eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' into mueller/rad-sensor-update
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This commit is contained in:
Robin Müller 2022-02-23 19:03:08 +01:00
commit a067014116
23 changed files with 402 additions and 358 deletions
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68
bsp_q7s/core/ObjectFactory.cpp
View File

@ -44,8 +44,8 @@
#include "linux/csp/CspComIF.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/SusHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/SusHandler.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/BpxBatteryHandler.h"
@ -351,61 +351,57 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF* gpioComIF, SpiComI
SpiCookie* spiCookieSus1 =
new SpiCookie(addresses::SUS_1, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus2 =
new SpiCookie(addresses::SUS_2, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus3 =
new SpiCookie(addresses::SUS_3, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus4 =
new SpiCookie(addresses::SUS_4, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus5 =
new SpiCookie(addresses::SUS_5, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus6 =
new SpiCookie(addresses::SUS_6, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus7 =
new SpiCookie(addresses::SUS_7, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus8 =
new SpiCookie(addresses::SUS_8, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus9 =
new SpiCookie(addresses::SUS_9, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus10 =
new SpiCookie(addresses::SUS_10, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus11 =
new SpiCookie(addresses::SUS_11, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus12 =
new SpiCookie(addresses::SUS_12, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
SpiCookie* spiCookieSus13 =
new SpiCookie(addresses::SUS_13, gpio::NO_GPIO, std::string(q7s::SPI_DEFAULT_DEV),
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, SUS::MAX1227_SPI_FREQ);
SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF, gpioIds::CS_SUS_1);
new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF, gpioIds::CS_SUS_2);
new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF, gpioIds::CS_SUS_3);
new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF, gpioIds::CS_SUS_4);
new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF, gpioIds::CS_SUS_5);
new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF, gpioIds::CS_SUS_6);
new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF, gpioIds::CS_SUS_7);
new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF, gpioIds::CS_SUS_8);
new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF, gpioIds::CS_SUS_9);
new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
gpioIds::CS_SUS_10);
new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
gpioIds::CS_SUS_11);
new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
gpioIds::CS_SUS_12);
new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
gpioIds::CS_SUS_13);
new SusHandler(objects::SUS_1, 0, objects::SPI_COM_IF, spiCookieSus1);
new SusHandler(objects::SUS_2, 1, objects::SPI_COM_IF, spiCookieSus2);
new SusHandler(objects::SUS_3, 2, objects::SPI_COM_IF, spiCookieSus3);
new SusHandler(objects::SUS_4, 3, objects::SPI_COM_IF, spiCookieSus4);
new SusHandler(objects::SUS_5, 4, objects::SPI_COM_IF, spiCookieSus5);
new SusHandler(objects::SUS_6, 5, objects::SPI_COM_IF, spiCookieSus6);
new SusHandler(objects::SUS_7, 6, objects::SPI_COM_IF, spiCookieSus7);
new SusHandler(objects::SUS_8, 7, objects::SPI_COM_IF, spiCookieSus8);
new SusHandler(objects::SUS_9, 8, objects::SPI_COM_IF, spiCookieSus9);
new SusHandler(objects::SUS_10, 9, objects::SPI_COM_IF, spiCookieSus10);
new SusHandler(objects::SUS_11, 10, objects::SPI_COM_IF, spiCookieSus11);
new SusHandler(objects::SUS_12, 11, objects::SPI_COM_IF, spiCookieSus12);
new SusHandler(objects::SUS_13, 12, objects::SPI_COM_IF, spiCookieSus13);
}
void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF) {
@ -991,13 +987,13 @@ void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);
VirtualChannel* vc = nullptr;
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE);
vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE);
vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE);
vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);
GpioCookie* gpioCookiePdec = new GpioCookie;

4
bsp_q7s/devices/PlocMemoryDumper.cpp
View File

@ -10,7 +10,9 @@
PlocMemoryDumper::PlocMemoryDumper(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocMemoryDumper::~PlocMemoryDumper() {}

