eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

wörkz
All checks were successful
EIVE/eive-obsw/pipeline/pr-develop This commit looks good
Details

Browse Source
This commit is contained in:
Robin Müller 2023-03-01 16:36:21 +01:00
parent 26aeb88d84
commit c251d93305
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
13 changed files with 722 additions and 578 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
bsp_q7s/core/scheduling.cpp
View File

@ -220,6 +220,15 @@ void scheduling::initTasks() {
}
#endif
#if OBSW_ADD_SUN_SENSORS == 1
PeriodicTaskIF* susPolling = factory->createPeriodicTask(
"SUS_POLLING_TASK", 85, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = susPolling->addComponent(objects::SUS_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("SUS_POLLING_TASK", objects::SUS_POLLING_TASK);
}
#endif
PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
"ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
static_cast<void>(acsSysTask);
@ -366,6 +375,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_MGT == 1
imtqPolling->startTask();
#endif
#if OBSW_ADD_SUN_SENSORS == 1
susPolling->startTask();
#endif
taskStarter(pstTasks, "PST task vector");
taskStarter(pusTasks, "PUS task vector");

1
common/config/eive/objects.h
View File

@ -126,6 +126,7 @@ enum commonObjects : uint32_t {
ACS_BOARD_POLLING_TASK = 0x49060004,
RW_POLLING_TASK = 0x49060005,
SPI_RTD_COM_IF = 0x49060006,
SUS_POLLING_TASK = 0x49060007,
// 0x60 for other stuff
HEATER_0_PLOC_PROC_BRD = 0x60000000,

27
linux/ObjectFactory.cpp
View File

@ -10,8 +10,10 @@
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <linux/callbacks/gpioCallbacks.h>
#include <linux/devices/Max31865RtdPolling.h>
#include <linux/devices/SusPolling.h>
#include <mission/controller/AcsController.h>
#include <mission/core/GenericFactory.h>
#include <mission/devices/LegacySusHandler.h>
#include <mission/devices/Max31865EiveHandler.h>
#include <mission/devices/ScexDeviceHandler.h>
#include <mission/devices/SusHandler.h>
@ -33,6 +35,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
PowerSwitchIF& pwrSwitcher, std::string spiDev,
bool swap0And6) {
using namespace gpio;
new SusPolling(objects::SUS_POLLING_TASK, *spiComIF, *gpioComIF);
GpioCookie* gpioCookieSus = new GpioCookie();
GpioCallback* susgpio = nullptr;
@ -83,7 +86,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[0] =
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
susHandlers[0]->setCustomFdir(fdir);
@ -91,7 +94,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[1] =
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
susHandlers[1]->setCustomFdir(fdir);
@ -99,7 +102,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[2] =
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
susHandlers[2]->setCustomFdir(fdir);
@ -107,7 +110,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[3] =
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
susHandlers[3]->setCustomFdir(fdir);
@ -115,7 +118,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[4] =
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
susHandlers[4]->setCustomFdir(fdir);
@ -123,7 +126,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[5] =
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
susHandlers[5]->setCustomFdir(fdir);
@ -131,7 +134,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[6] =
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
susHandlers[6]->setCustomFdir(fdir);
@ -139,7 +142,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[7] =
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
susHandlers[7]->setCustomFdir(fdir);
@ -147,7 +150,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[8] =
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
susHandlers[8]->setCustomFdir(fdir);
@ -155,7 +158,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[9] =
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
susHandlers[9]->setCustomFdir(fdir);
@ -163,7 +166,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[10] =
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
susHandlers[10]->setCustomFdir(fdir);
@ -171,7 +174,7 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
spiCookie->setMutexParams(MutexIF::TimeoutType::WAITING, spi::SUS_CS_TIMEOUT);
susHandlers[11] =
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SUS_POLLING_TASK, spiCookie);
fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
susHandlers[11]->setCustomFdir(fdir);

