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basic MGM polling done

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This commit is contained in:
Robin Müller
2023-02-26 21:26:49 +01:00
parent cc4c3182a0
commit c7bed10bdf
11 changed files with 364 additions and 70 deletions
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46
linux/devices/AcsBoardPolling.h
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@ -5,6 +5,7 @@
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
@ -25,41 +26,46 @@ class AcsBoardPolling : public SystemObject,
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 32> replyBuf;
bool mgm0L3IsOn = false;
SpiCookie* mgm0L3Cookie = nullptr;
bool mgm1Rm3100IsOn = false;
SpiCookie* mgm1Rm3100Cookie = nullptr;
bool mgm2L3IsOn = false;
SpiCookie* mgm2L3Cookie = nullptr;
bool mgm3Rm3100IsOn = false;
SpiCookie* mgm3Rm3100Cookie = nullptr;
struct GyroAdis {
adis1650x::Type type;
bool isOn = false;
bool performStartup = false;
struct DevBase {
SpiCookie* cookie = nullptr;
Countdown countdown;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult;
};
struct GyroAdis : public DevBase {
adis1650x::Type type;
Countdown countdown;
acs::Adis1650XReply ownReply;
acs::Adis1650XReply readerReply;
};
GyroAdis gyro0Adis{};
GyroAdis gyro2Adis{};
struct GyroL3g {
bool performStartup = false;
SpiCookie* cookie = nullptr;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
struct GyroL3g : public DevBase {
uint8_t sensorCfg[5];
ReturnValue_t replyResult;
acs::GyroL3gReply ownReply;
acs::GyroL3gReply readerReply;
};
GyroL3g gyro1L3g{};
GyroL3g gyro3L3g{};
struct MgmRm3100 : public DevBase {
uint8_t tmrcValue = mgmRm3100::TMRC_DEFAULT_37HZ_VALUE;
acs::MgmRm3100Reply ownReply;
acs::MgmRm3100Reply readerReply;
};
MgmRm3100 mgm1Rm3100;
MgmRm3100 mgm3Rm3100;
struct MgmLis3 : public DevBase {
uint8_t cfg[5]{};
acs::MgmLis3Reply ownReply;
acs::MgmLis3Reply readerReply;
};
MgmLis3 mgm0Lis3;
MgmLis3 mgm2Lis3;
uint8_t* rawReply = nullptr;
size_t dummy = 0;
@ -74,6 +80,8 @@ class AcsBoardPolling : public SystemObject,
void gyroL3gHandler(GyroL3g& l3g);
void gyroAdisHandler(GyroAdis& gyro);
void mgmLis3Handler(MgmLis3& mgm);
void mgmRm3100Handler(MgmRm3100& mgm);
// Special readout: 16us stall time between small 2 byte transfers.
ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};