applied formatting
This commit is contained in:
@ -1,202 +1,209 @@
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#include "SolarArrayDeploymentHandler.h"
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#include <devices/powerSwitcherList.h>
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#include <devices/gpioIds.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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#include <devices/powerSwitcherList.h>
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#include <fsfw/ipc/QueueFactory.h>
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#include <fsfw/objectmanager/ObjectManager.h>
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#include <fsfw_hal/common/gpio/GpioCookie.h>
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SolarArrayDeploymentHandler::SolarArrayDeploymentHandler(object_id_t setObjectId_,
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object_id_t gpioDriverId_, CookieIF * gpioCookie_, object_id_t mainLineSwitcherObjectId_,
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uint8_t mainLineSwitch_, gpioId_t deplSA1, gpioId_t deplSA2, uint32_t burnTimeMs) :
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SystemObject(setObjectId_), gpioDriverId(gpioDriverId_), gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_), mainLineSwitch(mainLineSwitch_),
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deplSA1(deplSA1), deplSA2(deplSA2), burnTimeMs(burnTimeMs), actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(cmdQueueSize,
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MessageQueueMessage::MAX_MESSAGE_SIZE);
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object_id_t gpioDriverId_,
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CookieIF* gpioCookie_,
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object_id_t mainLineSwitcherObjectId_,
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uint8_t mainLineSwitch_, gpioId_t deplSA1,
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gpioId_t deplSA2, uint32_t burnTimeMs)
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: SystemObject(setObjectId_),
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gpioDriverId(gpioDriverId_),
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gpioCookie(gpioCookie_),
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mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
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mainLineSwitch(mainLineSwitch_),
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deplSA1(deplSA1),
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deplSA2(deplSA2),
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burnTimeMs(burnTimeMs),
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actionHelper(this, nullptr) {
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commandQueue = QueueFactory::instance()->createMessageQueue(
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cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
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}
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SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {
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}
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SolarArrayDeploymentHandler::~SolarArrayDeploymentHandler() {}
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ReturnValue_t SolarArrayDeploymentHandler::performOperation(uint8_t operationCode) {
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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handleStateMachine();
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return RETURN_OK;
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}
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if (operationCode == DeviceHandlerIF::PERFORM_OPERATION) {
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handleStateMachine();
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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 SolarArrayDeploymentHandler::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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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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gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "SolarArrayDeploymentHandler::initialize: Invalid Gpio interface."
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<< std::endl;
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return ObjectManagerIF::CHILD_INIT_FAILED;
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}
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gpioInterface = ObjectManager::instance()->get<GpioIF>(gpioDriverId);
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if (gpioInterface == nullptr) {
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sif::error << "SolarArrayDeploymentHandler::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 << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
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<< 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 << "SolarArrayDeploymentHandler::initialize: Failed to initialize Gpio interface"
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<< 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::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
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<< "from object ID." << 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::instance()->get<PowerSwitchIF>(mainLineSwitcherObjectId);
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if (mainLineSwitcher == nullptr) {
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sif::error
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<< "SolarArrayDeploymentHandler::initialize: Main line switcher failed to fetch object"
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<< "from object ID." << 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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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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return RETURN_OK;
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}
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void SolarArrayDeploymentHandler::handleStateMachine() {
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switch (stateMachine) {
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switch (stateMachine) {
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case WAIT_ON_DELOYMENT_COMMAND:
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readCommandQueue();
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break;
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readCommandQueue();
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break;
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case SWITCH_8V_ON:
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_ON_8V_SWITCH;
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break;
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_ON);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_ON_8V_SWITCH;
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break;
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case WAIT_ON_8V_SWITCH:
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performWaitOn8VActions();
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break;
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performWaitOn8VActions();
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break;
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case SWITCH_DEPL_GPIOS:
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switchDeploymentTransistors();
