host compiling again
This commit is contained in:
5
linux/devices/CMakeLists.txt
Normal file
5
linux/devices/CMakeLists.txt
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@ -0,0 +1,5 @@
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target_sources(${TARGET_NAME} PRIVATE
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HeaterHandler.cpp
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SolarArrayDeploymentHandler.cpp
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SusHandler.cpp
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)
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372
linux/devices/HeaterHandler.cpp
Normal file
372
linux/devices/HeaterHandler.cpp
Normal file
@ -0,0 +1,372 @@
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#include "HeaterHandler.h"
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#include "devices/gpioIds.h"
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#include "devices/powerSwitcherList.h"
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_,
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CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_, uint8_t mainLineSwitch_) :
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SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
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actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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}
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HeaterHandler::~HeaterHandler() {
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}
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ReturnValue_t HeaterHandler::performOperation(uint8_t operationCode) {
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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readCommandQueue();
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handleActiveCommands();
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return RETURN_OK;
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}
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return RETURN_OK;
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}
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ReturnValue_t HeaterHandler::initialize() {
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ReturnValue_t result = SystemObject::initialize();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = initializeHeaterMap();
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "HeaterHandler::initialize: Invalid Gpio interface." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::initialize: Failed to initialize Gpio interface" << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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IPCStore = objectManager->get<StorageManagerIF>(objects::IPC_STORE);
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if (IPCStore == nullptr) {
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sif::error << "HeaterHandler::initialize: IPC store not set up in factory." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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if(mainLineSwitcherObjectId != objects::NO_OBJECT) {
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mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "HeaterHandler::initialize: Failed to get main line switcher. Make sure "
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<< "main line switcher object is initialized." << std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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}
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result = actionHelper.initialize(commandQueue);
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if (result != RETURN_OK) {
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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return RETURN_OK;
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}
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ReturnValue_t HeaterHandler::initializeHeaterMap(){
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HeaterCommandInfo_t heaterCommandInfo;
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for(switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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std::pair status = heaterMap.emplace(switchNr, heaterCommandInfo);
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if (status.second == false) {
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sif::error << "HeaterHandler::initializeHeaterMap: Failed to initialize heater map"
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<< std::endl;
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return RETURN_FAILED;
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}
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}
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return RETURN_OK;
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}
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void HeaterHandler::setInitialSwitchStates() {
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for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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switchStates[switchNr] = OFF;
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}
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}
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void HeaterHandler::readCommandQueue() {
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CommandMessage command;
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ReturnValue_t result = commandQueue->receiveMessage(&command);
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if (result != RETURN_OK) {
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return;
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}
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result = actionHelper.handleActionMessage(&command);
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if (result == RETURN_OK) {
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return;
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}
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}
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ReturnValue_t HeaterHandler::executeAction(ActionId_t actionId,
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MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
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ReturnValue_t result;
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if (actionId != SWITCH_HEATER) {
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result = COMMAND_NOT_SUPPORTED;
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} else {
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switchNr_t switchNr = *data;
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HeaterMapIter heaterMapIter = heaterMap.find(switchNr);
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if (heaterMapIter != heaterMap.end()) {
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if (heaterMapIter->second.active) {
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return COMMAND_ALREADY_WAITING;
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}
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heaterMapIter->second.action = *(data + 1);
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heaterMapIter->second.active = true;
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heaterMapIter->second.replyQueue = commandedBy;
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}
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else {
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sif::error << "HeaterHandler::executeAction: Invalid switchNr" << std::endl;
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return INVALID_SWITCH_NR;
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}
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result = RETURN_OK;
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}
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return result;
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}
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void HeaterHandler::sendSwitchCommand(uint8_t switchNr,
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ReturnValue_t onOff) const {
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ReturnValue_t result;
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store_address_t storeAddress;
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uint8_t commandData[2];
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switch(onOff) {
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case PowerSwitchIF::SWITCH_ON:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_ON;
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break;
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case PowerSwitchIF::SWITCH_OFF:
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commandData[0] = switchNr;
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commandData[1] = SET_SWITCH_OFF;
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break;
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default:
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sif::error << "HeaterHandler::sendSwitchCommand: Invalid switch request"
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<< std::endl;
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break;
