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mission/devices/PayloadPcduHandler.cpp
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416
mission/devices/PayloadPcduHandler.cpp
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#include "PayloadPcduHandler.h"
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#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
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#include "devices/gpioIds.h"
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PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
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GpioIF* gpioIF, bool periodicPrintout)
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: DeviceHandlerBase(objectId, comIF, cookie),
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adcSet(this),
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periodicPrintout(periodicPrintout),
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gpioIF(gpioIF) {}
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void PayloadPcduHandler::doStartUp() {
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if ((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
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// Config error
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sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
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}
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if (state == States::PCDU_OFF) {
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// Switch on relays here
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
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state = States::ON_TRANS_SSR;
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transitionOk = true;
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}
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if (state == States::ON_TRANS_SSR) {
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// If necessary, check whether a certain amount of time has elapsed
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if (transitionOk) {
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transitionOk = false;
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// We are now in ON mode
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startTransition(MODE_NORMAL, 0);
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adcState = AdcStates::BOOT_DELAY;
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// The ADC can now be read. If the values are not close to zero, we should not allow
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// transition
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monMode = MonitoringMode::CLOSE_TO_ZERO;
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}
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}
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}
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void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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if (mode == _MODE_TO_NORMAL) {
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stateMachineToNormal();
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}
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}
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void PayloadPcduHandler::doShutDown() {}
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ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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switch (adcState) {
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case (AdcStates::SEND_SETUP): {
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*id = plpcdu::SETUP_CMD;
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buildCommandFromCommand(*id, nullptr, 0);
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break;
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}
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case (AdcStates::NORMAL): {
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*id = plpcdu::READ_WITH_TEMP;
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buildCommandFromCommand(*id, nullptr, 0);
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break;
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}
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default: {
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break;
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}
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if (adcState == AdcStates::SEND_SETUP) {
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*id = plpcdu::SETUP_CMD;
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buildCommandFromCommand(*id, nullptr, 0);
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}
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return NOTHING_TO_SEND;
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}
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void PayloadPcduHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_TEMP, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
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}
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ReturnValue_t PayloadPcduHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (plpcdu::SETUP_CMD): {
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cmdBuf[0] = plpcdu::SETUP_BYTE;
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rawPacket = cmdBuf.data();
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rawPacketLen = 1;
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break;
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}
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case (plpcdu::READ_CMD): {
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case (plpcdu::READ_TEMP): {
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data(), rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case (plpcdu::READ_WITH_TEMP): {
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size_t sz = 0;
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, sz);
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data() + sz, sz);
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rawPacketLen = sz;
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rawPacket = cmdBuf.data();
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}
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}
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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ReturnValue_t PayloadPcduHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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// SPI is full duplex
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*foundId = getPendingCommand();
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*foundLen = remainingSize;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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using namespace plpcdu;
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switch (id) {
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case (SETUP_CMD): {
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break;
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}
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case (READ_TEMP): {
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uint8_t tempStartIdx = TEMP_REPLY_SIZE - 2;
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adcSet.tempC.value =
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max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 2]);
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break;
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}
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case (READ_CMD): {
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PoolReadGuard pg(&adcSet);
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if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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return pg.getReadResult();
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}
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handleExtConvRead(packet);
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handlePrintout();
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break;
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}
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case (READ_WITH_TEMP): {
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PoolReadGuard pg(&adcSet);
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if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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return pg.getReadResult();
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}
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handleExtConvRead(packet);
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uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
