* Sun sensor 1 */
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
@ -157,6 +157,18 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_2, length * 0.6, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_2, length * 0.8, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::SUS_11, length * 0.2, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::SUS_11, length * 0.6, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::SUS_11, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
return HasReturnvaluesIF::RETURN_OK;
}
@ -340,16 +352,30 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
uint32_t length = thisSequence->getPeriodMs();
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
#if TEST_PLOC_HANDLER == 1
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if TEST_SUS_HANDLER == 1
thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if TEST_RADIATION_SENSOR_HANDLER == 1
thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "Initialization of TE0720 PST failed" << std::endl;

94
mission/devices/SusHandler.cpp
View File

@ -1,6 +1,7 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/SusHandler.h>
#include <OBSWConfig.h>
#include <sys/time.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
@ -31,26 +32,16 @@ void SusHandler::doShutDown(){
ReturnValue_t SusHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
switch (communicationStep) {
case CommunicationStep::START_CONVERSION: {
*id = SUS::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
if (communicationStep == CommunicationStep::PERFORM_CONVERSIONS) {
*id = SUS::PERFORM_CONVERSIONS;
// communicationStep = CommunicationStep::READ_TEMP;
communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
}
case CommunicationStep::READ_CONVERSIONS: {
*id = SUS::READ_CONVERSIONS;
// communicationStep = CommunicationStep::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
else if (communicationStep == CommunicationStep::READ_TEMP) {
*id = SUS::READ_TEMP;
communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
}
default: {
sif::debug << "SusHandler::buildNormalDeviceCommand: Unknwon communication "
<< "step" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, nullptr, 0);
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
@ -76,24 +67,44 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
internalState = InternalState::CONFIGURED;
return RETURN_OK;
}
case(SUS::START_CONVERSION): {
cmdBuffer[0] = SUS::CONVERSION_DEFINITION;
case(SUS::PERFORM_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
/**
* The sun sensor ADC is shutdown when CS is pulled high so each time requesting a
* measurement the setup has to be rewritten
*/
cmdBuffer[0] = SUS::SETUP_DEFINITION;
cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
// wirte one dummy byte here
// cmdBuffer[2] = SUS::CONVERT_TEMPERATURE;
cmdBuffer[2] = SUS::CONVERT_TEMPERATURE;
// struct timeval startOfDelay;
// gettimeofday(&startOfDelay, NULL);
// struct timeval currentTime;
// gettimeofday(&currentTime, NULL);
// while (currentTime.tv_usec - startOfDelay.tv_usec < 1000) {
// gettimeofday(&currentTime, NULL);
// }
// cmdBuffer[27] = SUS::CONVERT_DIFF_CHANNEL_0_1;
// cmdBuffer[29] = SUS::CONVERT_DIFF_CHANNEL_2_3;
// cmdBuffer[31] = SUS::CONVERT_DIFF_CHANNEL_4_5;
// cmdBuffer[0] = SUS::SETUP_DEFINITION;
// cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
// cmdBuffer[2] = SUS::CONVERT_TEMPERATURE;
// cmdBuffer[26] = SUS::CONVERT_DIFF_CHANNEL_0_1;
// cmdBuffer[28] = SUS::CONVERT_DIFF_CHANNEL_2_3;
// cmdBuffer[30] = SUS::CONVERT_DIFF_CHANNEL_4_5;
rawPacket = cmdBuffer;
rawPacketLen = 1;
// rawPacketLen = SUS::SIZE_PERFORM_CONVERSIONS;
rawPacketLen = 7;
return RETURN_OK;
}
case(SUS::READ_CONVERSIONS): {
cmdBuffer[0] = SUS::DUMMY_BYTE;
cmdBuffer[1] = SUS::DUMMY_BYTE;
cmdBuffer[2] = SUS::DUMMY_BYTE;
cmdBuffer[3] = SUS::DUMMY_BYTE;
cmdBuffer[4] = SUS::DUMMY_BYTE;
cmdBuffer[5] = SUS::DUMMY_BYTE;
cmdBuffer[6] = SUS::DUMMY_BYTE;
cmdBuffer[7] = SUS::DUMMY_BYTE;
cmdBuffer[8] = SUS::DUMMY_BYTE;
rawPacket = cmdBuffer;
rawPacketLen = SUS::READ_SIZE;
case(SUS::READ_TEMP): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = 26;
return RETURN_OK;
}
default:
@ -104,9 +115,10 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
this->insertInCommandMap(SUS::START_CONVERSION);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset,
SUS::READ_SIZE);
this->insertInCommandAndReplyMap(SUS::READ_TEMP, 1, &dataset, SUS::SIZE_PERFORM_CONVERSIONS);
// this->insertInCommandAndReplyMap(SUS::PERFORM_CONVERSIONS, 1, &dataset,
// SUS::SIZE_PERFORM_CONVERSIONS);
this->insertInCommandMap(SUS::PERFORM_CONVERSIONS);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
@ -119,12 +131,12 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case SUS::READ_CONVERSIONS: {
case SUS::PERFORM_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.diffScanChannel0_1 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel2_3 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel4_5 = (*(packet + 2) << 8 | *(packet + 3));
dataset.temperatureCelcius = (*(packet + 25) << 8 | *(packet + 26)) * 0.125;
dataset.diffScanChannel0_1 = (*(packet + 29) << 8 | *(packet + 30));
dataset.diffScanChannel2_3 = (*(packet + 31) << 8 | *(packet + 32));
dataset.diffScanChannel4_5 = (*(packet + 33) << 8 | *(packet + 34));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;