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}
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result = IPCStore->addData(&storeAddress, commandData, sizeof(commandData));
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if (result == RETURN_OK) {
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CommandMessage message;
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ActionMessage::setCommand(&message, SWITCH_HEATER, storeAddress);
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/* Send heater command to own command queue */
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result = commandQueue->sendMessage(commandQueue->getId(), &message, 0);
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if (result != RETURN_OK) {
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sif::debug << "HeaterHandler::sendSwitchCommand: Failed to send switch"
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<< "message" << std::endl;
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}
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}
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}
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void HeaterHandler::handleActiveCommands(){
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HeaterMapIter heaterMapIter = heaterMap.begin();
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for (; heaterMapIter != heaterMap.end(); heaterMapIter++) {
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if (heaterMapIter->second.active) {
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switch(heaterMapIter->second.action) {
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case SET_SWITCH_ON:
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handleSwitchOnCommand(heaterMapIter);
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break;
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case SET_SWITCH_OFF:
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handleSwitchOffCommand(heaterMapIter);
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break;
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default:
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sif::error << "HeaterHandler::handleActiveCommands: Invalid action commanded"
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<< std::endl;
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break;
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}
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}
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}
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}
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void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
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ReturnValue_t result = RETURN_OK;
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switchNr_t switchNr;
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/* Check if command waits for main switch being set on and whether the timeout has expired */
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if (heaterMapIter->second.waitMainSwitchOn
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&& heaterMapIter->second.mainSwitchCountdown.hasTimedOut()) {
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//TODO - This requires the initiation of an FDIR procedure
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triggerEvent(MAIN_SWITCH_TIMEOUT);
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sif::error << "HeaterHandler::handleSwitchOnCommand: Main switch setting on timeout"
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<< std::endl;
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
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}
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return;
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}
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switchNr = heaterMapIter->first;
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/* Check state of main line switch */
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ReturnValue_t mainSwitchState = mainLineSwitcher->getSwitchState(mainLineSwitch);
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if (mainSwitchState == PowerSwitchIF::SWITCH_ON) {
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if (!checkSwitchState(switchNr)) {
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gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
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result = gpioInterface->pullHigh(gpioId);
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::handleSwitchOnCommand: Failed to pull gpio with id "
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<< gpioId << " high" << std::endl;
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triggerEvent(GPIO_PULL_HIGH_FAILED, result);
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}
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else {
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switchStates[switchNr] = ON;
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}
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}
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else {
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triggerEvent(SWITCH_ALREADY_ON, switchNr);
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}
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/* There is no need to send action finish replies if the sender was the
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* HeaterHandler itself. */
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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if(result == RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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}
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else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF
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&& heaterMapIter->second.waitMainSwitchOn) {
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/* Just waiting for the main switch being set on */
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return;
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}
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else if (mainSwitchState == PowerSwitchIF::SWITCH_OFF) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch,
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PowerSwitchIF::SWITCH_ON);
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heaterMapIter->second.mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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heaterMapIter->second.waitMainSwitchOn = true;
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}
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else {
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sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
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<< " main line switch" << std::endl;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, mainSwitchState);
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}
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heaterMapIter->second.active = false;
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}
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}
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void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
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ReturnValue_t result = RETURN_OK;
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switchNr_t switchNr = heaterMapIter->first;
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/* Check whether switch is already off */
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if (checkSwitchState(switchNr)) {
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gpioId_t gpioId = getGpioIdFromSwitchNr(switchNr);
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result = gpioInterface->pullLow(gpioId);
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if (result != RETURN_OK) {
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sif::error << "HeaterHandler::handleSwitchOffCommand: Failed to pull gpio with id"
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<< gpioId << " low" << std::endl;
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triggerEvent(GPIO_PULL_LOW_FAILED, result);
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}
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else {
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switchStates[switchNr] = OFF;
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/* When all switches are off, also main line switch will be turned off */
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if (allSwitchesOff()) {
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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}
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}
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else {
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sif::info << "HeaterHandler::handleSwitchOffCommand: Switch already off" << std::endl;
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triggerEvent(SWITCH_ALREADY_OFF, switchNr);
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}
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if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
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/* Report back switch command reply if necessary */