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adcSet.tempC.value =
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max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 2]);
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handlePrintout();
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break;
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}
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default: {
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break;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PayloadPcduHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
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// 20 minutes transition delay is allowed
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return 20 * 60 * 60;
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}
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ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::CHANNEL_VEC, &channelValues);
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, &tempC);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PayloadPcduHandler::setToGoToNormalModeImmediately(bool enable) {
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this->goToNormalMode = enable;
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}
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void PayloadPcduHandler::handleExtConvRead(const uint8_t* bufStart) {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcSet.channels[idx] = bufStart[idx * 2 + 1] << 8 | bufStart[idx * 2 + 2];
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}
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}
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void PayloadPcduHandler::handlePrintout() {
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if (periodicPrintout) {
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if (opDivider.checkAndIncrement()) {
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sif::info << "PL PCDU ADC hex [" << std::hex << std::setw(4);
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for (uint8_t idx = 0; idx < 12; idx++) {
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sif::info << std::setfill('0') << adcSet.channels[idx];
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if (idx < 11) {
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sif::info << ",";
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}
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}
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sif::info << "] | T[C] " << std::dec << adcSet.tempC.value;
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}
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}
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}
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void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
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this->periodicPrintout = enable;
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opDivider.setDivider(divider);
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}
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void PayloadPcduHandler::stateMachineToNormal() {
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if (adcState == AdcStates::BOOT_DELAY) {
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if (adcCountdown.hasTimedOut()) {
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adcState = AdcStates::SEND_SETUP;
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adcCmdExecuted = false;
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}
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}
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if (adcState == AdcStates::SEND_SETUP) {
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if (adcCmdExecuted) {
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adcState = AdcStates::NORMAL;
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setMode(MODE_NORMAL, plpcdu::NORMAL_ADC_ONLY);
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adcCmdExecuted = false;
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}
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}
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if (submode == plpcdu::NORMAL_ALL_ON) {
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if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
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if (not commandExecuted) {
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countdown.resetTimer();
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_DRO;
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// Now start monitoring for negative voltages instead
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monMode = MonitoringMode::NEGATIVE;
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_DRO) {
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if (not commandExecuted) {
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// Switch on DRO and start monitoring for negative voltagea
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_X8;
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_X8) {
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if (not commandExecuted) {
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// Switch on X8
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_TX;
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_TX) {
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if (not commandExecuted) {
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// Switch on TX
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_MPA;
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_MPA) {
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if (not commandExecuted) {
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// Switch on MPA
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_HPA;
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_HPA) {
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if (not commandExecuted) {
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// Switch on HPA
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::PCDU_ON;
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setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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}
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}
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void PayloadPcduHandler::doShutDown() {}
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ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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switch(adcState) {
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case(AdcStates::SEND_SETUP): {
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*id = plpcdu::SETUP_CMD;
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buildCommandFromCommand(*id, nullptr, 0);
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break;
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}
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case(AdcStates::NORMAL): {
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*id = plpcdu::READ_WITH_TEMP;
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buildCommandFromCommand(*id, nullptr, 0);
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break;
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}
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default: {
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break;
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}
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if(adcState == AdcStates::SEND_SETUP) {
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*id = plpcdu::SETUP_CMD;
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buildCommandFromCommand(*id, nullptr, 0);
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PayloadPcduHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_TEMP, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
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}
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ReturnValue_t PayloadPcduHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(plpcdu::SETUP_CMD): {
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cmdBuf[0] = plpcdu::SETUP_BYTE;
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rawPacket = cmdBuf.data();
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rawPacketLen = 1;
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break;
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}
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case(plpcdu::READ_CMD): {
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case(plpcdu::READ_TEMP): {
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data(), rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case(plpcdu::READ_WITH_TEMP): {