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break;
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switchDeploymentTransistors();
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break;
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case WAIT_ON_DEPLOYMENT_FINISH:
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handleDeploymentFinish();
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break;
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handleDeploymentFinish();
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break;
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case WAIT_FOR_MAIN_SWITCH_OFF:
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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} else if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
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sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
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<< " switch off" << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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break;
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_OFF) {
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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} else if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_OFF_TIMEOUT);
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sif::error << "SolarArrayDeploymentHandler::handleStateMachine: Failed to switch main"
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<< " switch off" << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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break;
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default:
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
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break;
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}
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Invalid state" << std::endl;
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break;
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}
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}
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void SolarArrayDeploymentHandler::performWaitOn8VActions() {
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
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stateMachine = SWITCH_DEPL_GPIOS;
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} else {
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if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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MAIN_SWITCH_TIMEOUT_FAILURE);
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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if (mainLineSwitcher->getSwitchState(mainLineSwitch) == PowerSwitchIF::SWITCH_ON) {
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stateMachine = SWITCH_DEPL_GPIOS;
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} else {
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if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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MAIN_SWITCH_TIMEOUT_FAILURE);
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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}
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}
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void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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ReturnValue_t result = RETURN_OK;
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result = gpioInterface->pullHigh(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 high " << std::endl;
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/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
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* the deployment sequence. */
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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result = gpioInterface->pullHigh(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 high " << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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deploymentCountdown.setTimeout(burnTimeMs);
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stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
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ReturnValue_t result = RETURN_OK;
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result = gpioInterface->pullHigh(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 high "
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<< std::endl;
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/* If gpio switch high failed, state machine is reset to wait for a command reinitiating
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* the deployment sequence. */
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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result = gpioInterface->pullHigh(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 high "
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<< std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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deploymentCountdown.setTimeout(burnTimeMs);
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stateMachine = WAIT_ON_DEPLOYMENT_FINISH;
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}
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void SolarArrayDeploymentHandler::handleDeploymentFinish() {
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ReturnValue_t result = RETURN_OK;
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if (deploymentCountdown.hasTimedOut()) {
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actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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result = gpioInterface->pullLow(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 low " << std::endl;
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}
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result = gpioInterface->pullLow(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 low " << std::endl;
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}
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
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ReturnValue_t result = RETURN_OK;
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if (deploymentCountdown.hasTimedOut()) {
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actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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result = gpioInterface->pullLow(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 1 low "
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<< std::endl;
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}
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result = gpioInterface->pullLow(deplSA2);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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" array deployment switch 2 low "
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<< std::endl;
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}
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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mainSwitchCountdown.setTimeout(mainLineSwitcher->getSwitchDelayMs());
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stateMachine = WAIT_FOR_MAIN_SWITCH_OFF;
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}
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}
