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deleted polling sequence file

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This commit is contained in:
Martin Zietz
2021-03-22 12:47:45 +01:00
parent 5439305b8c 682cdb3ce9
commit 862a546637
55 changed files with 1039 additions and 741 deletions
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107
mission/devices/GyroL3GD20Handler.cpp
View File

@ -1,38 +1,55 @@
#include <mission/devices/GyroL3GD20Handler.h>
#include <fsfw/datapool/PoolReadHelper.h>
#include "GyroL3GD20Handler.h"
#include <OBSWConfig.h>
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
#include <fsfw/datapool/PoolReadGuard.h>
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(5);
#endif
}
GyroHandler::~GyroHandler() {}
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
void GyroHandler::doStartUp() {
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE;
void GyroHandlerL3GD20H::doStartUp() {
if(internalState == InternalState::NONE) {
internalState = InternalState::CONFIGURE;
}
if(internalState == InternalState::STATE_CONFIGURE) {
if(internalState == InternalState::CONFIGURE) {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
internalState = InternalState::CHECK_REGS;
commandExecuted = false;
}
}
if(internalState == InternalState::CHECK_REGS) {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
commandExecuted = false;
}
}
}
void GyroHandler::doShutDown() {
void GyroHandlerL3GD20H::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
case(InternalState::NONE):
case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE): {
case(InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
@ -41,10 +58,13 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5);
break;
}
case(InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
// might be a configuration error.
/* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
@ -52,12 +72,12 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroHandler::buildCommandFromCommand(
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
@ -120,24 +140,25 @@ ReturnValue_t GyroHandler::buildCommandFromCommand(
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
// SPI, ID will always be the one of the last sent command.
/* For SPI, the ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer
/* Data with SPI Interface has always this answer */
if (start[0] == 0b11111111) {
return HasReturnvaluesIF::RETURN_OK;
}
return DeviceHandlerIF::INVALID_DATA;
}
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): {
commandExecuted = true;
break;
}
case(L3GD20H::READ_CTRL_REGS): {
@ -147,18 +168,23 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE;
/* Attempt reconfiguration. */
internalState = InternalState::CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(L3GD20H::READ_START): {
case(L3GD20H::READ_REGS): {
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
else {
if(internalState == InternalState::CHECK_REGS) {
commandExecuted = true;
}
}
statusReg = packet[L3GD20H::STATUS_IDX];
@ -171,8 +197,25 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
#if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) {
/* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
std::endl;
sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
#else
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
#endif
}
#endif
PoolReadHelper readSet(&dataset);
PoolReadGuard readSet(&dataset);
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocY;
@ -189,11 +232,11 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
}
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 10000;
}
ReturnValue_t GyroHandler::initializeLocalDataPool(
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
new PoolEntry<float>({0.0}));
@ -206,12 +249,12 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(
return HasReturnvaluesIF::RETURN_OK;
}
void GyroHandler::fillCommandAndReplyMap() {
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}
void GyroHandler::modeChanged() {
internalState = InternalState::STATE_NONE;
void GyroHandlerL3GD20H::modeChanged() {
internalState = InternalState::NONE;
}

29
mission/devices/GyroL3GD20Handler.h
View File

@ -1,8 +1,12 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <OBSWConfig.h>
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
@ -10,12 +14,14 @@
* @details
* Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
*
* Data is read big endian with the smallest possible range of 245 degrees per second.
*/
class GyroHandler: public DeviceHandlerBase {
class GyroHandlerL3GD20H: public DeviceHandlerBase {
public:
GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GyroHandler();
virtual ~GyroHandlerL3GD20H();
protected:
@ -41,14 +47,15 @@ protected:
LocalDataPoolManager &poolManager) override;
private:
L3GD20H::GyroPrimaryDataset dataset;
GyroPrimaryDataset dataset;
enum class InternalState {
STATE_NONE,
STATE_CONFIGURE,
STATE_NORMAL
NONE,
CONFIGURE,
CHECK_REGS,
NORMAL
};
InternalState internalState = InternalState::STATE_NONE;
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
uint8_t statusReg = 0;
@ -62,6 +69,10 @@ private:
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
#if OBSW_VERBOSE_LEVEL >= 1
PeriodicOperationDivider* debugDivider = nullptr;
#endif
};