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if(result == HasReturnvaluesIF::RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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}
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bool HeaterHandler::checkSwitchState(int switchNr) {
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return switchStates[switchNr];
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}
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bool HeaterHandler::allSwitchesOff() {
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bool allSwitchesOrd = false;
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/* Or all switches. As soon one switch is on, allSwitchesOrd will be true */
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for (switchNr_t switchNr = 0; switchNr < heaterSwitches::NUMBER_OF_SWITCHES; switchNr++) {
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allSwitchesOrd = allSwitchesOrd || switchStates[switchNr];
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}
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return !allSwitchesOrd;
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}
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gpioId_t HeaterHandler::getGpioIdFromSwitchNr(int switchNr) {
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gpioId_t gpioId = 0xFFFF;
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switch(switchNr) {
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case heaterSwitches::HEATER_0:
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gpioId = gpioIds::HEATER_0;
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break;
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case heaterSwitches::HEATER_1:
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gpioId = gpioIds::HEATER_1;
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break;
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case heaterSwitches::HEATER_2:
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gpioId = gpioIds::HEATER_2;
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break;
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case heaterSwitches::HEATER_3:
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gpioId = gpioIds::HEATER_3;
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break;
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case heaterSwitches::HEATER_4:
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gpioId = gpioIds::HEATER_4;
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break;
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case heaterSwitches::HEATER_5:
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gpioId = gpioIds::HEATER_5;
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break;
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case heaterSwitches::HEATER_6:
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gpioId = gpioIds::HEATER_6;
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break;
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case heaterSwitches::HEATER_7:
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gpioId = gpioIds::HEATER_7;
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break;
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default:
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sif::error << "HeaterHandler::getGpioIdFromSwitchNr: Unknown heater switch number"
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<< std::endl;
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break;
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}
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return gpioId;
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}
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MessageQueueId_t HeaterHandler::getCommandQueue() const {
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return commandQueue->getId();
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}
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void HeaterHandler::sendFuseOnCommand(uint8_t fuseNr) const {
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}
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ReturnValue_t HeaterHandler::getSwitchState( uint8_t switchNr ) const {
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return 0;
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}
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ReturnValue_t HeaterHandler::getFuseState( uint8_t fuseNr ) const {
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return 0;
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}
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uint32_t HeaterHandler::getSwitchDelayMs(void) const {
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return 0;
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}
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177
linux/devices/HeaterHandler.h
Normal file
177
linux/devices/HeaterHandler.h
Normal file
@ -0,0 +1,177 @@
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#ifndef MISSION_DEVICES_HEATERHANDLER_H_
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#define MISSION_DEVICES_HEATERHANDLER_H_
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/returnvalues/HasReturnvaluesIF.h>
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/power/PowerSwitchIF.h>
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#include <fsfwconfig/devices/heaterSwitcherList.h>
|
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#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
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#include <fsfw/devicehandlers/CookieIF.h>
|
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#include <fsfw/timemanager/Countdown.h>
|
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#include <fsfw_hal/common/gpio/GpioIF.h>
|
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#include <unordered_map>
|
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|
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/**
|
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* @brief This class intends the control of heaters.
|
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*
|
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* @author J. Meier
|
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*/
|
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class HeaterHandler: public ExecutableObjectIF,
|
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public PowerSwitchIF,
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public SystemObject,
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public HasActionsIF {
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public:
|
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|
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/** Device command IDs */
|
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static const DeviceCommandId_t SWITCH_HEATER = 0x0;
|
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|
||||
HeaterHandler(object_id_t setObjectId, object_id_t gpioDriverId, CookieIF * gpioCookie,
|
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object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch);
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|
||||
virtual ~HeaterHandler();
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|
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virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
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||||
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||||
virtual void sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) const override;
|
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virtual void sendFuseOnCommand(uint8_t fuseNr) const override;
|
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/**
|
||||
* @brief This function will be called from the Heater object to check
|
||||
* the current switch state.
|
||||
*/
|
||||
virtual ReturnValue_t getSwitchState( uint8_t switchNr ) const override;
|
||||
virtual ReturnValue_t getFuseState( uint8_t fuseNr ) const override;
|
||||
virtual uint32_t getSwitchDelayMs(void) const override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
private:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::HEATER_HANDLER;
|
||||
|
||||
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA1);
|
||||
static const ReturnValue_t INIT_FAILED = MAKE_RETURN_CODE(0xA2);
|
||||
static const ReturnValue_t INVALID_SWITCH_NR = MAKE_RETURN_CODE(0xA3);
|
||||
static const ReturnValue_t MAIN_SWITCH_SET_TIMEOUT = MAKE_RETURN_CODE(0xA4);
|
||||
static const ReturnValue_t COMMAND_ALREADY_WAITING = MAKE_RETURN_CODE(0xA5);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::HEATER_HANDLER;
|
||||
static const Event GPIO_PULL_HIGH_FAILED = MAKE_EVENT(0, severity::LOW);
|
||||
static const Event GPIO_PULL_LOW_FAILED = MAKE_EVENT(1, severity::LOW);
|
||||
static const Event SWITCH_ALREADY_ON = MAKE_EVENT(2, severity::LOW);
|
||||
static const Event SWITCH_ALREADY_OFF = MAKE_EVENT(3, severity::LOW);
|
||||
static const Event MAIN_SWITCH_TIMEOUT = MAKE_EVENT(4, severity::LOW);
|
||||
|
||||
static const MessageQueueId_t NO_COMMANDER = 0;
|
||||
|
||||
enum SwitchState : bool {
|
||||
ON = true,
|
||||
OFF = false
|
||||
};
|
||||
|
||||
|
||||
/**
|
||||
* @brief Struct holding information about a heater command to execute.
