From 80b32331c9d11e6c388a35ccfdadbd4ab494ac6a Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 3 May 2021 13:35:16 +0200 Subject: [PATCH] rad sensor working --- mission/devices/RadiationSensorHandler.cpp | 123 +++++++++++------- .../devicedefinitions/RadSensorDefinitions.h | 8 +- 2 files changed, 81 insertions(+), 50 deletions(-) diff --git a/mission/devices/RadiationSensorHandler.cpp b/mission/devices/RadiationSensorHandler.cpp index 8d44ea9a..bd16ddaf 100644 --- a/mission/devices/RadiationSensorHandler.cpp +++ b/mission/devices/RadiationSensorHandler.cpp @@ -3,12 +3,12 @@ #include RadiationSensorHandler::RadiationSensorHandler(object_id_t objectId, object_id_t comIF, - CookieIF * comCookie) : - DeviceHandlerBase(objectId, comIF, comCookie), dataset( - this) { - if (comCookie == NULL) { - sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl; - } + CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), dataset( + this) { + if (comCookie == NULL) { + sif::error << "RadiationSensorHandler: Invalid com cookie" << std::endl; + } } RadiationSensorHandler::~RadiationSensorHandler() { @@ -30,54 +30,79 @@ void RadiationSensorHandler::doShutDown(){ } ReturnValue_t RadiationSensorHandler::buildNormalDeviceCommand( - DeviceCommandId_t * id) { - *id = RAD_SENSOR::PERFORM_CONVERSION; - return buildCommandFromCommand(*id, nullptr, 0); + DeviceCommandId_t * id) { + + switch (communicationStep) { + case CommunicationStep::START_CONVERSION: { + *id = RAD_SENSOR::START_CONVERSION; + communicationStep = CommunicationStep::READ_CONVERSIONS; + break; + } + case CommunicationStep::READ_CONVERSIONS: { + *id = RAD_SENSOR::READ_CONVERSIONS; + communicationStep = CommunicationStep::START_CONVERSION; + break; + } + default: { + sif::debug << "RadiationSensorHandler::buildNormalDeviceCommand: Unknwon communication " + << "step" << std::endl; + return HasReturnvaluesIF::RETURN_OK; + } + } + return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t RadiationSensorHandler::buildTransitionDeviceCommand( - DeviceCommandId_t * id){ + DeviceCommandId_t * id){ if (internalState == InternalState::SETUP) { *id = RAD_SENSOR::WRITE_SETUP; } else { return HasReturnvaluesIF::RETURN_OK; } - return buildCommandFromCommand(*id, nullptr, 0); + return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t RadiationSensorHandler::buildCommandFromCommand( - DeviceCommandId_t deviceCommand, const uint8_t * commandData, - size_t commandDataLen) { - switch(deviceCommand) { - case(RAD_SENSOR::WRITE_SETUP): { - cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION; - rawPacket = cmdBuffer; - rawPacketLen = 1; - internalState = InternalState::CONFIGURED; - return RETURN_OK; - } - case(RAD_SENSOR::PERFORM_CONVERSION): { - /* Dummy bytes are written to remove old values from fifo */ - cmdBuffer[0] = RAD_SENSOR::CONVERSION_DEFINITION; - cmdBuffer[1] = RAD_SENSOR::DUMMY_BYTE; + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(RAD_SENSOR::WRITE_SETUP): { + cmdBuffer[0] = RAD_SENSOR::SETUP_DEFINITION; + rawPacket = cmdBuffer; + rawPacketLen = 1; + internalState = InternalState::CONFIGURED; + return RETURN_OK; + } + case(RAD_SENSOR::START_CONVERSION): { + /* First the fifo will be reset here */ + cmdBuffer[0] = RAD_SENSOR::RESET_DEFINITION; + cmdBuffer[1] = RAD_SENSOR::CONVERSION_DEFINITION; + rawPacket = cmdBuffer; + rawPacketLen = 2; + return RETURN_OK; + } + case(RAD_SENSOR::READ_CONVERSIONS): { + cmdBuffer[0] = RAD_SENSOR::DUMMY_BYTE; + cmdBuffer[1] = RAD_SENSOR::DUMMY_BYTE; cmdBuffer[2] = RAD_SENSOR::DUMMY_BYTE; cmdBuffer[3] = RAD_SENSOR::DUMMY_BYTE; cmdBuffer[4] = RAD_SENSOR::DUMMY_BYTE; cmdBuffer[5] = RAD_SENSOR::DUMMY_BYTE; - rawPacket = cmdBuffer; - rawPacketLen = RAD_SENSOR::READ_SIZE; - return RETURN_OK; - } - default: - return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; - } - return HasReturnvaluesIF::RETURN_FAILED; + rawPacket = cmdBuffer; + rawPacketLen = RAD_SENSOR::READ_SIZE; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; } void RadiationSensorHandler::fillCommandAndReplyMap() { this->insertInCommandMap(RAD_SENSOR::WRITE_SETUP); - this->insertInCommandAndReplyMap(RAD_SENSOR::PERFORM_CONVERSION, 1, &dataset, + this->insertInCommandMap(RAD_SENSOR::START_CONVERSION); + this->insertInCommandAndReplyMap(RAD_SENSOR::READ_CONVERSIONS, 1, &dataset, RAD_SENSOR::READ_SIZE); } @@ -90,12 +115,12 @@ ReturnValue_t RadiationSensorHandler::scanForReply(const uint8_t *start, ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { - switch (id) { - case RAD_SENSOR::PERFORM_CONVERSION: { - PoolReadGuard readSet(&dataset); - dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125; - dataset.channel0 = (*(packet + 2) << 8 | *(packet + 3)); - dataset.channel1 = (*(packet + 4) << 8 | *(packet + 5)); + switch (id) { + case RAD_SENSOR::READ_CONVERSIONS: { + PoolReadGuard readSet(&dataset); + dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125; + dataset.channel0 = (*(packet + 2) << 8 | *(packet + 3)); + dataset.channel1 = (*(packet + 4) << 8 | *(packet + 5)); #if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_RAD_SENSOR sif::info << "Radiation sensor temperature: " << dataset.temperatureCelcius << " °C" << std::endl; @@ -104,15 +129,15 @@ ReturnValue_t RadiationSensorHandler::interpretDeviceReply(DeviceCommandId_t id, sif::info << "Radiation sensor temperature ADC value channel 1: " << dataset.channel1 << std::endl; #endif - break; - } - default: { - sif::debug << "RadiationSensorHandler::interpretDeviceReply: Unknown reply id" << std::endl; - return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; - } + break; + } + default: { + sif::debug << "RadiationSensorHandler::interpretDeviceReply: Unknown reply id" << std::endl; + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } - } - return HasReturnvaluesIF::RETURN_OK; + } + return HasReturnvaluesIF::RETURN_OK; } void RadiationSensorHandler::setNormalDatapoolEntriesInvalid(){ @@ -120,7 +145,7 @@ void RadiationSensorHandler::setNormalDatapoolEntriesInvalid(){ } uint32_t RadiationSensorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ - return 5000; + return 5000; } ReturnValue_t RadiationSensorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, diff --git a/mission/devices/devicedefinitions/RadSensorDefinitions.h b/mission/devices/devicedefinitions/RadSensorDefinitions.h index c962b2e2..db105495 100644 --- a/mission/devices/devicedefinitions/RadSensorDefinitions.h +++ b/mission/devices/devicedefinitions/RadSensorDefinitions.h @@ -10,8 +10,9 @@ namespace RAD_SENSOR { * temperature sensor. */ static const DeviceCommandId_t WRITE_SETUP = 0x1; - static const DeviceCommandId_t PERFORM_CONVERSION = 0x2; + static const DeviceCommandId_t START_CONVERSION = 0x2; static const DeviceCommandId_t READ_CONVERSIONS = 0x3; + /** * @brief This is the configuration byte which will be written to the setup register after * power on. @@ -34,6 +35,11 @@ namespace RAD_SENSOR { */ static const uint8_t CONVERSION_DEFINITION = 0b10001001; + /** + * @brief Writing this value resets the fifo of the MAX1227. + */ + static const uint8_t RESET_DEFINITION = 0b00011000; + static const uint8_t DUMMY_BYTE = 0xFF; static const uint8_t RAD_SENSOR_DATA_SET_ID = READ_CONVERSIONS;