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void SolarArrayDeploymentHandler::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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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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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 SolarArrayDeploymentHandler::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 (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
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<< "waiting-on-command-state" << std::endl;
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return DEPLOYMENT_ALREADY_EXECUTING;
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}
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if (actionId != DEPLOY_SOLAR_ARRAYS) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
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<< std::endl;
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result = COMMAND_NOT_SUPPORTED;
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} else {
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stateMachine = SWITCH_8V_ON;
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rememberCommanderId = commandedBy;
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result = RETURN_OK;
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}
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return result;
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MessageQueueId_t commandedBy,
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const uint8_t* data, size_t size) {
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ReturnValue_t result;
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if (stateMachine != WAIT_ON_DELOYMENT_COMMAND) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received command while not in"
|
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<< "waiting-on-command-state" << std::endl;
|
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return DEPLOYMENT_ALREADY_EXECUTING;
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}
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if (actionId != DEPLOY_SOLAR_ARRAYS) {
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sif::error << "SolarArrayDeploymentHandler::executeAction: Received invalid command"
|
||||
<< std::endl;
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result = COMMAND_NOT_SUPPORTED;
|
||||
} else {
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stateMachine = SWITCH_8V_ON;
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rememberCommanderId = commandedBy;
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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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MessageQueueId_t SolarArrayDeploymentHandler::getCommandQueue() const {
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return commandQueue->getId();
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return commandQueue->getId();
|
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}
|
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@ -1,15 +1,16 @@
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#ifndef MISSION_DEVICES_SOLARARRAYDEPLOYMENT_H_
|
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#define MISSION_DEVICES_SOLARARRAYDEPLOYMENT_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>
|
||||
#include <fsfw/action/HasActionsIF.h>
|
||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/devicehandlers/CookieIF.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
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#include <fsfw/objectmanager/SystemObject.h>
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||||
#include <fsfw/power/PowerSwitchIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
#include <fsfw/tasks/ExecutableObjectIF.h>
|
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#include <fsfw/timemanager/Countdown.h>
|
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#include <fsfw_hal/common/gpio/GpioIF.h>
|
||||
|
||||
#include <unordered_map>
|
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|
||||
/**
|
||||
@ -17,142 +18,139 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SolarArrayDeploymentHandler: public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF,
|
||||
public HasActionsIF {
|
||||
public:
|
||||
class SolarArrayDeploymentHandler : public ExecutableObjectIF,
|
||||
public SystemObject,
|
||||
public HasReturnvaluesIF,
|
||||
public HasActionsIF {
|
||||
public:
|
||||
static const DeviceCommandId_t DEPLOY_SOLAR_ARRAYS = 0x5;
|
||||
|
||||
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);
|
||||
|
||||
/**
|
||||
* @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 ~SolarArrayDeploymentHandler();
|
||||
virtual ReturnValue_t performOperation(uint8_t operationCode = 0) override;
|
||||
|
||||
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;
|
||||
|
||||
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);
|
||||
|
||||
private:
|
||||
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);
|
||||
|
||||
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);
|
||||
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
|
||||
};
|
||||
|
||||
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);
|
||||
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;
|
||||
|
||||
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
|
||||
};
|
||||
/**
|
||||
* This countdown is used to wait for the burn wire being successful cut.
|
||||
*/
|
||||
Countdown deploymentCountdown;
|
||||
|
||||
StateMachine stateMachine = WAIT_ON_DELOYMENT_COMMAND;
|
||||
/**
|
||||
* 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;
|
||||
|
||||
/**
|
||||
* This countdown is used to check if the PCDU sets the 8V line on in the intended time.
|
||||
*/
|
||||
Countdown mainSwitchCountdown;
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
|
||||
/**
|
||||
* This countdown is used to wait for the burn wire being successful cut.
|
||||
*/
|
||||
Countdown deploymentCountdown;
|
||||
/** The object ID of the GPIO driver which switches the deployment transistors */
|
||||
object_id_t gpioDriverId;
|
||||
|
||||
CookieIF* gpioCookie;
|
||||
|
||||
/**
|
||||
* 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;
|
||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
|
||||
/** Size of command queue */
|
||||
size_t cmdQueueSize = 20;
|
||||
/** Switch number of the 8V power switch */
|
||||
uint8_t mainLineSwitch;
|
||||
|
||||
/** The object ID of the GPIO driver which switches the deployment transistors */
|
||||
object_id_t gpioDriverId;
|
||||
gpioId_t deplSA1;
|
||||
gpioId_t deplSA2;
|
||||
|
||||
CookieIF * gpioCookie;
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
|
||||
/** Object id of the object responsible to switch the 8V power input. Typically the PCDU. */
|
||||
object_id_t mainLineSwitcherObjectId;
|
||||
/** Time duration switches are active to cut the burn wire */
|
||||
uint32_t burnTimeMs;
|
||||
|
||||
/** Switch number of the 8V power switch */
|
||||
uint8_t mainLineSwitch;
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
|
||||
gpioId_t deplSA1;
|
||||
gpioId_t deplSA2;
|
||||
/**
|
||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
||||
*/
|
||||
PowerSwitchIF* mainLineSwitcher = nullptr;
|
||||
|
||||
GpioIF* gpioInterface = nullptr;
|
||||
ActionHelper actionHelper;
|
||||
|
||||
/** Time duration switches are active to cut the burn wire */
|
||||
uint32_t burnTimeMs;
|
||||
void readCommandQueue();
|
||||
|
||||
/** Queue to receive messages from other objects. */
|
||||
MessageQueueIF* commandQueue = nullptr;
|
||||
/**
|
||||
* @brief This function performs actions dependent on the current state.