107
linux/devices/SusPolling.cpp
View File

@ -1,7 +1,13 @@
#include "SusPolling.h"
#include <fsfw/tasks/SemaphoreFactory.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/devices/max1227.h>
#include <unistd.h>
#include "mission/devices/devicedefinitions/susMax1227Helpers.h"
using namespace returnvalue;
@ -18,21 +24,11 @@ ReturnValue_t SusPolling::performOperation(uint8_t operationCode) {
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
for(auto& susDev: susDevs) {
acs::SimpleSensorMode mode;
bool doPerformStartup = false;
{
MutexGuard mg(ipcLock);
mode = susDev.mode;
doPerformStartup = susDev.performStartup;
}
if (mode == acs::SimpleSensorMode::NORMAL) {
if(doPerformStartup) {
// Startup handling.
}
// Regular sensor polling.
}
}
// Give SUS handlers a chance to submit all requests.
TaskFactory::delayTask(2);
handleSusPolling();
// Protection against tardy tasks unlocking the thread again immediately.
TaskFactory::delayTask(20);
}
return OK;
}
@ -67,13 +63,18 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
const auto* susReq = reinterpret_cast<const acs::SusRequest*>(sendData);
MutexGuard mg(ipcLock);
if (susDevs[susIdx].mode != susReq->mode) {
if(susReq->mode == acs::SimpleSensorMode::NORMAL) {
susDevs[susIdx].performStartup = true;
if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
susDevs[susIdx].performStartup = true;
} else {
susDevs[susIdx].ownReply.cfgWasSet = false;
susDevs[susIdx].ownReply.dataWasSet = false;
}
susDevs[susIdx].mode = susReq->mode;
}
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
}
return OK;
}
@ -97,6 +98,78 @@ ReturnValue_t SusPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer
return OK;
}
ReturnValue_t SusPolling::handleSusPolling() {
ReturnValue_t result;
acs::SimpleSensorMode modes[12];
bool performStartups[12]{};
bool cfgsWereSet[12]{};
uint8_t idx = 0;
{
MutexGuard mg(ipcLock);
for (idx = 0; idx < 12; idx++) {
modes[idx] = susDevs[idx].mode;
performStartups[idx] = susDevs[idx].performStartup;
}
}
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL) {
if (performStartups[idx]) {
// Startup handling.
cmdBuf[0] = susMax1227::SETUP_INT_CLOKED;
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(), 1);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
MutexGuard mg(ipcLock);
susDevs[idx].ownReply.cfgWasSet = true;
cfgsWereSet[idx] = true;
susDevs[idx].performStartup = true;
}
}
}
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL and cfgsWereSet[idx]) {
// Regular sensor polling.
cmdBuf[0] = max1227::buildResetByte(true);
cmdBuf[1] = susMax1227::CONVERSION;
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(), 2);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
}
}
// Internal conversion time is 3.5 us
usleep(4);
for (idx = 0; idx < 12; idx++) {
if (modes[idx] == acs::SimpleSensorMode::NORMAL and cfgsWereSet[idx]) {
std::memset(cmdBuf.data(), 0, susMax1227::SIZE_READ_INT_CONVERSIONS);
result = spiComIF.sendMessage(susDevs[idx].cookie, cmdBuf.data(),
susMax1227::SIZE_READ_INT_CONVERSIONS);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
result = spiComIF.readReceivedMessage(susDevs[idx].cookie, &rawReply, &dummy);
if (result != OK) {
susDevs[idx].replyResult = result;
continue;
}
MutexGuard mg(ipcLock);
susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
for (unsigned chIdx = 0; chIdx < 6; chIdx++) {
susDevs[idx].ownReply.channelsRaw[chIdx] =
(rawReply[chIdx * 2 + 2] << 8) | rawReply[chIdx * 2 + 3];
}
susDevs[idx].ownReply.dataWasSet = true;
}
}
return OK;
}
int SusPolling::addressToIndex(address_t addr) {
switch (addr) {
case (addresses::SUS_0):

2
linux/devices/SusPolling.h
View File

@ -37,6 +37,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device
GpioIF& gpioIF;
std::array<SusDev, 12> susDevs;
std::array<uint8_t, 32> cmdBuf;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
@ -44,6 +45,7 @@ class SusPolling : public SystemObject, public ExecutableObjectIF, public Device
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
ReturnValue_t handleSusPolling();
static int addressToIndex(address_t addr);
};