|
||||
*
|
||||
* @param action The action to perform.
|
||||
* @param replyQueue The queue of the commander to which status replies
|
||||
* will be sent.
|
||||
* @param active True if command is waiting for execution, otherwise false.
|
||||
* @param waitSwitchOn True if the command is waiting for the main switch being set on.
|
||||
* @param mainSwitchCountdown Sets timeout to wait for main switch being set on.
|
||||
*/
|
||||
typedef struct HeaterCommandInfo {
|
||||
uint8_t action;
|
||||
MessageQueueId_t replyQueue;
|
||||
bool active = false;
|
||||
bool waitMainSwitchOn = false;
|
||||
Countdown mainSwitchCountdown;
|
||||
} HeaterCommandInfo_t;
|
||||
|
||||
enum SwitchAction {
|
||||
SET_SWITCH_OFF,
|
||||
SET_SWITCH_ON
|
||||
};
|
||||
|
||||
using switchNr_t = uint8_t;
|
||||
using HeaterMap = std::unordered_map<switchNr_t, HeaterCommandInfo_t>;
|
||||
using HeaterMapIter = HeaterMap::iterator;
|
||||
|
||||
HeaterMap heaterMap;
|
||||
|
||||
bool switchStates[heaterSwitches::NUMBER_OF_SWITCHES];
|
||||
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
|
||||
/**
|
||||
* The object ID of the GPIO driver which enables and disables the
|
||||
* heaters.
|
||||
*/
|
||||
object_id_t gpioDriverId;
|
||||
|
||||
CookieIF * gpioCookie;
|
||||
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
|
||||
/** Switch number of the heater power supply switch */
|
||||
uint8_t mainLineSwitch;
|
||||
|
||||
/**
|
||||
* Power switcher object which controls the 8V main line of the heater
|
||||
* logic on the TCS board.
|
||||
*/
|
||||
PowerSwitchIF *mainLineSwitcher = nullptr;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
StorageManagerIF *IPCStore = nullptr;
|
||||
|
||||
void readCommandQueue();
|
||||
|
||||
/**
|
||||
* @brief Returns the state of a switch (ON - true, or OFF - false).
|
||||
* @param switchNr The number of the switch to check.
|
||||
*/
|
||||
bool checkSwitchState(int switchNr);
|
||||
|
||||
/**
|
||||
* @brief Returns the ID of the GPIO related to a heater identified by the switch number
|
||||
* which is defined in the heaterSwitches list.
|
||||
*/
|
||||
gpioId_t getGpioIdFromSwitchNr(int switchNr);
|
||||
|
||||
/**
|
||||
* @brief This function runs commands waiting for execution.
|
||||
*/
|
||||
void handleActiveCommands();
|
||||
|
||||
ReturnValue_t initializeHeaterMap();
|
||||
|
||||
/**
|
||||
* @brief Sets all switches to OFF.
|
||||
*/
|
||||
void setInitialSwitchStates();
|
||||
|
||||
void handleSwitchOnCommand(HeaterMapIter heaterMapIter);
|
||||
|
||||
void handleSwitchOffCommand(HeaterMapIter heaterMapIter);
|
||||
|
||||
/**
|
||||
* @brief Checks if all switches are off.
|
||||
* @return True if all switches are off, otherwise false.
|
||||
*/
|
||||
bool allSwitchesOff();
|
||||
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_HEATERHANDLER_H_ */
|
||||
201
linux/devices/SolarArrayDeploymentHandler.cpp
Normal file
201
linux/devices/SolarArrayDeploymentHandler.cpp
Normal file
@ -0,0 +1,201 @@
|
||||
#include "SolarArrayDeploymentHandler.h"
|
||||
|
||||
#include <devices/powerSwitcherList.h>
|
||||
#include <devices/gpioIds.h>
|
||||
|
||||
#include <fsfw_hal/common/gpio/GpioCookie.h>
|
||||
#include <fsfw/ipc/QueueFactory.h>
|
||||
|
||||
|
||||
SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
|
||||
object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_,
|
||||
uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) :
|
||||
SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
|
||||
mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
|
||||
deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
|
||||
commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
|
||||
MessageQueueMessage::MAX_MESSAGE_SIZE);
|
||||
}
|
||||
|
||||
SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
|
||||
|
||||
if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
|
||||
handleStateMachine();
|
||||
return RETURN_OK;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::initialize() {
|
||||
ReturnValue_t result = SystemObject::initialize();
|
||||
if (result != RETURN_OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
gpioInterface = objectManager->get<GpioIF>(gpioDriverId);
|
||||
if (gpioInterface == nullptr) {
|
||||
sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface."