4
bsp_q7s/devices/PlocUpdater.cpp
View File

@ -8,7 +8,9 @@
PlocUpdater::PlocUpdater(object_id_t objectId)
: SystemObject(objectId), commandActionHelper(this), actionHelper(this, nullptr) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
auto mqArgs = MqArgs(this->getObjectId());
commandQueue = QueueFactory::instance()->createMessageQueue(
QUEUE_SIZE, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
PlocUpdater::~PlocUpdater() {}

4
bsp_q7s/devices/startracker/StarTrackerHandler.cpp
View File

@ -44,7 +44,9 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
if (strHelper == nullptr) {
sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
}
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
auto mqArgs = MqArgs(this->getObjectId());
eventQueue = QueueFactory::instance()->createMessageQueue(
EventMessage::EVENT_MESSAGE_SIZE * 5, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
StarTrackerHandler::~StarTrackerHandler() {}

4
bsp_q7s/memory/FileSystemHandler.cpp
View File

@ -11,7 +11,9 @@
FileSystemHandler::FileSystemHandler(object_id_t fileSystemHandler)
: SystemObject(fileSystemHandler) {
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE);
auto mqArgs = MqArgs(this->getObjectId());
mq = QueueFactory::instance()->createMessageQueue(FS_MAX_QUEUE_SIZE,
MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
FileSystemHandler::~FileSystemHandler() { QueueFactory::instance()->deleteMessageQueue(mq); }

8
common/config/devConf.h
View File

@ -23,7 +23,13 @@ static constexpr uint32_t DEFAULT_L3G_SPEED = 976'000;
static constexpr uint32_t L3G_TRANSITION_DELAY = 5000;
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 3'900'000;
/**
* 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 SUS_MAX1227_SPI_FREQ = 976'000;
static constexpr uint32_t DEFAULT_MAX_1227_SPEED = 976'000;
static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3;
static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000;

2
fsfw

@ -1 +1 @@
Subproject commit 32a9e0c7044665f0265c10108c8d62d45c047769
Subproject commit 19f8e41c7f2523d3684ebddd393e3a7700861328

