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Robin Müller
2023-03-01 16:36:21 +01:00
parent 26aeb88d84
commit c251d93305
13 changed files with 722 additions and 578 deletions
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mission/devices/SusHandler.h
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@ -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_ */