48
mission/controller/ThermalController.cpp
View File

@ -474,8 +474,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg0(&susSet0, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg0.getReadResult() == returnvalue::OK) {
susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = susSet0.temperatureCelcius.value;
susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.setValid(susSet0.temperatureCelcius.isValid());
susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = susSet0.tempC.value;
susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.setValid(susSet0.tempC.isValid());
if (not susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.isValid()) {
susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = INVALID_TEMPERATURE;
}
@ -485,8 +485,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg1(&susSet1, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg1.getReadResult() == returnvalue::OK) {
susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = susSet1.temperatureCelcius.value;
susTemperatures.sus_6_r_loc_xfybzm_pt_xf.setValid(susSet1.temperatureCelcius.isValid());
susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = susSet1.tempC.value;
susTemperatures.sus_6_r_loc_xfybzm_pt_xf.setValid(susSet1.tempC.isValid());
if (not susTemperatures.sus_6_r_loc_xfybzm_pt_xf.isValid()) {
susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = INVALID_TEMPERATURE;
}
@ -496,8 +496,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg2(&susSet2, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg2.getReadResult() == returnvalue::OK) {
susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = susSet2.temperatureCelcius.value;
susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.setValid(susSet2.temperatureCelcius.isValid());
susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = susSet2.tempC.value;
susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.setValid(susSet2.tempC.isValid());
if (not susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.isValid()) {
susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = INVALID_TEMPERATURE;
}
@ -507,8 +507,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg3(&susSet3, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg3.getReadResult() == returnvalue::OK) {
susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = susSet3.temperatureCelcius.value;
susTemperatures.sus_7_r_loc_xbybzm_pt_xb.setValid(susSet3.temperatureCelcius.isValid());
susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = susSet3.tempC.value;
susTemperatures.sus_7_r_loc_xbybzm_pt_xb.setValid(susSet3.tempC.isValid());
if (not susTemperatures.sus_7_r_loc_xbybzm_pt_xb.isValid()) {
susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = INVALID_TEMPERATURE;
}
@ -518,8 +518,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg4(&susSet4, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg4.getReadResult() == returnvalue::OK) {
susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = susSet4.temperatureCelcius.value;
susTemperatures.sus_2_n_loc_xfybzb_pt_yb.setValid(susSet4.temperatureCelcius.isValid());
susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = susSet4.tempC.value;
susTemperatures.sus_2_n_loc_xfybzb_pt_yb.setValid(susSet4.tempC.isValid());
if (not susTemperatures.sus_2_n_loc_xfybzb_pt_yb.isValid()) {
susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = INVALID_TEMPERATURE;
}
@ -529,8 +529,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg5(&susSet5, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg5.getReadResult() == returnvalue::OK) {
susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = susSet5.temperatureCelcius.value;
susTemperatures.sus_8_r_loc_xbybzb_pt_yb.setValid(susSet5.temperatureCelcius.isValid());
susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = susSet5.tempC.value;
susTemperatures.sus_8_r_loc_xbybzb_pt_yb.setValid(susSet5.tempC.isValid());
if (not susTemperatures.sus_8_r_loc_xbybzb_pt_yb.isValid()) {
susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = INVALID_TEMPERATURE;