88
linux/boardtest/UartTestClass.cpp
View File

@ -1,16 +1,11 @@
#include "UartTestClass.h"
#include <errno.h> // Error integer and strerror() function
#include <fcntl.h> // Contains file controls like O_RDWR
#include <fsfw/tasks/TaskFactory.h>
#if defined(RASPBERRY_PI)
#include "rpiConfig.h"
#elif defined(XIPHOS_Q7S)
#include "q7sConfig.h"
#endif
#include <errno.h> // Error integer and strerror() function
#include <fcntl.h> // Contains file controls like O_RDWR
#include <unistd.h> // write(), read(), close()
#include "OBSWConfig.h"
#include "fsfw/globalfunctions/CRC.h"
#include "fsfw/globalfunctions/DleEncoder.h"
#include "fsfw/globalfunctions/arrayprinter.h"
@ -42,7 +37,7 @@ ReturnValue_t UartTestClass::performPeriodicAction() {
}
void UartTestClass::gpsInit() {
#if RPI_TEST_GPS_DEVICE == 1
#if RPI_TEST_GPS_HANDLER == 1
int result = lwgps_init(&gpsData);
if (result == 0) {
sif::warning << "lwgps_init error: " << result << std::endl;
@ -90,7 +85,7 @@ void UartTestClass::gpsInit() {
}
void UartTestClass::gpsPeriodic() {
#if RPI_TEST_GPS_DEVICE == 1
#if RPI_TEST_GPS_HANDLER == 1
int bytesRead = 0;
do {
bytesRead = read(serialPort, reinterpret_cast<void*>(recBuf.data()),
@ -129,7 +124,7 @@ void UartTestClass::gpsPeriodic() {
void UartTestClass::scexInit() {
#if defined(RASPBERRY_PI)
std::string devname = "/dev/ttyUSB1";
std::string devname = "/dev/serial0";
#else
std::string devname = "/dev/ul-scex";
#endif
@ -156,6 +151,13 @@ void UartTestClass::scexInit() {
tty.c_cc[VTIME] = 1; // In units of 0.1 seconds
tty.c_cc[VMIN] = 255; // Read up to 255 bytes
// Q7S UART Lite has fixed baud rate. For other linux systems, set baud rate here.
#if !defined(XIPHOS_Q7S)
if (cfsetispeed(&tty, B57600) != 0) {
sif::warning << "UartTestClass::scexInit: Setting baud rate failed" << std::endl;
}
#endif
if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
sif::warning << "tcsetattr call failed with error [" << errno << ", " << strerror(errno)
<< std::endl;
@ -165,37 +167,12 @@ void UartTestClass::scexInit() {
}
void UartTestClass::scexPeriodic() {
auto dleEncoder = DleEncoder();
std::array<uint8_t, 128> tmpCmdBuf = {};
// Send ping command
tmpCmdBuf[0] = scex::CMD_PING;
// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
// telecommand so far
tmpCmdBuf[1] = 1;
tmpCmdBuf[2] = 1;
uint16_t userDataLen = 0;
tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
tmpCmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
tmpCmdBuf[5] = (crc >> 8) & 0xff;
tmpCmdBuf[6] = crc & 0xff;
size_t encodedLen = 0;
ReturnValue_t result =
dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
sif::info << "UartTestClass::scexInit: Sending ping command to SCEX" << std::endl;
int result = prepareScexPing();
if (result != 0) {
return;
}
arrayprinter::print(cmdBuf.data(), 9);
};
size_t bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "Sending ping command to solar experiment failed" << std::endl;
}
TaskFactory::delayTask(20);
bytesWritten = write(serialPort, cmdBuf.data(), encodedLen);
if (bytesWritten != encodedLen) {
sif::warning << "Sending ping command to solar experiment failed" << std::endl;
}
@ -210,12 +187,35 @@ void UartTestClass::scexPeriodic() {
<< ", " << strerror(errno) << "]" << std::endl;
break;
} else if (bytesRead >= static_cast<int>(recBuf.size())) {
sif::debug << "UartTestClass::performPeriodicAction: "
"recv buffer might not be large enough"
sif::debug << "UartTestClass::performPeriodicAction: recv buffer might not be large enough"
<< std::endl;
} else if (bytesRead > 0) {
sif::info << "Received " << bytesRead << " from the Solar Cell Experiment:" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead);
sif::info << "Received " << bytesRead
<< " bytes from the Solar Cell Experiment:" << std::endl;
arrayprinter::print(recBuf.data(), bytesRead, OutputType::HEX, false);
}
} while (bytesRead > 0);
}
int UartTestClass::prepareScexPing() {
std::array<uint8_t, 128> tmpCmdBuf = {};
// Send ping command
tmpCmdBuf[0] = scex::CMD_PING;
// These two fields are the packet counter and the total packet count. Those are 1 and 1 for each
// telecommand so far
tmpCmdBuf[1] = 1;
tmpCmdBuf[2] = 1;
uint16_t userDataLen = 0;
tmpCmdBuf[3] = (userDataLen >> 8) & 0xff;
tmpCmdBuf[4] = userDataLen & 0xff;
uint16_t crc = CRC::crc16ccitt(tmpCmdBuf.data(), 5);
tmpCmdBuf[5] = (crc >> 8) & 0xff;
tmpCmdBuf[6] = crc & 0xff;
ReturnValue_t result =
dleEncoder.encode(tmpCmdBuf.data(), 7, cmdBuf.data(), cmdBuf.size(), &encodedLen, true);
if (result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "UartTestClass::scexInit: Encoding failed" << std::endl;
return -1;
}
return 0;
}