10
mission/devices/SusHandler.h
View File

@ -40,8 +40,8 @@ protected:
private:
enum class CommunicationStep {
START_CONVERSION,
READ_CONVERSIONS
PERFORM_CONVERSIONS,
READ_TEMP
};
enum class InternalState {
@ -51,11 +51,9 @@ private:
SUS::SusDataset dataset;
static const uint8_t MAX_CMD_LEN = SUS::READ_SIZE;
uint8_t cmdBuffer[MAX_CMD_LEN];
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
InternalState internalState = InternalState::SETUP;
CommunicationStep communicationStep = CommunicationStep::START_CONVERSION;
CommunicationStep communicationStep = CommunicationStep::PERFORM_CONVERSIONS;
};
#endif /* MISSION_DEVICES_SUSHANDLER_H_ */

34
mission/devices/devicedefinitions/SusDefinitions.h
View File

@ -10,8 +10,8 @@ namespace SUS {
* temperature sensor.
*/
static const DeviceCommandId_t WRITE_SETUP = 0x1;
static const DeviceCommandId_t START_CONVERSION = 0x2;
static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
static const DeviceCommandId_t PERFORM_CONVERSIONS = 0x2;
static const DeviceCommandId_t READ_TEMP = 0x3;
/**
* @brief This is the configuration byte which will be written to the setup register after
@ -19,12 +19,15 @@ namespace SUS {
*
* @note Bit1 (DIFFSEL1) - Bit0 (DIFFSEL0): 0b10, following byte will be written to the
* unipolar register to perform differential conversion
* Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b11, external reference differential (AIN6 is REF-)
* Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b10, MAX1227 uses internal oscillator for timing
* Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, internal reference differential (AIN6 is REF-)
* Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b11, MAX1227 clocked through SPI SCLK
* Bit7 - Bit6: 0b01, tells MAX1227 that this is the setup register
*
*/
static const uint8_t SETUP_DEFINITION = 0b01101110;
// static const uint8_t SETUP_DEFINITION = 0b0111110;
// Internal reference 0b10
static const uint8_t SETUP_DEFINITION = 0b0111010;
/**
* @brief This byte will be written to the unipolar register
@ -38,21 +41,24 @@ namespace SUS {
* @brief This value will always be written to the ADC conversion register to specify the
* conversions to perform.
* @details Bit0: 1 - Enables temperature conversion
* Bit2 (SCAN1) and Bit1 (SCAN0): 0b00 (channel conversion from 0 to N)
* Bit2 (SCAN1) and Bit1 (SCAN0): 0b11, No scan, converts channel N once only.
* Scanning is not supported in spi clock mode.
* Bit6 - Bit3 defines N: 0b0001 (N = 4)
* Bit7: Always 1. Tells the ADC that this is the conversion register.
*/
static const uint8_t CONVERSION_DEFINITION = 0b10100001;
// static const uint8_t CONVERT_TEMPERATURE = 0b10000111;
static const uint8_t CONVERT_TEMPERATURE = 0b10000110;
static const uint8_t CONVERT_DIFF_CHANNEL_0_1 = 0b10000110;
static const uint8_t CONVERT_DIFF_CHANNEL_2_3 = 0b10010110;
static const uint8_t CONVERT_DIFF_CHANNEL_4_5 = 0b10100110;
static const uint8_t DUMMY_BYTE = 0xFF;
static const uint8_t DUMMY_BYTE = 0x0;
static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS;
static const uint8_t SUS_DATA_SET_ID = PERFORM_CONVERSIONS;
/**
* One temperature value, one differential conversion for channels 0/1, one for channels 2/3 and
* one for channels 3/4
*/
static const uint8_t READ_SIZE = 8;
static const uint8_t SIZE_PERFORM_CONVERSIONS = 34;
static const uint8_t MAX_CMD_SIZE = SIZE_PERFORM_CONVERSIONS;
enum Max1227PoolIds: lp_id_t {
TEMPERATURE_C,