}
@ -540,8 +540,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg6(&susSet6, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg6.getReadResult() == returnvalue::OK) {
susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = susSet6.temperatureCelcius.value;
susTemperatures.sus_3_n_loc_xfybzf_pt_yf.setValid(susSet6.temperatureCelcius.isValid());
susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = susSet6.tempC.value;
susTemperatures.sus_3_n_loc_xfybzf_pt_yf.setValid(susSet6.tempC.isValid());
if (not susTemperatures.sus_3_n_loc_xfybzf_pt_yf.isValid()) {
susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = INVALID_TEMPERATURE;
}
@ -551,8 +551,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg7(&susSet7, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg7.getReadResult() == returnvalue::OK) {
susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = susSet7.temperatureCelcius.value;
susTemperatures.sus_9_r_loc_xbybzb_pt_yf.setValid(susSet7.temperatureCelcius.isValid());
susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = susSet7.tempC.value;
susTemperatures.sus_9_r_loc_xbybzb_pt_yf.setValid(susSet7.tempC.isValid());
if (not susTemperatures.sus_9_r_loc_xbybzb_pt_yf.isValid()) {
susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = INVALID_TEMPERATURE;
}
@ -562,8 +562,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg8(&susSet8, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg8.getReadResult() == returnvalue::OK) {
susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = susSet8.temperatureCelcius.value;
susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.setValid(susSet8.temperatureCelcius.isValid());
susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = susSet8.tempC.value;
susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.setValid(susSet8.tempC.isValid());
if (not susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.isValid()) {
susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = INVALID_TEMPERATURE;
}
@ -573,8 +573,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg9(&susSet9, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg9.getReadResult() == returnvalue::OK) {
susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = susSet9.temperatureCelcius.value;
susTemperatures.sus_10_n_loc_xmybzf_pt_zf.setValid(susSet9.temperatureCelcius.isValid());
susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = susSet9.tempC.value;
susTemperatures.sus_10_n_loc_xmybzf_pt_zf.setValid(susSet9.tempC.isValid());
if (not susTemperatures.sus_10_n_loc_xmybzf_pt_zf.isValid()) {
susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = INVALID_TEMPERATURE;
}
@ -584,8 +584,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg10(&susSet10, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg10.getReadResult() == returnvalue::OK) {
susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = susSet10.temperatureCelcius.value;
susTemperatures.sus_5_n_loc_xfymzb_pt_zb.setValid(susSet10.temperatureCelcius.isValid());
susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = susSet10.tempC.value;
susTemperatures.sus_5_n_loc_xfymzb_pt_zb.setValid(susSet10.tempC.isValid());
if (not susTemperatures.sus_5_n_loc_xfymzb_pt_zb.isValid()) {
susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = INVALID_TEMPERATURE;
}
@ -595,8 +595,8 @@ void ThermalController::copySus() {
{
PoolReadGuard pg11(&susSet11, MutexIF::TimeoutType::WAITING, MUTEX_TIMEOUT);
if (pg11.getReadResult() == returnvalue::OK) {
susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = susSet11.temperatureCelcius.value;
susTemperatures.sus_11_r_loc_xbymzb_pt_zb.setValid(susSet11.temperatureCelcius.isValid());
susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = susSet11.tempC.value;
susTemperatures.sus_11_r_loc_xbymzb_pt_zb.setValid(susSet11.tempC.isValid());
if (not susTemperatures.sus_11_r_loc_xbymzb_pt_zb.isValid()) {
susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = INVALID_TEMPERATURE;
}