4
linux/boardtest/UartTestClass.h
View File

@ -1,6 +1,7 @@
#ifndef LINUX_BOARDTEST_UARTTESTCLASS_H_
#define LINUX_BOARDTEST_UARTTESTCLASS_H_
#include <fsfw/globalfunctions/DleEncoder.h>
#include <termios.h> // Contains POSIX terminal control definitions
#include <array>
@ -28,7 +29,10 @@ class UartTestClass : public TestTask {
void scexInit();
void scexPeriodic();
int prepareScexPing();
TestModes mode = TestModes::GPS;
DleEncoder dleEncoder = DleEncoder();
size_t encodedLen = 0;
lwgps_t gpsData = {};
struct termios tty = {};
int serialPort = 0;

1
linux/devices/CMakeLists.txt
View File

@ -1,4 +1,3 @@
target_sources(${OBSW_NAME} PRIVATE
SolarArrayDeploymentHandler.cpp
SusHandler.cpp
)

214
linux/devices/SusHandler.cpp
View File

@ -1,214 +0,0 @@
#include "SusHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#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() {}
ReturnValue_t SusHandler::performOperation(uint8_t counter) {
if (counter != FIRST_WRITE) {
DeviceHandlerBase::performOperation(counter);
return RETURN_OK;
}
if (mode != MODE_NORMAL) {
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
/* If device is in normale mode the communication sequence is initiated here */
if (communicationStep == CommunicationStep::IDLE) {
communicationStep = CommunicationStep::WRITE_SETUP;
}
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
ReturnValue_t SusHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
auto spiComIF = dynamic_cast<SpiComIF *>(communicationInterface);
if (spiComIF == nullptr) {
sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
spiMutex = spiComIF->getMutex();
if (spiMutex == nullptr) {
sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return RETURN_OK;
}
void SusHandler::doStartUp() {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void SusHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
if (communicationStep == CommunicationStep::IDLE) {
return NOTHING_TO_SEND;
}
if (communicationStep == CommunicationStep::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
communicationStep = CommunicationStep::START_CONVERSIONS;
} else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
*id = SUS::START_CONVERSIONS;
communicationStep = CommunicationStep::READ_CONVERSIONS;
} else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
*id = SUS::READ_CONVERSIONS;
communicationStep = CommunicationStep::IDLE;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (SUS::WRITE_SETUP): {
/**
* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
* measurement the setup has to be rewritten. There must also be a little delay between
* the transmission of the setup byte and the first conversion. Thus the conversion
* will be performed in an extra step.
* Because the chip select is driven manually by the SusHandler the SPI bus must be
* protected with a mutex here.
*/
ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
if (result == MutexIF::MUTEX_TIMEOUT) {
sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
return ERROR_LOCK_MUTEX;
} else if (result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex" << std::endl;
return ERROR_LOCK_MUTEX;
}
gpioComIF->pullLow(chipSelectId);
cmdBuffer[0] = SUS::SETUP;
rawPacket = cmdBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case (SUS::START_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = SUS::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
return RETURN_OK;
}
case (SUS::READ_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
this->insertInCommandMap(SUS::START_CONVERSIONS);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
*foundLen = remainingSize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case SUS::READ_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
#if OBSW_VERBOSE_LEVEL >= 1 && 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;
#endif
/** SUS can now be shutdown and thus the SPI bus released again */
gpioComIF->pullHigh(chipSelectId);
ReturnValue_t result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex" << std::endl;
return ERROR_UNLOCK_MUTEX;
}
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void SusHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 1000; }
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>({0}));
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>({0}));
return HasReturnvaluesIF::RETURN_OK;
}

6
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -1,13 +1,13 @@
#include "pollingSequenceFactory.h"
#include "OBSWConfig.h"
#include "objects/systemObjectList.h"
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include "OBSWConfig.h"
#include "linux/devices/SusHandler.h"
#include "objects/systemObjectList.h"
ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
// Length of a communication cycle

