Sus handler complete
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2d170a1f61
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@ -159,7 +159,7 @@ void initmission::initTasks() {
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#else
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FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory->createFixedTimeslotTask(
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 5.0,
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"PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
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missedDeadlineFunc);
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result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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@ -6,6 +6,7 @@
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/OBSWConfig.h>
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#include <mission/devices/SusHandler.h>
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ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
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@ -419,66 +420,34 @@ ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
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#endif
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#if TEST_RADIATION_SENSOR_HANDLER == 1
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// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::RAD_SENSOR, 800, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
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#endif
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#if TEST_SUS_HANDLER == 1
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/* Write setup */
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// thisSequence->addSlot(objects::SUS_1, 1000, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_1, 1010, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 1020, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 1030, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_1, 1040, DeviceHandlerIF::GET_READ);
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//
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// /* Start ADC conversions */
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// thisSequence->addSlot(objects::SUS_1, 1050, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_1, 1060, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 1070, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 1080, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_1, 1090, DeviceHandlerIF::GET_READ);
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//
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// /* Read ADC conversions from inernal FIFO */
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// thisSequence->addSlot(objects::SUS_1, 2000, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_1, 2010, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 2020, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_1, 2030, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_1, 2040, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::RAD_SENSOR, length * 0.1, DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.903, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.904, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.905, DeviceHandlerIF::GET_READ);
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/* Cycle 1 */
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thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::GET_READ);
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/* Start conversion*/
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thisSequence->addSlot(objects::SUS_1, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.907, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.908, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.909, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.91, DeviceHandlerIF::GET_READ);
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/* Cycl2 */
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thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.3, DeviceHandlerIF::GET_READ);
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/* Cycle 3 */
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thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
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// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
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// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_WRITE);
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// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
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// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
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// thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
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/* Read conversions */
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thisSequence->addSlot(objects::SUS_1, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_1, length * 0.912, DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.913, DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SUS_1, length * 0.914, DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
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#endif
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if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
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@ -18,6 +18,28 @@ SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCo
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SusHandler::~SusHandler() {
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}
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ReturnValue_t SusHandler::performOperation(uint8_t counter) {
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if (counter != FIRST_WRITE) {
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DeviceHandlerBase::performOperation(counter);
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return RETURN_OK;
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}
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if (mode != MODE_NORMAL) {
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DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
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return RETURN_OK;
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}
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/* If device is in normale mode the communication sequence is initiated here */
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if (communicationStep == CommunicationStep::IDLE) {
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communicationStep = CommunicationStep::WRITE_SETUP;
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}
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DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
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return RETURN_OK;
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}
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ReturnValue_t SusHandler::initialize() {
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ReturnValue_t result = RETURN_OK;
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result = DeviceHandlerBase::initialize();
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@ -51,6 +73,11 @@ void SusHandler::doShutDown(){
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ReturnValue_t SusHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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if (communicationStep == CommunicationStep::IDLE) {
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return NOTHING_TO_SEND;
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}
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if (communicationStep == CommunicationStep::WRITE_SETUP) {
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*id = SUS::WRITE_SETUP;
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communicationStep = CommunicationStep::START_CONVERSIONS;
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@ -61,7 +88,7 @@ ReturnValue_t SusHandler::buildNormalDeviceCommand(
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}
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else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
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*id = SUS::READ_CONVERSIONS;
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communicationStep = CommunicationStep::WRITE_SETUP;
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communicationStep = CommunicationStep::IDLE;
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}
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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@ -13,16 +13,24 @@
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*
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* @details Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
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*
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* @note When adding a SusHandler to the polling sequence table make sure to add a slot with
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* the executionStep FIRST_WRITE. Otherwise the communication sequence will never be
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* started.
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*
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* @author J. Meier
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*/
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class SusHandler: public DeviceHandlerBase {
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public:
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static const uint8_t FIRST_WRITE = 7;
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SusHandler(object_id_t objectId, object_id_t comIF,
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CookieIF * comCookie, LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId);
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virtual ~SusHandler();
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virtual ReturnValue_t initialize();
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virtual ReturnValue_t performOperation(uint8_t counter) override;
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virtual ReturnValue_t initialize() override;
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protected:
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void doStartUp() override;
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@ -49,6 +57,7 @@ private:
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static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
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enum class CommunicationStep {
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IDLE,
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WRITE_SETUP,
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START_CONVERSIONS,
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READ_CONVERSIONS
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@ -61,7 +70,7 @@ private:
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SUS::SusDataset dataset;
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uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
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CommunicationStep communicationStep = CommunicationStep::WRITE_SETUP;
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CommunicationStep communicationStep = CommunicationStep::IDLE;
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MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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uint32_t timeoutMs = 20;
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