12
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,13 +1,14 @@
#include <fsfw/datapool/PoolReadHelper.h>
#include "MGMHandlerLIS3MDL.h"
#include <fsfw/datapool/PoolReadGuard.h>
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10);
debugDivider = new PeriodicOperationDivider(5);
#endif
/* Set to default values right away. */
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
@ -44,8 +45,11 @@ void MGMHandlerLIS3MDL::doStartUp() {
/* Set up cached registers which will be used to configure the MGM. */
if(commandExecuted) {
commandExecuted = false;
/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
break;
}
@ -299,7 +303,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
#endif
}
#endif
PoolReadHelper readHelper(&dataset);
PoolReadGuard readHelper(&dataset);
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY;
@ -459,7 +463,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 30000;
return 10000;
}
void MGMHandlerLIS3MDL::modeChanged(void) {

562
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,5 +1,7 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include "MGMHandlerRM3100.h"
#include <fsfw/globalfunctions/bitutility.h>
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -7,345 +9,355 @@
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(10);
debugDivider = new PeriodicOperationDivider(5);
#endif
}
MGMHandlerRM3100::~MGMHandlerRM3100() {}
void MGMHandlerRM3100::doStartUp() {
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE_CMM;
}
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
internalState = InternalState::STATE_READ_CMM;
}
else if(internalState == InternalState::STATE_READ_CMM) {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
}
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
internalState = InternalState::STATE_READ_TMRC;
}
else if(internalState == InternalState::STATE_READ_TMRC) {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
setMode(_MODE_TO_ON);
}
}
switch(internalState) {
case(InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM;
break;
}
case(InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM;
break;
}
case(InternalState::READ_CMM): {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
break;
}
default: {
break;
}
}
}
void MGMHandlerRM3100::doShutDown() {
setMode(_MODE_POWER_DOWN);
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::STATE_READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::NONE):
case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
default:
/* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case(RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return RETURN_OK;
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case(RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
size_t *foundLen) {
// SPI, ID will always be the one of the last sent command.
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// Data with SPI Interface has always this answer
if (start[0] == 0b11111111) {
return RETURN_OK;
}
return DeviceHandlerIF::INVALID_DATA;
/* For SPI, ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand();
*foundLen = len;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
// We can only check whether write was sucessful with read operation.
break;
}
case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or
cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
/* We can only check whether write was successful with read operation. */
if(mode == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case(RM3100::READ_CMM): {
uint8_t cmmValue = packet[1];
/* We clear the seventh bit in any case
* because this one is zero sometimes for some reason */
bitutil::bitClear(&cmmValue, 6);
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
commandExecuted = true;
}
else {
/* Attempt reconfiguration. */
internalState = InternalState::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
/* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
return result;
return result;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count
if(commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count
if(commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
const uint8_t *commandData, size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// Data sheet p.30
// "while noise limits the useful upper range to ~400 cycle counts."
if(command.cycleCountX > 450 ) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
/* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
if(command.cycleCountX > 450 ) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(not oneCycleValue and
(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK;
cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[1];
rawPacketLen = 2;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[1];
rawPacketLen = 2;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
}
void MGMHandlerRM3100::modeChanged(void) {
internalState = InternalState::STATE_NONE;
internalState = InternalState::NONE;
}
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
return 10000;
}
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
// analyze data here.
// Field strengths in micro Tesla
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
* scaleFactorX;
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
* scaleFactorY;
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
* scaleFactorZ;
/* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
* trickery here to calculate the raw values first */
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
/* Now scale to physical value in microtesla */
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
#if OBSW_VERBOSE_LEVEL >= 1
if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
" microtesla:" << std::endl;
// Set terminal to utf-8 if there is an issue with micro printout.
sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
}
if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerRM3100: Magnetic field strength in"
" microtesla:" << std::endl;
/* Set terminal to utf-8 if there is an issue with micro printout. */
sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
}
#endif
ReturnValue_t result = primaryDataset.read();
if(result == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit();
}
return result;
/* TODO: Sanity check on values */
PoolReadGuard readGuard(&primaryDataset);
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
}
return RETURN_OK;
}