398
mission/core/pollingSeqTables.cpp
View File

@ -191,285 +191,129 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
uint32_t length = thisSequence->getPeriodMs();
// SUS: 16 ms
bool addSus0 = true;
bool addSus1 = true;
bool addSus2 = true;
bool addSus3 = true;
bool addSus4 = true;
bool addSus5 = true;
bool addSus6 = true;
bool addSus7 = true;
bool addSus8 = true;
bool addSus9 = true;
bool addSus10 = true;
bool addSus11 = true;
if (cfg.scheduleSus) {
if (addSus0) {
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
/* Write setup */
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus1) {
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus2) {
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus3) {
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus4) {
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus5) {
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus6) {
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus7) {
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus8) {
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus9) {
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus10) {
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (addSus11) {
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB,
length * config::acs::SCHED_BLOCK_1_PERIOD, DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleStr) {

233
mission/devices/LegacySusHandler.cpp Normal file
View File

@ -0,0 +1,233 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <mission/devices/LegacySusHandler.h>
#include "OBSWConfig.h"
LegacySusHandler::LegacySusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF,
CookieIF *comCookie)
: DeviceHandlerBase(objectId, comIF, comCookie), divider(5), dataset(this), susIdx(susIdx) {}
LegacySusHandler::~LegacySusHandler() {}
void LegacySusHandler::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 LegacySusHandler::doShutDown() {
setMode(_MODE_POWER_DOWN);
comState = ComStates::IDLE;
}
ReturnValue_t LegacySusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
switch (comState) {
case (ComStates::IDLE): {
break;
}
case (ComStates::WRITE_SETUP): {
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_CONVERSIONS): {
*id = susMax1227::READ_EXT_TIMED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::START_INT_CLOCKED_CONVERSIONS): {
*id = susMax1227::START_INT_TIMED_CONVERSIONS;
comState = ComStates::READ_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::READ_INT_CLOCKED_CONVERSIONS): {
*id = susMax1227::READ_INT_TIMED_CONVERSIONS;
comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_TEMP): {
*id = susMax1227::READ_EXT_TIMED_TEMPS;
return buildCommandFromCommand(*id, nullptr, 0);
}
}
return NOTHING_TO_SEND;
}
ReturnValue_t LegacySusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (comState == ComStates::WRITE_SETUP) {
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
ReturnValue_t LegacySusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
using namespace max1227;
switch (deviceCommand) {
case (susMax1227::WRITE_SETUP): {
if (clkMode == ClkModes::INT_CLOCKED) {
cmdBuffer[0] = susMax1227::SETUP_INT_CLOKED;
} else {
cmdBuffer[0] = susMax1227::SETUP_EXT_CLOCKED;
}
rawPacket = cmdBuffer;
rawPacketLen = 1;
break;
}
case (susMax1227::START_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = max1227::buildResetByte(true);
cmdBuffer[1] = susMax1227::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
break;
}
case (susMax1227::READ_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = susMax1227::SIZE_READ_INT_CONVERSIONS;
break;
}
case (susMax1227::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 = susMax1227::SIZE_READ_EXT_CONVERSIONS;
break;
}
case (susMax1227::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 returnvalue::OK;
}
void LegacySusHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(susMax1227::WRITE_SETUP, 1);
insertInCommandAndReplyMap(susMax1227::START_INT_TIMED_CONVERSIONS, 1);
insertInCommandAndReplyMap(susMax1227::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_INT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_EXT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_TEMPS, 1);
}
ReturnValue_t LegacySusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
*foundLen = remainingSize;
return returnvalue::OK;
}
ReturnValue_t LegacySusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case susMax1227::WRITE_SETUP: {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
return returnvalue::OK;
}
case susMax1227::START_INT_TIMED_CONVERSIONS: {
return returnvalue::OK;
}
case susMax1227::READ_INT_TIMED_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.tempC = 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];
}
dataset.setValidity(true, true);
printDataset();
break;
}
case (susMax1227::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];
}
dataset.channels.setValid(true);
// Read temperature in next read cycle
if (clkMode == ClkModes::EXT_CLOCKED_WITH_TEMP) {
comState = ComStates::EXT_CLOCKED_TEMP;
}
printDataset();
break;
}
case (susMax1227::READ_EXT_TIMED_TEMPS): {
PoolReadGuard readSet(&dataset);
dataset.tempC = max1227::getTemperature(((packet[23] & 0x0f) << 8) | packet[24]);
dataset.tempC.setValid(true);
comState = ComStates::EXT_CLOCKED_CONVERSIONS;
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return returnvalue::OK;
}
uint32_t LegacySusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 3000; }
ReturnValue_t LegacySusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(susMax1227::TEMPERATURE_C, &tempC);
localDataPoolMap.emplace(susMax1227::CHANNEL_VEC, &channelVec);
poolManager.subscribeForDiagPeriodicPacket(
subdp::DiagnosticsHkPeriodicParams(dataset.getSid(), false, 5.0));
return returnvalue::OK;
}
void LegacySusHandler::setToGoToNormalMode(bool enable) {
this->goToNormalModeImmediately = enable;
}
void LegacySusHandler::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.tempC.value << std::endl;
}
}
}
void LegacySusHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
this->periodicPrintout = enable;
this->divider.setDivider(divider);
}