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
result = gpioInterface->addGpios(dynamic_cast<GpioCookie*>(gpioCookie));
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
|
||||
<< std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
if (mainLineSwitcherObjectId != objects::NO_OBJECT) {
|
||||
mainLineSwitcher = objectManager->get<PowerSwitchIF>(mainLineSwitcherObjectId);
|
||||
if (mainLineSwitcher == nullptr) {
|
||||
sif::error
|
||||
<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
|
||||
<< "from object ID." << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
}
|
||||
|
||||
result = actionHelper.initialize(commandQueue);
|
||||
if (result != RETURN_OK) {
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::handleStateMachine() {
|
||||
switch (stateMachine) {
|
||||
case WAIT_ON_DELOYMENT_COMMAND:
|
||||
readCommandQueue();
|
||||
break;
|
||||
case SWITCH_8V_ON:
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
|
||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
||||
stateMachine = WAIT_ON_8V_SWITCH;
|
||||
break;
|
||||
case WAIT_ON_8V_SWITCH:
|
||||
performWaitOn8VActions();
|
||||
break;
|
||||
case SWITCH_DEPL_GPIOS:
|
||||
switchDeploymentTransistors();
|
||||
break;
|
||||
case WAIT_ON_DEPLOYMENT_FINISH:
|
||||
handleDeploymentFinish();
|
||||
break;
|
||||
case WAIT_FOR_MAIN_SWITCH_OFF:
|
||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
} else if (mainSwitchCountdown.hasTimedOut()) {
|
||||
triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
|
||||
sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
|
||||
<< " switch off" << std::endl;
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::performWaitOn8VActions() {
|
||||
if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
|
||||
stateMachine = SWITCH_DEPL_GPIOS;
|
||||
} else {
|
||||
if (mainSwitchCountdown.hasTimedOut()) {
|
||||
triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
|
||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
MAIN_SWITCH_TIMEOUT_FAILURE);
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = gpioInterface->pullHigh(deplSA1);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 1 high " << std::endl;
|
||||
/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
|
||||
* the deployment sequence. */
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
|
||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
SWITCHING_DEPL_SA2_FAILED);
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
}
|
||||
result = gpioInterface->pullHigh(deplSA2);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 2 high " << std::endl;
|
||||
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
|
||||
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
|
||||
SWITCHING_DEPL_SA2_FAILED);
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
}
|
||||
deploymentCountdown.setTimeout(burnTimeMs);
|
||||
stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::handleDeploymentFinish() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
if (deploymentCountdown.hasTimedOut()) {
|
||||
actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
|
||||
result = gpioInterface->pullLow(deplSA1);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 1 low " << std::endl;
|
||||
}
|
||||
result = gpioInterface->pullLow(deplSA2);
|
||||
if (result != RETURN_OK) {
|
||||
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
|
||||
" array deployment switch 2 low " << std::endl;
|
||||
}
|
||||
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
|
||||
mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
|
||||
stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
|
||||
}
|
||||
}
|
||||
|
||||
void SolarArrayDeploymentHandler::readCommandQueue() {
|
||||
CommandMessage command;
|
||||
ReturnValue_t result = commandQueue->receiveMessage(&command);
|
||||
if (result != RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
|
||||
result = actionHelper.handleActionMessage(&command);
|
||||
if (result == RETURN_OK) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
ReturnValue_t SolarArrayDeploymentHandler::executeAction(ActionId_t actionId,
|
||||
MessageQueueId_t commandedBy, const uint8_t* data, size_t size) {
|
||||
ReturnValue_t result;
|
||||
if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
|
||||
sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
|
||||
<< "waiting-on-command-state" << std::endl;
|
||||
return DEPLOYMENT_ALREADY_EXECUTING;
|
||||
}
|
||||
if (actionId != DEPLOY_SOLAR_ARRAYS) {
|
||||
sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
|
||||
<< std::endl;
|
||||
result = COMMAND_NOT_SUPPORTED;
|
||||
} else {
|
||||
stateMachine = SWITCH_8V_ON;
|
||||
rememberCommanderId = commandedBy;
|
||||
result = RETURN_OK;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
||||
MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
|
||||
return commandQueue->getId();
|
||||
}
|
||||
158
linux/devices/SolarArrayDeploymentHandler.h
Normal file
158
linux/devices/SolarArrayDeploymentHandler.h
Normal file
@ -0,0 +1,158 @@
|
||||
#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
||||
|
||||
#include <fsfw/objectmanager/SystemObject.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/action/HasActionsIF.h>
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/timemanager/Countdown.h>
|
||||
#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
#include <unordered_map>
|
||||
|
||||
/**
|
||||
* @brief This class is used to control the solar array deployment.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SolarArrayDeploymentHandler: public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF,
|
||||
public HasActionsIF {
|
||||
public:
|
||||
|
||||
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
|
||||
|
||||
/**
|
||||
* @brief constructor
|
||||
*
|
||||
* @param setObjectId The object id of the SolarArrayDeploymentHandler.