|
||||
*/
|
||||
void handleStateMachine();
|
||||
|
||||
/**
|
||||
* After initialization this pointer will hold the reference to the main line switcher object.
|
||||
*/
|
||||
PowerSwitchIF *mainLineSwitcher = nullptr;
|
||||
/**
|
||||
* @brief This function polls the 8V switch state and changes the state machine when the
|
||||
* switch has been enabled.
|
||||
*/
|
||||
void performWaitOn8VActions();
|
||||
|
||||
ActionHelper actionHelper;
|
||||
/**
|
||||
* @brief This functions handles the switching of the solar array deployment transistors.
|
||||
*/
|
||||
void switchDeploymentTransistors();
|
||||
|
||||
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();
|
||||
/**
|
||||
* @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_ */
|
||||
|
||||
@ -1,230 +1,214 @@
|
||||
#include "SusHandler.h"
|
||||
#include "OBSWConfig.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;
|
||||
}
|
||||
#include "OBSWConfig.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() {
|
||||
}
|
||||
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);
|
||||
|
||||
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;
|
||||
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(){
|
||||
void SusHandler::doStartUp() {
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
setMode(MODE_NORMAL);
|
||||
setMode(MODE_NORMAL);
|
||||
#else
|
||||
setMode(_MODE_TO_ON);
|
||||
setMode(_MODE_TO_ON);
|
||||
#endif
|
||||
}
|
||||
|
||||
void SusHandler::doShutDown(){
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
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::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::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;
|
||||
}
|
||||
|
||||
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;
|
||||
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);
|
||||
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::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));
|
||||
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 && OBSW_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;
|
||||
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;
|
||||
/** 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(){
|
||||
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;
|
||||
}
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
|
||||
@ -1,10 +1,11 @@
|
||||
#ifndef MISSION_DEVICES_SUSHANDLER_H_
|
||||
#define MISSION_DEVICES_SUSHANDLER_H_
|
||||
|
||||
#include "devicedefinitions/SusDefinitions.h"
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
|
||||
|
||||
#include "devicedefinitions/SusDefinitions.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
|
||||
@ -18,63 +19,55 @@
|
||||
*
|
||||
* @author J. Meier
|
||||
*/
|
||||
class SusHandler: public DeviceHandlerBase {
|
||||
public:
|
||||
class SusHandler : public DeviceHandlerBase {
|
||||
public:
|
||||
static const uint8_t FIRST_WRITE = 7;
|
||||
|
||||
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();
|
||||
|
||||
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 performOperation(uint8_t counter) override;
|
||||
virtual ReturnValue_t initialize() 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;
|
||||
|
||||
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;
|
||||
|
||||
private:
|
||||
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
|
||||
|
||||
static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
|
||||
enum class CommunicationStep { IDLE, WRITE_SETUP, START_CONVERSIONS, READ_CONVERSIONS };
|
||||
|
||||
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
|
||||
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
|
||||
enum class CommunicationStep {
|
||||
IDLE,
|
||||
WRITE_SETUP,
|
||||
START_CONVERSIONS,
|
||||
READ_CONVERSIONS
|
||||
};
|
||||
gpioId_t chipSelectId = gpio::NO_GPIO;
|
||||
|
||||
LinuxLibgpioIF* gpioComIF = nullptr;
|
||||
SUS::SusDataset dataset;
|
||||
|
||||
gpioId_t chipSelectId = gpio::NO_GPIO;
|
||||
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
|
||||
CommunicationStep communicationStep = CommunicationStep::IDLE;
|
||||
|
||||
SUS::SusDataset dataset;
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
|
||||
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
|
||||
CommunicationStep communicationStep = CommunicationStep::IDLE;
|
||||
|
||||
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
||||
uint32_t timeoutMs = 20;
|
||||
|
||||
MutexIF* spiMutex = nullptr;
|
||||
MutexIF* spiMutex = nullptr;
|
||||
};
|
||||
|
||||
#endif /* MISSION_DEVICES_SUSHANDLER_H_ */
|
||||
|
||||
@ -3,93 +3,87 @@
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace SUS {
|
||||
|
||||
/**
|
||||
* Some MAX1227 could not be reached with frequencies around 4 MHz. Maybe this is caused by
|
||||
* the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
|
||||
*/
|
||||
static const uint32_t MAX1227_SPI_FREQ = 1000000;
|
||||
/**
|
||||
* Some MAX1227 could not be reached with frequencies around 4 MHz. Maybe this is caused by
|
||||
* the decoder and buffer circuits. Thus frequency is here defined to 1 MHz.