92
mission/devices/LegacySusHandler.h Normal file
View File

@ -0,0 +1,92 @@
#ifndef MISSION_DEVICES_LEGACYSUSHANDLER_H_
#define MISSION_DEVICES_LEGACYSUSHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include "events/subsystemIdRanges.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/max1227.h"
#include "returnvalues/classIds.h"
/**
* @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 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
* started.
*
* @author J. Meier
*/
class LegacySusHandler : public DeviceHandlerBase {
public:
enum ClkModes { INT_CLOCKED, EXT_CLOCKED, EXT_CLOCKED_WITH_TEMP };
static const uint8_t FIRST_WRITE = 7;
LegacySusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF* comCookie);
virtual ~LegacySusHandler();
void enablePeriodicPrintout(bool enable, uint8_t divider);
void setToGoToNormalMode(bool enable);
protected:
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
enum class ComStates {
IDLE,
WRITE_SETUP,
EXT_CLOCKED_CONVERSIONS,
EXT_CLOCKED_TEMP,
START_INT_CLOCKED_CONVERSIONS,
READ_INT_CLOCKED_CONVERSIONS
};
bool periodicPrintout = false;
PeriodicOperationDivider divider;
bool goToNormalModeImmediately = false;
bool commandExecuted = false;
susMax1227::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[susMax1227::MAX_CMD_SIZE];
ComStates comState = ComStates::IDLE;
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
void printDataset();
MutexIF* spiMutex = nullptr;
};
#endif /* MISSION_DEVICES_LEGACYSUSHANDLER_H_ */