|
||||
* @param gpioDriverId The id of the gpio com if.
|
||||
* @param gpioCookie GpioCookie holding information about the gpios used to switch the
|
||||
* transistors.
|
||||
* @param mainLineSwitcherObjectId The object id of the object responsible for switching
|
||||
* the 8V power source. This is normally the PCDU.
|
||||
* @param mainLineSwitch The id of the main line switch. This is defined in
|
||||
* powerSwitcherList.h.
|
||||
* @param deplSA1 gpioId of the GPIO controlling the deployment 1 transistor.
|
||||
* @param deplSA2 gpioId of the GPIO controlling the deployment 2 transistor.
|
||||
* @param burnTimeMs Time duration the power will be applied to the burn wires.
|
||||
*/
|
||||
SolarArrayDeploymentHandler(object_id_t setObjectId, object_id_t gpioDriverId,
|
||||
CookieIF * gpioCookie, object_id_t mainLineSwitcherObjectId, uint8_t mainLineSwitch,
|
||||
gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs);
|
||||
|
||||
virtual ~SolarArrayDeploymentHandler();
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
virtual MessageQueueId_t getCommandQueue() const override;
|
||||
virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
|
||||
const uint8_t* data, size_t size) override;
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
private:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SA_DEPL_HANDLER;
|
||||
static const ReturnValue_t COMMAND_NOT_SUPPORTED = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t DEPLOYMENT_ALREADY_EXECUTING = MAKE_RETURN_CODE(0xA1);
|
||||
static const ReturnValue_t MAIN_SWITCH_TIMEOUT_FAILURE = MAKE_RETURN_CODE(0xA2);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA1_FAILED = MAKE_RETURN_CODE(0xA3);
|
||||
static const ReturnValue_t SWITCHING_DEPL_SA2_FAILED = MAKE_RETURN_CODE(0xA4);
|
||||
|
||||
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SA_DEPL_HANDLER;
|
||||
static const Event MAIN_SWITCH_ON_TIMEOUT = MAKE_EVENT(0, severity::LOW);
|
||||
static const Event MAIN_SWITCH_OFF_TIMEOUT = MAKE_EVENT(1, severity::LOW);
|
||||
static const Event DEPLOYMENT_FAILED = MAKE_EVENT(2, severity::HIGH);
|
||||
static const Event DEPL_SA1_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(3, severity::HIGH);
|
||||
static const Event DEPL_SA2_GPIO_SWTICH_ON_FAILED = MAKE_EVENT(4, severity::HIGH);
|
||||
|
||||
|
||||
enum StateMachine {
|
||||
WAIT_ON_DELOYMENT_COMMAND,
|
||||
SWITCH_8V_ON,
|
||||
WAIT_ON_8V_SWITCH,
|
||||
SWITCH_DEPL_GPIOS,
|
||||
WAIT_ON_DEPLOYMENT_FINISH,
|
||||
WAIT_FOR_MAIN_SWITCH_OFF
|
||||
};
|
||||
|
||||
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
|
||||
/**
|
||||
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
|
||||
*/
|
||||
Countdown mainSwitchCountdown;
|
||||
|
||||
/**
|
||||
* This countdown is used to wait for the burn wire being successful cut.
|
||||
*/
|
||||
Countdown deploymentCountdown;
|
||||
|
||||
|
||||
/**
|
||||
* The message queue id of the component commanding an action will be stored in this variable.
|
||||
* This is necessary to send later the action finish replies.
|
||||
*/
|
||||
MessageQueueId_t rememberCommanderId = 0;
|
||||
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
|
||||
/** The object ID of the GPIO driver which switches the deployment transistors */
|
||||
object_id_t gpioDriverId;
|
||||
|
||||
CookieIF * gpioCookie;
|
||||
|
||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
|
||||
/** Switch number of the 8V power switch */
|
||||
uint8_t mainLineSwitch;
|
||||
|
||||
gpioId_t deplSA1;
|
||||
gpioId_t deplSA2;
|
||||
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
|
||||
/** Time duration switches are active to cut the burn wire */
|
||||
uint32_t burnTimeMs;
|
||||
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
/**
|
||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
||||
*/
|
||||
PowerSwitchIF *mainLineSwitcher = nullptr;
|
||||
|
||||
ActionHelper actionHelper;
|
||||
|
||||
void readCommandQueue();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions dependent on the current state.