|
||||
*/
|
||||
static const uint32_t MAX1227_SPI_FREQ = 1000000;
|
||||
|
||||
static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
|
||||
static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
|
||||
|
||||
static const DeviceCommandId_t WRITE_SETUP = 0x1;
|
||||
/**
|
||||
* This command initiates the ADC conversion for all channels including the internal
|
||||
* temperature sensor.
|
||||
*/
|
||||
static const DeviceCommandId_t START_CONVERSIONS = 0x2;
|
||||
/**
|
||||
* This command reads the internal fifo which holds the temperature and the channel
|
||||
* conversions.
|
||||
*/
|
||||
static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
|
||||
static const DeviceCommandId_t WRITE_SETUP = 0x1;
|
||||
/**
|
||||
* This command initiates the ADC conversion for all channels including the internal
|
||||
* temperature sensor.
|
||||
*/
|
||||
static const DeviceCommandId_t START_CONVERSIONS = 0x2;
|
||||
/**
|
||||
* This command reads the internal fifo which holds the temperature and the channel
|
||||
* conversions.
|
||||
*/
|
||||
static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
|
||||
|
||||
/**
|
||||
* @brief This is the configuration byte which will be written to the setup register after
|
||||
* power on.
|
||||
*
|
||||
* @note Bit1 (DIFFSEL1) - Bit0 (DIFFSEL0): 0b00, No byte is following the setup byte
|
||||
* Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, Internal reference, no wake-up delay
|
||||
* Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b10, Internally clocked
|
||||
* Bit7 - Bit6: 0b01, Tells MAX1227 that this byte should be
|
||||
* written to the setup register
|
||||
*
|
||||
*/
|
||||
static const uint8_t SETUP = 0b01101000;
|
||||
/**
|
||||
* @brief This is the configuration byte which will be written to the setup register after
|
||||
* power on.
|
||||
*
|
||||
* @note Bit1 (DIFFSEL1) - Bit0 (DIFFSEL0): 0b00, No byte is following the setup byte
|
||||
* Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, Internal reference, no wake-up delay
|
||||
* Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b10, Internally clocked
|
||||
* Bit7 - Bit6: 0b01, Tells MAX1227 that this byte should be
|
||||
* written to the setup register
|
||||
*
|
||||
*/
|
||||
static const uint8_t SETUP = 0b01101000;
|
||||
|
||||
/**
|
||||
* @brief This values 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, Scans channels 0 through N
|
||||
* Bit6 - Bit3 defines N: 0b0101 (N = 5)
|
||||
* Bit7: Always 1. Tells the ADC that this is the conversion register.
|
||||
*/
|
||||
static const uint8_t CONVERSION = 0b10101001;
|
||||
/**
|
||||
* @brief This values 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, Scans channels 0 through N
|
||||
* Bit6 - Bit3 defines N: 0b0101 (N = 5)
|
||||
* Bit7: Always 1. Tells the ADC that this is the conversion register.