257
mission/devices/SusHandler.cpp
View File

@ -1,202 +1,108 @@
#include "SusHandler.h"
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <mission/devices/max1227.h>
#include "OBSWConfig.h"
#include <cmath>
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) {}
#include "fsfw/datapool/PoolReadGuard.h"
SusHandler::~SusHandler() {}
SusHandler::SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t deviceCommunication,
CookieIF *comCookie)
: DeviceHandlerBase(objectId, deviceCommunication, comCookie), dataset(this), susIdx(susIdx) {}
SusHandler::~SusHandler() = default;
void SusHandler::doStartUp() {
if (comState == ComStates::IDLE) {
comState = ComStates::WRITE_SETUP;
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, REPLY);
internalState = InternalState::STARTUP;
}
if (comState == ComStates::WRITE_SETUP) {
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goToNormalModeImmediately) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
setMode(MODE_NORMAL);
internalState = InternalState::NONE;
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);
comState = ComStates::IDLE;
}
ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
switch (comState) {
case (ComStates::IDLE): {
break;
}
case (ComStates::WRITE_SETUP): {
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_CONVERSIONS): {
*id = susMax1227::READ_EXT_TIMED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::START_INT_CLOCKED_CONVERSIONS): {
*id = susMax1227::START_INT_TIMED_CONVERSIONS;
comState = ComStates::READ_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::READ_INT_CLOCKED_CONVERSIONS): {
*id = susMax1227::READ_INT_TIMED_CONVERSIONS;
comState = ComStates::START_INT_CLOCKED_CONVERSIONS;
return buildCommandFromCommand(*id, nullptr, 0);
}
case (ComStates::EXT_CLOCKED_TEMP): {
*id = susMax1227::READ_EXT_TIMED_TEMPS;
return buildCommandFromCommand(*id, nullptr, 0);
}
if (internalState != InternalState::SHUTDOWN) {
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
updatePeriodicReply(false, REPLY);
commandExecuted = false;
internalState = InternalState::NONE;
setMode(_MODE_POWER_DOWN);
}
return NOTHING_TO_SEND;
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
if (comState == ComStates::WRITE_SETUP) {
*id = susMax1227::WRITE_SETUP;
return buildCommandFromCommand(*id, nullptr, 0);
if (internalState == InternalState::STARTUP) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
} else if (internalState == InternalState::SHUTDOWN) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::OFF);
}
return NOTHING_TO_SEND;
}
ReturnValue_t SusHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = REQUEST;
return prepareRequest(acs::SimpleSensorMode::NORMAL);
}
ReturnValue_t SusHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
using namespace max1227;
switch (deviceCommand) {
case (susMax1227::WRITE_SETUP): {
if (clkMode == ClkModes::INT_CLOCKED) {
cmdBuffer[0] = susMax1227::SETUP_INT_CLOKED;
} else {
cmdBuffer[0] = susMax1227::SETUP_EXT_CLOCKED;
}
return NOTHING_TO_SEND;
}
rawPacket = cmdBuffer;
rawPacketLen = 1;
break;
ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::SusReply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
const auto *reply = reinterpret_cast<const acs::SusReply *>(packet);
if (reply->dataWasSet) {
if (internalState == InternalState::STARTUP) {
commandExecuted = true;
}
case (susMax1227::START_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = max1227::buildResetByte(true);
cmdBuffer[1] = susMax1227::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
break;
}
case (susMax1227::READ_INT_TIMED_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = susMax1227::SIZE_READ_INT_CONVERSIONS;
break;
}
case (susMax1227::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 = susMax1227::SIZE_READ_EXT_CONVERSIONS;
break;
}
case (susMax1227::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;
PoolReadGuard pg(&dataset);
dataset.setValidity(true, true);
dataset.tempC = max1227::getTemperature(reply->tempRaw);
std::memcpy(dataset.channels.value, reply->channelsRaw, 6);
}
return returnvalue::OK;
}
void SusHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(susMax1227::WRITE_SETUP, 1);
insertInCommandAndReplyMap(susMax1227::START_INT_TIMED_CONVERSIONS, 1);
insertInCommandAndReplyMap(susMax1227::READ_INT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_INT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_CONVERSIONS, 1, &dataset,
susMax1227::SIZE_READ_EXT_CONVERSIONS);
insertInCommandAndReplyMap(susMax1227::READ_EXT_TIMED_TEMPS, 1);
insertInCommandMap(REQUEST);
insertInReplyMap(REPLY, 5, nullptr, 0, true);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
*foundLen = remainingSize;
return returnvalue::OK;
}
void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case susMax1227::WRITE_SETUP: {
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
return returnvalue::OK;
}
case susMax1227::START_INT_TIMED_CONVERSIONS: {
return returnvalue::OK;
}
case susMax1227::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];
}
dataset.setValidity(true, true);
printDataset();
break;
}
case (susMax1227::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];
}
dataset.channels.setValid(true);
// Read temperature in next read cycle
if (clkMode == ClkModes::EXT_CLOCKED_WITH_TEMP) {
comState = ComStates::EXT_CLOCKED_TEMP;
}
printDataset();
break;
}
case (susMax1227::READ_EXT_TIMED_TEMPS): {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = max1227::getTemperature(((packet[23] & 0x0f) << 8) | packet[24]);
dataset.temperatureCelcius.setValid(true);
comState = ComStates::EXT_CLOCKED_CONVERSIONS;
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return returnvalue::OK;
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; }
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 3000; }
void SusHandler::modeChanged(void) { internalState = InternalState::NONE; }
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
@ -207,25 +113,16 @@ ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool &localData
return returnvalue::OK;
}
void SusHandler::setToGoToNormalMode(bool enable) { this->goToNormalModeImmediately = enable; }
ReturnValue_t SusHandler::prepareRequest(acs::SimpleSensorMode mode) {
request.mode = mode;
rawPacket = reinterpret_cast<uint8_t *>(&request);
rawPacketLen = sizeof(acs::SusRequest);
return returnvalue::OK;
}
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;
}
LocalPoolDataSetBase *SusHandler::getDataSetHandle(sid_t sid) {
if (sid == dataset.getSid()) {
return &dataset;
}
}
void SusHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
this->periodicPrintout = enable;
this->divider.setDivider(divider);
return nullptr;
}