4
mission/core/GenericFactory.cpp
View File

@ -69,7 +69,7 @@ void ObjectFactory::produceGenericObjects() {
objects::CCSDS_PACKET_DISTRIBUTOR);
// Every TM packet goes through this funnel
new TmFunnel(objects::TM_FUNNEL);
new TmFunnel(objects::TM_FUNNEL, 50);
// PUS service stack
new Service1TelecommandVerification(objects::PUS_SERVICE_1_VERIFICATION, apid::EIVE_OBSW,
@ -79,7 +79,7 @@ void ObjectFactory::produceGenericObjects() {
new Service3Housekeeping(objects::PUS_SERVICE_3_HOUSEKEEPING, apid::EIVE_OBSW,
pus::PUS_SERVICE_3);
new Service5EventReporting(objects::PUS_SERVICE_5_EVENT_REPORTING, apid::EIVE_OBSW,
pus::PUS_SERVICE_5, 50);
pus::PUS_SERVICE_5, 15, 45);
new Service8FunctionManagement(objects::PUS_SERVICE_8_FUNCTION_MGMT, apid::EIVE_OBSW,
pus::PUS_SERVICE_8, 3, 60);
new Service9TimeManagement(objects::PUS_SERVICE_9_TIME_MGMT, apid::EIVE_OBSW, pus::PUS_SERVICE_9);

1
mission/devices/CMakeLists.txt
View File

@ -17,4 +17,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
GyroADIS1650XHandler.cpp
RwHandler.cpp
max1227.cpp
SusHandler.cpp
)

3
mission/devices/HeaterHandler.cpp
View File

@ -16,8 +16,9 @@ HeaterHandler::HeaterHandler(object_id_t setObjectId_, object_id_t gpioDriverId_
mainLineSwitcherObjectId(mainLineSwitcherObjectId_),
mainLineSwitch(mainLineSwitch_),
actionHelper(this, nullptr) {
auto mqArgs = MqArgs(setObjectId_, static_cast<void*>(this));
commandQueue = QueueFactory::instance()->createMessageQueue(
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE);
cmdQueueSize, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
HeaterHandler::~HeaterHandler() {}