|
||||
*/
|
||||
static const uint8_t CONVERSION = 0b10101001;
|
||||
|
||||
static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS;
|
||||
static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS;
|
||||
|
||||
/** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */
|
||||
static const uint8_t SIZE_READ_CONVERSIONS = 14;
|
||||
/** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */
|
||||
static const uint8_t SIZE_READ_CONVERSIONS = 14;
|
||||
|
||||
static const uint8_t MAX_CMD_SIZE = SIZE_READ_CONVERSIONS;
|
||||
static const uint8_t MAX_CMD_SIZE = SIZE_READ_CONVERSIONS;
|
||||
|
||||
static const uint8_t POOL_ENTRIES = 7;
|
||||
static const uint8_t POOL_ENTRIES = 7;
|
||||
|
||||
enum Max1227PoolIds: lp_id_t {
|
||||
TEMPERATURE_C,
|
||||
AIN0,
|
||||
AIN1,
|
||||
AIN2,
|
||||
AIN3,
|
||||
AIN4,
|
||||
AIN5,
|
||||
};
|
||||
|
||||
class SusDataset: public StaticLocalDataSet<POOL_ENTRIES> {
|
||||
public:
|
||||
|
||||
SusDataset(HasLocalDataPoolIF* owner) :
|
||||
StaticLocalDataSet(owner, SUS_DATA_SET_ID) {
|
||||
}
|
||||
|
||||
SusDataset(object_id_t objectId) :
|
||||
StaticLocalDataSet(sid_t(objectId, SUS_DATA_SET_ID)) {
|
||||
}
|
||||
|
||||
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
|
||||
lp_var_t<uint16_t> ain0 = lp_var_t<uint16_t>(sid.objectId, AIN0, this);
|
||||
lp_var_t<uint16_t> ain1 = lp_var_t<uint16_t>(sid.objectId, AIN1, this);
|
||||
lp_var_t<uint16_t> ain2 = lp_var_t<uint16_t>(sid.objectId, AIN2, this);
|
||||
lp_var_t<uint16_t> ain3 = lp_var_t<uint16_t>(sid.objectId, AIN3, this);
|
||||
lp_var_t<uint16_t> ain4 = lp_var_t<uint16_t>(sid.objectId, AIN4, this);
|
||||
lp_var_t<uint16_t> ain5 = lp_var_t<uint16_t>(sid.objectId, AIN5, this);
|
||||
enum Max1227PoolIds : lp_id_t {
|
||||
TEMPERATURE_C,
|
||||
AIN0,
|
||||
AIN1,
|
||||
AIN2,
|
||||
AIN3,
|
||||
AIN4,
|
||||
AIN5,
|
||||
};
|
||||
}
|
||||
|
||||
class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
|
||||
public:
|
||||
SusDataset(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, SUS_DATA_SET_ID) {}
|
||||
|
||||
SusDataset(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, SUS_DATA_SET_ID)) {}
|
||||
|
||||
lp_var_t<float> temperatureCelcius = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
|
||||
lp_var_t<uint16_t> ain0 = lp_var_t<uint16_t>(sid.objectId, AIN0, this);
|
||||
lp_var_t<uint16_t> ain1 = lp_var_t<uint16_t>(sid.objectId, AIN1, this);
|
||||
lp_var_t<uint16_t> ain2 = lp_var_t<uint16_t>(sid.objectId, AIN2, this);
|
||||
lp_var_t<uint16_t> ain3 = lp_var_t<uint16_t>(sid.objectId, AIN3, this);
|
||||
lp_var_t<uint16_t> ain4 = lp_var_t<uint16_t>(sid.objectId, AIN4, this);
|
||||
lp_var_t<uint16_t> ain5 = lp_var_t<uint16_t>(sid.objectId, AIN5, this);
|
||||
};
|
||||
} // namespace SUS
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_SUS_H_ */
|
||||
|
||||
Reference in New Issue
Block a user