|
||||
*/
|
||||
void handleStateMachine();
|
||||
|
||||
/**
|
||||
* @brief This function polls the 8V switch state and changes the state machine when the
|
||||
* switch has been enabled.
|
||||
*/
|
||||
void performWaitOn8VActions();
|
||||
|
||||
/**
|
||||
* @brief This functions handles the switching of the solar array deployment transistors.
|
||||
*/
|
||||
void switchDeploymentTransistors();
|
||||
|
||||
/**
|
||||
* @brief This function performs actions to finish the deployment. Essentially switches
|
||||
* are turned of after the burn time has expired.
|
||||
*/
|
||||
void handleDeploymentFinish();
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_ */
|
||||
230
linux/devices/SusHandler.cpp
Normal file
230
linux/devices/SusHandler.cpp
Normal file
@ -0,0 +1,230 @@
|
||||
#include "OBSWConfig.h"
|
||||
#include <mission/devices/SusHandler.h>
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include <fsfw_hal/linux/spi/SpiComIF.h>
|
||||
|
||||
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
|
||||
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
|
||||
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), chipSelectId(
|
||||
chipSelectId), dataset(this) {
|
||||
if (comCookie == NULL) {
|
||||
sif::error << "SusHandler: Invalid com cookie" << std::endl;
|
||||
}
|
||||
if (gpioComIF == NULL) {
|
||||
sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
SusHandler::~SusHandler() {
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::performOperation(uint8_t counter) {
|
||||
|
||||
if (counter != FIRST_WRITE) {
|
||||
DeviceHandlerBase::performOperation(counter);
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
if (mode != MODE_NORMAL) {
|
||||
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
/* If device is in normale mode the communication sequence is initiated here */
|
||||
if (communicationStep == CommunicationStep::IDLE) {
|
||||
communicationStep = CommunicationStep::WRITE_SETUP;
|
||||
}
|
||||
|
||||
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
|
||||
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::initialize() {
|
||||
ReturnValue_t result = RETURN_OK;
|
||||
result = DeviceHandlerBase::initialize();
|
||||
if (result != RETURN_OK) {
|
||||
return result;
|
||||
}
|
||||
auto spiComIF = dynamic_cast<SpiComIF*>(communicationInterface);
|
||||
if (spiComIF == nullptr) {
|
||||
sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
spiMutex = spiComIF->getMutex();
|
||||
if (spiMutex == nullptr) {
|
||||
sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
|
||||
return ObjectManagerIF::CHILD_INIT_FAILED;
|
||||
}
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
void SusHandler::doStartUp(){
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
setMode(MODE_NORMAL);
|
||||
#else
|
||||
setMode(_MODE_TO_ON);
|
||||
#endif
|
||||
}
|
||||
|
||||
void SusHandler::doShutDown(){
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::buildNormalDeviceCommand(
|
||||
DeviceCommandId_t * id) {
|
||||
|
||||
if (communicationStep == CommunicationStep::IDLE) {
|
||||
return NOTHING_TO_SEND;
|
||||
}
|
||||
|
||||
if (communicationStep == CommunicationStep::WRITE_SETUP) {
|
||||
*id = SUS::WRITE_SETUP;
|
||||
communicationStep = CommunicationStep::START_CONVERSIONS;
|
||||
}
|
||||
else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
|
||||
*id = SUS::START_CONVERSIONS;
|
||||
communicationStep = CommunicationStep::READ_CONVERSIONS;
|
||||
}
|
||||
else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
|
||||
*id = SUS::READ_CONVERSIONS;
|
||||
communicationStep = CommunicationStep::IDLE;
|
||||
}
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t * id){
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
case(SUS::WRITE_SETUP): {
|
||||
/**
|
||||
* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
|
||||
* measurement the setup has to be rewritten. There must also be a little delay between
|
||||
* the transmission of the setup byte and the first conversion. Thus the conversion
|
||||
* will be performed in an extra step.
|
||||
* Because the chip select is driven manually by the SusHandler the SPI bus must be
|
||||
* protected with a mutex here.