120
mission/devices/SusHandler.h
View File

@ -1,92 +1,78 @@
#ifndef MISSION_DEVICES_SUSHANDLER_H_
#define MISSION_DEVICES_SUSHANDLER_H_
#ifndef MISSION_DEVICES_SusHandler_H_
#define MISSION_DEVICES_SusHandler_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <mission/devices/devicedefinitions/susMax1227Helpers.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include "events/subsystemIdRanges.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "mission/devices/max1227.h"
#include "returnvalues/classIds.h"
#include "mission/devices/devicedefinitions/acsPolling.h"
#include "mission/devices/devicedefinitions/susMax1227Helpers.h"
class PeriodicOperationDivider;
/**
* @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 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
* started.
*
* @author J. Meier
*/
class SusHandler : public DeviceHandlerBase {
public:
enum ClkModes { INT_CLOCKED, EXT_CLOCKED, EXT_CLOCKED_WITH_TEMP };
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static const uint8_t FIRST_WRITE = 7;
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_LIS3MDL;
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::MGM_LIS3MDL;
// Notifies a command to change the setup parameters
static const Event CHANGE_OF_SETUP_PARAMETER = MAKE_EVENT(0, severity::LOW);
SusHandler(object_id_t objectId, uint8_t susIdx, object_id_t comIF, CookieIF* comCookie);
SusHandler(uint32_t objectId, uint8_t susIdx, object_id_t deviceCommunication,
CookieIF *comCookie);
virtual ~SusHandler();
void enablePeriodicPrintout(bool enable, uint8_t divider);
void enablePeriodicPrintouts(bool enable, uint8_t divider);
void setToGoToNormalMode(bool enable);
protected:
void doStartUp() override;
/** DeviceHandlerBase overrides */
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t* id) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t* id) override;
void fillCommandAndReplyMap() override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t* commandData,
void doStartUp() override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) override;
/**
* This implementation is tailored towards space applications and will flag values larger
* than 100 microtesla on X,Y and 150 microtesla on Z as invalid
* @param id
* @param packet
* @return
*/
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
static const uint8_t INTERFACE_ID = CLASS_ID::SUS_HANDLER;
static const ReturnValue_t ERROR_UNLOCK_MUTEX = MAKE_RETURN_CODE(0xA0);
static const ReturnValue_t ERROR_LOCK_MUTEX = MAKE_RETURN_CODE(0xA1);
enum class ComStates {
IDLE,
WRITE_SETUP,
EXT_CLOCKED_CONVERSIONS,
EXT_CLOCKED_TEMP,
START_INT_CLOCKED_CONVERSIONS,
READ_INT_CLOCKED_CONVERSIONS
};
bool periodicPrintout = false;
PeriodicOperationDivider divider;
bool goToNormalModeImmediately = false;
bool commandExecuted = false;
susMax1227::SusDataset dataset;
// Read temperature in each alternating communication step when using
// externally clocked mode
ClkModes clkMode = ClkModes::INT_CLOCKED;
acs::SusRequest request{};
uint8_t susIdx;
uint32_t transitionDelay = 1000;
bool goToNormalMode = false;
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[susMax1227::MAX_CMD_SIZE];
ComStates comState = ComStates::IDLE;
enum class InternalState {
NONE,
STARTUP,
SHUTDOWN,
};
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
uint32_t timeoutMs = 20;
void printDataset();
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
MutexIF* spiMutex = nullptr;
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
};
#endif /* MISSION_DEVICES_SUSHANDLER_H_ */
#endif /* MISSION_DEVICES_SusHandler_H_ */

1
mission/devices/devicedefinitions/acsPolling.h
View File

@ -81,6 +81,7 @@ struct SusRequest {
};
struct SusReply {
bool cfgWasSet = false;
bool dataWasSet = false;
uint16_t tempRaw = 0;
uint16_t channelsRaw[6]{};

2
mission/devices/devicedefinitions/susMax1227Helpers.h
View File

@ -69,7 +69,7 @@ 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<float> tempC = lp_var_t<float>(sid.objectId, TEMPERATURE_C, this);
lp_vec_t<uint16_t, 6> channels = lp_vec_t<uint16_t, 6>(sid.objectId, CHANNEL_VEC, this);
};
} // namespace susMax1227