232
mission/devices/SusHandler.cpp Normal file
View File

@ -0,0 +1,232 @@
#include "SusHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include "OBSWConfig.h"
SusHandler::SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF *comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie), divider(5), dataset(this), susIdx(susIdx) {}
SusHandler::~SusHandler() {}
ReturnValue_t SusHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
return RETURN_OK;
}
void SusHandler::doStartUp() {
if (comState == ComStates::IDLE) {
comState = ComStates::WRITE_SETUP;
commandExecuted = false;
}
if (comState == ComStates::WRITE_SETUP) {
if (commandExecuted) {
if (goToNormalModeImmediately) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
commandExecuted = false;
if (clkMode == ClkModes::INT_CLOCKED) {
comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
} else {
comState = ComStates::EXT_CLOCKED_CONVERSIONS;
}
}
}
}
void SusHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
switch (comState) {
case (ComStates::IDLE): {
break;
}
case (ComStates::WRITE_SETUP): {
*id = SUS::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_CONVERSIONS): {
*id = SUS::READ_EXT_TIMED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::START_INT_CLOCKED_CONVERSIONS): {
*id = SUS::START_INT_TIMED_CONVERSIONS;
comState = ComStates::READ_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::READ_INT_CLOCKED_CONVERSIONS): {
*id = SUS::READ_INT_TIMED_CONVERSIONS;
comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_TEMP): {
*id = SUS::READ_EXT_TIMED_TEMPS;
return buildCommandFromCommand(*id, nullptr, 0);
}
}
return NOTHING_TO_SEND;
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (comState == ComStates::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
using namespace max1227;
switch (deviceCommand) {
case (SUS::WRITE_SETUP): {
if (clkMode == ClkModes::INT_CLOCKED) {
cmdBuffer[0] = SUS::SETUP_INT_CLOKED;
} else {
cmdBuffer[0] = SUS::SETUP_EXT_CLOCKED;
}
rawPacket = cmdBuffer;
rawPacketLen = 1;
break;
}
case (SUS::START_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = max1227::buildResetByte(true);
cmdBuffer[1] = SUS::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
break;
}
case (SUS::READ_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = SUS::SIZE_READ_INT_CONVERSIONS;
break;
}
case (SUS::READ_EXT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
for (uint8_t idx = 0; idx < 6; idx++) {
cmdBuffer[idx * 2] = buildConvByte(ScanModes::N_ONCE, idx, false);
cmdBuffer[idx * 2 + 1] = 0;
}
cmdBuffer[12] = 0x00;
rawPacketLen = SUS::SIZE_READ_EXT_CONVERSIONS;
break;
}
case (SUS::READ_EXT_TIMED_TEMPS): {
cmdBuffer[0] = buildConvByte(ScanModes::N_ONCE, 0, true);
std::memset(cmdBuffer + 1, 0, 24);
rawPacket = cmdBuffer;
rawPacketLen = 25;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_OK;
}
void SusHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(SUS::WRITE_SETUP, 1);
insertInCommandAndReplyMap(SUS::START_INT_TIMED_CONVERSIONS, 1);
insertInCommandAndReplyMap(SUS::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
SUS::SIZE_READ_INT_CONVERSIONS);
insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
SUS::SIZE_READ_EXT_CONVERSIONS);
insertInCommandAndReplyMap(SUS::READ_EXT_TIMED_TEMPS, 1);
}
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::WRITE_SETUP: {
if (mode == _MODE_START_UP) {
commandExecuted = true;
}
return HasReturnvaluesIF::RETURN_OK;
}
case SUS::START_INT_TIMED_CONVERSIONS: {
return HasReturnvaluesIF::RETURN_OK;
}
case SUS::READ_INT_TIMED_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = max1227::getTemperature(((packet[0] & 0x0f) << 8) | packet[1]);
for (uint8_t idx = 0; idx < 6; idx++) {
dataset.channels[idx] = packet[idx * 2 + 2] << 8 | packet[idx * 2 + 3];
}
printDataset();
break;
}
case (SUS::READ_EXT_TIMED_CONVERSIONS): {
PoolReadGuard readSet(&dataset);
for (uint8_t idx = 0; idx < 6; idx++) {
dataset.channels[idx] = packet[idx * 2 + 1] << 8 | packet[idx * 2 + 2];
}
// Read temperature in next read cycle
if (clkMode == ClkModes::EXT_CLOCKED_WITH_TEMP) {
comState = ComStates::EXT_CLOCKED_TEMP;
}
printDataset();
break;
}
case (SUS::READ_EXT_TIMED_TEMPS): {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = max1227::getTemperature(((packet[23] & 0x0f) << 8) | packet[24]);
comState = ComStates::EXT_CLOCKED_CONVERSIONS;
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 2000; }
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, &tempC);
localDataPoolMap.emplace(SUS::CHANNEL_VEC, &channelVec);
return HasReturnvaluesIF::RETURN_OK;
}
void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediately = enable; }
void SusHandler::printDataset() {
if (periodicPrintout) {
if (divider.checkAndIncrement()) {
sif::info << "SUS ADC " << static_cast<int>(susIdx) << " hex [" << std::setfill('0') << std::hex;
for (uint8_t idx = 0; idx < 6; idx++) {
sif::info << std::setw(3) << dataset.channels[idx];
if (idx < 6 - 1) {
sif::info << ",";
}
}
sif::info << "] | T[C] " << std::dec << dataset.temperatureCelcius.value << std::endl;
}
}
}
void SusHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
this->periodicPrintout = enable;
this->divider.setDivider(divider);
}