|
||||
*/
|
||||
ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
|
||||
if(result == MutexIF::MUTEX_TIMEOUT) {
|
||||
sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
|
||||
return ERROR_LOCK_MUTEX;
|
||||
}
|
||||
else if(result != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex"
|
||||
<< std::endl;
|
||||
return ERROR_LOCK_MUTEX;
|
||||
}
|
||||
|
||||
gpioComIF->pullLow(chipSelectId);
|
||||
cmdBuffer[0] = SUS::SETUP;
|
||||
rawPacket = cmdBuffer;
|
||||
rawPacketLen = 1;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(SUS::START_CONVERSIONS): {
|
||||
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
|
||||
cmdBuffer[0] = SUS::CONVERSION;
|
||||
rawPacket = cmdBuffer;
|
||||
rawPacketLen = 2;
|
||||
return RETURN_OK;
|
||||
}
|
||||
case(SUS::READ_CONVERSIONS): {
|
||||
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
|
||||
rawPacket = cmdBuffer;
|
||||
rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
|
||||
return RETURN_OK;
|
||||
}
|
||||
default:
|
||||
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
void SusHandler::fillCommandAndReplyMap() {
|
||||
this->insertInCommandMap(SUS::WRITE_SETUP);
|
||||
this->insertInCommandMap(SUS::START_CONVERSIONS);
|
||||
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
|
||||
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = remainingSize;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
switch (id) {
|
||||
case SUS::READ_CONVERSIONS: {
|
||||
PoolReadGuard readSet(&dataset);
|
||||
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
|
||||
dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
|
||||
dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
|
||||
dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
|
||||
dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
|
||||
dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
|
||||
dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
|
||||
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", Temperature: "
|
||||
<< dataset.temperatureCelcius << " °C" << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: "
|
||||
<< std::dec << dataset.ain0 << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: "
|
||||
<< std::dec << dataset.ain1 << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: "
|
||||
<< std::dec << dataset.ain2 << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: "
|
||||
<< std::dec << dataset.ain3 << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: "
|
||||
<< std::dec << dataset.ain4 << std::endl;
|
||||
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: "
|
||||
<< std::dec << dataset.ain5 << std::endl;
|
||||
#endif
|
||||
/** SUS can now be shutdown and thus the SPI bus released again */
|
||||
gpioComIF->pullHigh(chipSelectId);
|
||||
ReturnValue_t result = spiMutex->unlockMutex();
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex"
|
||||
<< std::endl;
|
||||
return ERROR_UNLOCK_MUTEX;
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
|
||||
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
|
||||
}
|
||||
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void SusHandler::setNormalDatapoolEntriesInvalid(){
|
||||
|
||||
}
|
||||
|
||||
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
|
||||
return 1000;
|
||||
}
|
||||
|
||||
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) {
|
||||
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>( { 0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>( { 0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>( { 0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>( { 0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>( { 0 }));
|
||||
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>( { 0 }));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
81
linux/devices/SusHandler.h
Normal file
81
linux/devices/SusHandler.h
Normal file
@ -0,0 +1,81 @@
|
||||
#ifndef MISSION_DEVICES_SUSHANDLER_H_
|
||||
#define MISSION_DEVICES_SUSHANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <mission/devices/devicedefinitions/SusDefinitions.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
#include <fsfw/ipc/MutexGuard.h>
|
||||
|
||||
/**
|
||||
* @brief This is the device handler class for the SUS sensor. The sensor is
|
||||
* based on the MAX1227 ADC. Details about the SUS electronic can be found at
|
||||
* https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/443_SunSensorDocumentation/release
|
||||
*
|
||||
* @details Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
|
||||
*
|
||||
* @note When adding a SusHandler to the polling sequence table make sure to add a slot with
|
||||
* the executionStep FIRST_WRITE. Otherwise the communication sequence will never be
|
||||
* started.
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SusHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
|
||||
static const uint8_t FIRST_WRITE = 7;
|
||||
|
||||
SusHandler(object_id_t objectId, object_id_t comIF,
|
||||
CookieIF * comCookie, LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId);
|
||||
virtual ~SusHandler();
|
||||
|
||||
virtual ReturnValue_t performOperation(uint8_t counter) override;
|
||||
|
||||
virtual ReturnValue_t initialize() override;
|
||||
|
||||
protected:
|
||||
void doStartUp() override;
|
||||
void doShutDown() override;
|
||||
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
|
||||
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override;
|
||||
void fillCommandAndReplyMap() override;
|
||||
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t * commandData,size_t commandDataLen) override;
|
||||
ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) override;
|
||||
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) override;
|
||||
void setNormalDatapoolEntriesInvalid() override;
|
||||
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
|
||||
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
|
||||
LocalDataPoolManager& poolManager) override;
|
||||
|
||||
private:
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
|
||||
|
||||
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
enum class CommunicationStep {
|
||||
IDLE,
|
||||
WRITE_SETUP,
|
||||
START_CONVERSIONS,
|
||||
READ_CONVERSIONS
|
||||
};
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
|
||||
gpioId_t chipSelectId = gpio::NO_GPIO;
|
||||
|
||||
SUS::SusDataset dataset;
|
||||
|
||||
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
|
||||
CommunicationStep communicationStep = CommunicationStep::IDLE;
|
||||
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
|
||||
MutexIF* spiMutex = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SUSHANDLER_H_ */
|
||||
Reference in New Issue
Block a user