10
mission/devices/MGMHandlerRM3100.h
View File

@ -61,18 +61,18 @@ protected:
private:
enum class InternalState {
STATE_NONE,
STATE_CONFIGURE_CMM,
STATE_READ_CMM,
NONE,
CONFIGURE_CMM,
READ_CMM,
// The cycle count states are propably not going to be used because
// the default cycle count will be used.
STATE_CONFIGURE_CYCLE_COUNT,
STATE_READ_CYCLE_COUNT,
STATE_CONFIGURE_TMRC,
STATE_READ_TMRC,
STATE_NORMAL
NORMAL
};
InternalState internalState = InternalState::STATE_NONE;
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;

4
mission/devices/PCDUHandler.cpp
View File

@ -49,7 +49,7 @@ ReturnValue_t PCDUHandler::initialize() {
sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
return RETURN_FAILED;
}
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
if (result != RETURN_OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
@ -63,7 +63,7 @@ ReturnValue_t PCDUHandler::initialize() {
sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
return RETURN_FAILED;
}
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
if (result != RETURN_OK) {
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "

77
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -1,11 +1,15 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace L3GD20H {
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t READ_MASK = 0b1000'0000;
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
@ -22,7 +26,7 @@ static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
// Register 1
/* Register 1 */
static constexpr uint8_t SET_DR_1 = 1 << 7;
static constexpr uint8_t SET_DR_0 = 1 << 6;
static constexpr uint8_t SET_BW_1 = 1 << 5;
@ -35,7 +39,7 @@ static constexpr uint8_t SET_Y_ENABLE = 1;
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
SET_Y_ENABLE | SET_X_ENABLE;
// Register 2
/* Register 2 */
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
static constexpr uint8_t SET_HPM_1 = 1 << 5;
@ -47,10 +51,10 @@ static constexpr uint8_t SET_HPCF_0 = 1;
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
// Register 3
/* Register 3 */
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
// Register 4
/* Register 4 */
static constexpr uint8_t SET_BNU = 1 << 7;
static constexpr uint8_t SET_BLE = 1 << 6;
static constexpr uint8_t SET_FS_1 = 1 << 5;
@ -60,15 +64,16 @@ static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
/* Enable big endian data format */
static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
// Register 5
/* Register 5 */
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
// In degrees per second (DPS) for now.
/* Possible range values in degrees per second (DPS). */
static constexpr uint16_t RANGE_DPS_00 = 245;
static constexpr uint16_t RANGE_DPS_01 = 500;
static constexpr uint16_t RANGE_DPS_11 = 2000;
@ -76,16 +81,16 @@ static constexpr uint16_t RANGE_DPS_11 = 2000;
static constexpr uint8_t READ_START = CTRL_REG_1;
static constexpr size_t READ_LEN = 14;
// Indexing
/* Indexing */
static constexpr uint8_t REFERENCE_IDX = 6;
static constexpr uint8_t TEMPERATURE_IDX = 7;
static constexpr uint8_t STATUS_IDX = 8;
static constexpr uint8_t OUT_X_L = 9;
static constexpr uint8_t OUT_X_H = 10;
static constexpr uint8_t OUT_Y_L = 11;
static constexpr uint8_t OUT_Y_H = 12;
static constexpr uint8_t OUT_Z_L = 13;
static constexpr uint8_t OUT_Z_H = 14;
static constexpr uint8_t OUT_X_H = 9;
static constexpr uint8_t OUT_X_L = 10;
static constexpr uint8_t OUT_Y_H = 11;
static constexpr uint8_t OUT_Y_L = 12;
static constexpr uint8_t OUT_Z_H = 13;
static constexpr uint8_t OUT_Z_L = 14;
/*------------------------------------------------------------------------*/
/* Device Handler specific */
@ -103,27 +108,33 @@ enum GyroPoolIds: lp_id_t {
TEMPERATURE
};
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
// Angular velocities in degrees per second (DPS)
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
TEMPERATURE, this);
};
}
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

3
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -15,6 +15,9 @@ enum opMode {
LOW, MEDIUM, HIGH, ULTRA
};
/* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
static const DeviceCommandId_t SETUP_MGM = 0x00;

3
mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
View File

@ -9,6 +9,9 @@
namespace RM3100 {
/* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12;
static constexpr uint8_t READ_MASK = 0b1000'0000;
/*----------------------------------------------------------------------------*/