46
linux/devices/SusHandler.h → mission/devices/SusHandler.h
View File

@ -2,16 +2,18 @@
#define MISSION_DEVICES_SUSHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include "devicedefinitions/SusDefinitions.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/max1227.h"
/**
* @brief This is the device handler class for the SUS sensor. The sensor is
* based on the MAX1227 ADC. Details about the SUS electronic can be found at
* https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/443_SunSensorDocumentation/release
* @brief This is the device handler class for the SUS sensor based on the MAX1227 ADC.
*
* @details Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
* @details
* Datasheet of MAX1227: https://datasheets.maximintegrated.com/en/ds/MAX1227-MAX1231.pdf
* Details about the SUS electronic can be found at
* https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/443_SunSensorDocumentation/release
*
* @note When adding a SusHandler to the polling sequence table make sure to add a slot with
* the executionStep FIRST_WRITE. Otherwise the communication sequence will never be
@ -21,15 +23,17 @@
*/
class SusHandler : public DeviceHandlerBase {
public:
enum ClkModes { INT_CLOCKED, EXT_CLOCKED, EXT_CLOCKED_WITH_TEMP };
static const uint8_t FIRST_WRITE = 7;
SusHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId);
SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF* comCookie);
virtual ~SusHandler();
virtual ReturnValue_t performOperation(uint8_t counter) override;
void enablePeriodicPrintout(bool enable, uint8_t divider);
virtual ReturnValue_t initialize() override;
void setToGoToNormalMode(bool enable);
protected:
void doStartUp() override;
@ -42,7 +46,6 @@ class SusHandler : public DeviceHandlerBase {
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;
@ -53,19 +56,34 @@ class SusHandler : public DeviceHandlerBase {
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
enum class CommunicationStep { IDLE, WRITE_SETUP, START_CONVERSIONS, READ_CONVERSIONS };
enum class ComStates {
IDLE,
WRITE_SETUP,
EXT_CLOCKED_CONVERSIONS,
EXT_CLOCKED_TEMP,
START_INT_CLOCKED_CONVERSIONS,
READ_INT_CLOCKED_CONVERSIONS
};
LinuxLibgpioIF* gpioComIF = nullptr;
gpioId_t chipSelectId = gpio::NO_GPIO;
bool periodicPrintout = false;
PeriodicOperationDivider divider;
bool goToNormalModeImmediately = false;
bool commandExecuted = false;
SUS::SusDataset dataset;
// Read temperature in each alternating communication step when using
// externally clocked mode
ClkModes clkMode = ClkModes::INT_CLOCKED;
PoolEntry<float> tempC = PoolEntry<float>({0.0});
PoolEntry<uint16_t> channelVec = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0});
uint8_t susIdx = 0;
uint8_t cmdBuffer[SUS::MAX_CMD_SIZE];
CommunicationStep communicationStep = CommunicationStep::IDLE;
ComStates comState = ComStates::IDLE;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
void printDataset();
MutexIF* spiMutex = nullptr;
};

44
linux/devices/devicedefinitions/SusDefinitions.h → mission/devices/devicedefinitions/SusDefinitions.h
View File

@ -8,25 +8,23 @@
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;
static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending
static const DeviceCommandId_t WRITE_SETUP = 0x1;
static const DeviceCommandId_t WRITE_SETUP = 1;
/**
* This command initiates the ADC conversion for all channels including the internal
* temperature sensor.
*/
static const DeviceCommandId_t START_CONVERSIONS = 0x2;
static const DeviceCommandId_t START_INT_TIMED_CONVERSIONS = 2;
/**
* This command reads the internal fifo which holds the temperature and the channel
* conversions.
*/
static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
static constexpr DeviceCommandId_t READ_INT_TIMED_CONVERSIONS = 3;
static constexpr DeviceCommandId_t READ_EXT_TIMED_CONVERSIONS = 4;
static constexpr DeviceCommandId_t READ_EXT_TIMED_TEMPS = 5;
/**
* @brief This is the configuration byte which will be written to the setup register after
@ -39,7 +37,8 @@ static const DeviceCommandId_t READ_CONVERSIONS = 0x3;
* written to the setup register
*
*/
static const uint8_t SETUP = 0b01101000;
static constexpr uint8_t SETUP_INT_CLOKED = 0b01101000;
static constexpr uint8_t SETUP_EXT_CLOCKED = 0b01111000;
/**
* @brief This values will always be written to the ADC conversion register to specify the
@ -51,24 +50,18 @@ static const uint8_t SETUP = 0b01101000;
*/
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_INT_TIMED_CONVERSIONS;
/** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */
static const uint8_t SIZE_READ_CONVERSIONS = 14;
static const uint8_t SIZE_READ_INT_CONVERSIONS = 14;
// 6 * conv byte, 6 * 0 and one trailing zero
static constexpr uint8_t SIZE_READ_EXT_CONVERSIONS = 13;
static const uint8_t MAX_CMD_SIZE = SIZE_READ_CONVERSIONS;
static const uint8_t MAX_CMD_SIZE = 32;
static const uint8_t POOL_ENTRIES = 7;
enum Max1227PoolIds : lp_id_t {
TEMPERATURE_C,
AIN0,
AIN1,
AIN2,
AIN3,
AIN4,
AIN5,
};
enum Max1227PoolIds : lp_id_t { TEMPERATURE_C, CHANNEL_VEC };
class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
public:
@ -77,12 +70,7 @@ class SusDataset : public StaticLocalDataSet<POOL_ENTRIES> {
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);
lp_vec_t<uint16_t, 6> channels = lp_vec_t<uint16_t, 6>(sid.objectId, CHANNEL_VEC, this);
};
} // namespace SUS

