eive/eive-obsw
eive/eive-obsw
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rm3100 tested now as well

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This commit is contained in:
Robin Müller 2021-03-06 20:37:17 +01:00
parent 32670f4a81
commit 88f84c4393
5 changed files with 252 additions and 254 deletions
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6
bsp_rpi/ObjectFactory.cpp
View File

@ -99,12 +99,12 @@ void ObjectFactory::produce(){
gpioIF->addGpios(gpioCookieAcsBoard);
std::string spiDev = "/dev/spidev0.0";
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
gpioIds::MGM_0_LIS3_CS, spiDev, 24, spi::SpiMode::MODE_3, 3'900'000);
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev, 24,
spi::SpiMode::MODE_3, 3'900'000);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 32,
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev, 16,
spi::SpiMode::MODE_3, 976'000);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);

4
bsp_rpi/boardconfig/rpi_config.h
View File

@ -7,8 +7,8 @@
#define RPI_LOOPBACK_TEST_GPIO 0
/* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 1
#define RPI_TEST_ACS_BOARD 0
#define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 1
/* Adapt these values accordingly */
namespace gpio {

2
fsfw

@ -1 +1 @@
Subproject commit 17b8d3fed05cae6e208dc3f14b6ba0d44c9ec5ef
Subproject commit 778ef4ef230019ca4b155a77518156793cf5d308

3
fsfwconfig/OBSWConfig.h
View File

@ -26,7 +26,8 @@ debugging. */
#define PDU2_DEBUG 0
#define ACU_DEBUG 1
#define FSFW_LINUX_SPI_WIRETAPPING 1
/* Can be used for low-level debugging of the SPI bus */
#define FSFW_LINUX_SPI_WIRETAPPING 0
#ifdef __cplusplus

35
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,6 +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>
@ -122,8 +123,7 @@ ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
commandDataLen);
}
case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
RM3100::READ_MASK;
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
@ -168,7 +168,11 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
break;
}
case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) {
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) {
commandExecuted = true;
}
else {
@ -197,14 +201,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
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
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;
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
@ -220,9 +223,8 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
return result;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -256,14 +258,12 @@ ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
return result;
}
// Data sheet p.30
// "while noise limits the useful upper range to ~400 cycle counts."
/* 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)) {
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@ -310,12 +310,9 @@ void MGMHandlerRM3100::modeChanged(void) {
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}));
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;
}