4
mission/tmtc/CCSDSHandler.cpp
View File

@ -23,7 +23,9 @@ CCSDSHandler::CCSDSHandler(object_id_t objectId, object_id_t ptmeId, object_id_t
enTxClock(enTxClock),
enTxData(enTxData) {
commandQueue = QueueFactory::instance()->createMessageQueue(QUEUE_SIZE);
eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 2);
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
eventQueue =
QueueFactory::instance()->createMessageQueue(10, EventMessage::EVENT_MESSAGE_SIZE, &mqArgs);
}
CCSDSHandler::~CCSDSHandler() {}

2
mission/tmtc/CCSDSHandler.h
View File

@ -132,7 +132,7 @@ class CCSDSHandler : public SystemObject,
ActionHelper actionHelper;
MessageQueueId_t tcDistributorQueueId;
MessageQueueId_t tcDistributorQueueId = MessageQueueIF::NO_QUEUE;
PtmeConfig* ptmeConfig = nullptr;

8
mission/tmtc/VirtualChannel.cpp
View File

@ -7,9 +7,11 @@
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tmtcservices/TmTcMessage.h"
VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth) : vcId(vcId) {
tmQueue = QueueFactory::instance()->createMessageQueue(tmQueueDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
VirtualChannel::VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId)
: vcId(vcId) {
auto mqArgs = MqArgs(ownerId, reinterpret_cast<void*>(vcId));
tmQueue = QueueFactory::instance()->createMessageQueue(
tmQueueDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
ReturnValue_t VirtualChannel::initialize() {

2
mission/tmtc/VirtualChannel.h
View File

@ -24,7 +24,7 @@ class VirtualChannel : public AcceptsTelemetryIF, public HasReturnvaluesIF {
* @param vcId The virtual channel id assigned to this object
* @param tmQueueDepth Queue depth of queue receiving telemetry from other objects
*/
VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth);
VirtualChannel(uint8_t vcId, uint32_t tmQueueDepth, object_id_t ownerId);
ReturnValue_t initialize();
MessageQueueId_t getReportReceptionQueue(uint8_t virtualChannel = 0) override;

7
mission/utility/TmFunnel.cpp
View File

@ -11,10 +11,11 @@ object_id_t TmFunnel::storageDestination = objects::NO_OBJECT;
TmFunnel::TmFunnel(object_id_t objectId, uint32_t messageDepth)
: SystemObject(objectId), messageDepth(messageDepth) {
tmQueue = QueueFactory::instance()->createMessageQueue(messageDepth,
MessageQueueMessage::MAX_MESSAGE_SIZE);
auto mqArgs = MqArgs(objectId, static_cast<void*>(this));
tmQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
storageQueue = QueueFactory::instance()->createMessageQueue(
messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE);
messageDepth, MessageQueueMessage::MAX_MESSAGE_SIZE, &mqArgs);
}
TmFunnel::~TmFunnel() {}