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size_t sz = 0;
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, sz);
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data() + sz, sz);
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rawPacketLen = sz;
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rawPacket = cmdBuf.data();
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}
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}
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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ReturnValue_t PayloadPcduHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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// SPI is full duplex
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*foundId = getPendingCommand();
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*foundLen = remainingSize;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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using namespace plpcdu;
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switch(id) {
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case(SETUP_CMD): {
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break;
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}
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case(READ_WITH_TEMP): {
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PoolReadGuard pg(&adcSet);
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if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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return pg.getReadResult();
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}
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for(uint8_t idx = 0; idx < 12; idx ++) {
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adcSet.channels[idx] = packet[idx * 2 + 1] << 8 | packet[idx * 2 + 2];
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}
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uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
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adcSet.tempC.value = max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PayloadPcduHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
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// 20 minutes transition delay is allowed
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return 20 * 60 * 60;
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}
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ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::CHANNEL_VEC, &channelValues);
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, &tempC);
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return HasReturnvaluesIF::RETURN_OK;
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}
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97
mission/devices/PayloadPcduHandler.h
Normal file
97
mission/devices/PayloadPcduHandler.h
Normal file
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#ifndef LINUX_DEVICES_PLPCDUHANDLER_H_
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#define LINUX_DEVICES_PLPCDUHANDLER_H_
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#include <fsfw/devicehandlers/DeviceHandlerBase.h>
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#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
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#include <fsfw/timemanager/Countdown.h>
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#include "devicedefinitions/payloadPcduDefinitions.h"
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#include "fsfw_hal/common/gpio/GpioIF.h"
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/**
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* @brief Device handler for the EIVE Payload PCDU
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* @details
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* Documentation:
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* https://egit.irs.uni-stuttgart.de/eive/eive_dokumente/src/branch/master/400_Raumsegment/412_PayloaPCDUDocumentation/release/EIVE-D-421-001_PLPCDU_Documentation.pdf
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*
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* Important components:
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* - SSR - Solid State Relay: Decouples voltages from battery
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* - DRO - Dielectric Resonsant Oscillator: Generates modulation signal
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* - X8: Frequency X8 Multiplicator
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* - TX: Transmitter/Sender module. Modulates data onto carrier signal
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* - MPA - Medium Power Amplifier
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* - HPA - High Power Amplifier
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*/
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class PayloadPcduHandler : public DeviceHandlerBase {
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public:
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PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie, GpioIF* gpioIF,
|
||||
bool periodicPrintout);
|
||||
|
||||
void setToGoToNormalModeImmediately(bool enable);
|
||||
void enablePeriodicPrintout(bool enable, uint8_t divider);
|
||||
|
||||
private:
|
||||
enum class States {
|
||||
PCDU_OFF,
|
||||
// Solid State Relay, enable battery voltages VBAT0 and VBAT1. This will also switch on
|
||||
// the ADC
|
||||
ON_TRANS_SSR,
|
||||
ON_TRANS_ADC_CLOSE_ZERO,
|
||||
// Enable Dielectric Resonant Oscillator and start monitoring voltages as
|
||||
// soon as DRO voltage reaches 6V
|
||||
ON_TRANS_DRO,
|
||||
// Switch on X8 compoennt and monitor voltages for 5 seconds
|
||||
ON_TRANS_X8,
|
||||
// Switch on TX component and monitor voltages for 5 seconds
|
||||
ON_TRANS_TX,
|
||||
// Switch on MPA component and monitor voltages for 5 seconds
|
||||
ON_TRANS_MPA,
|
||||
// Switch on HPA component and monitor voltages for 5 seconds
|
||||
ON_TRANS_HPA,
|
||||
// All components of the experiment are on
|
||||
PCDU_ON,
|
||||
} state = States::PCDU_OFF;
|
||||
|
||||
enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
|
||||
|
||||
enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;
|
||||
|
||||
bool goToNormalMode = false;
|
||||
plpcdu::PlPcduAdcSet adcSet;
|
||||
std::array<uint8_t, plpcdu::MAX_ADC_REPLY_SIZE> cmdBuf = {};
|
||||
// This variable is tied to DRO +6 V voltage. Voltages, currents are monitored and the experiment
|
||||
// is shut down immediately if there is a negative voltage.
|
||||
bool transitionOk = false;
|
||||
bool commandExecuted = false;
|
||||
bool adcCmdExecuted = false;
|
||||
bool periodicPrintout = false;
|
||||
PeriodicOperationDivider opDivider = PeriodicOperationDivider(5);
|
||||
uint8_t tempReadDivisor = 1;
|
||||
Countdown countdown = Countdown(5000);
|
||||
Countdown adcCountdown = Countdown(50);
|
||||
GpioIF* gpioIF;
|
||||
|
||||
PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
|
||||
PoolEntry<float> tempC = PoolEntry<float>({0.0});
|
||||
|
||||
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
|
||||
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;
|
||||
|
||||
void handleExtConvRead(const uint8_t* bufStart);
|
||||
void handlePrintout();
|
||||
void stateMachineToNormal();
|
||||
};
|
||||
|
||||
#endif /* LINUX_DEVICES_PLPCDUHANDLER_H_ */
|
53
mission/devices/devicedefinitions/payloadPcduDefinitions.h
Normal file
53
mission/devices/devicedefinitions/payloadPcduDefinitions.h
Normal file
@ -0,0 +1,53 @@
|
||||
#ifndef LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_
|
||||
#define LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
|
||||
#include <cstddef>
|
||||
|
||||
#include "mission/devices/max1227.h"
|
||||
|
||||
namespace plpcdu {
|
||||
|
||||
using namespace max1227;
|
||||
|
||||
enum PlPcduPoolIds : uint32_t { CHANNEL_VEC = 0, TEMP = 1 };
|
||||
|
||||
static constexpr size_t MAX_ADC_REPLY_SIZE = 64;
|
||||
|
||||
static constexpr DeviceCommandId_t READ_CMD = 0;
|
||||
static constexpr DeviceCommandId_t SETUP_CMD = 1;
|
||||
static constexpr DeviceCommandId_t READ_TEMP = 2;
|
||||
static constexpr DeviceCommandId_t READ_WITH_TEMP = 3;
|
||||
|
||||
static constexpr Submode_t NORMAL_ADC_ONLY = 0;
|
||||
static constexpr Submode_t NORMAL_ALL_ON = 1;
|
||||
|
||||
// 12 ADC values * 2 + trailing zero
|
||||
static constexpr size_t ADC_REPLY_SIZE = 25;
|
||||
// Conversion byte + 24 * zero
|
||||
static constexpr size_t TEMP_REPLY_SIZE = 25;
|
||||
|
||||
static constexpr uint8_t SETUP_BYTE =
|
||||
max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP, DiffSel::NONE_0);
|
||||
|
||||
static constexpr uint32_t ADC_SET_ID = READ_CMD;
|
||||
static constexpr uint8_t CHANNELS_NUM = 12;
|
||||
static constexpr uint8_t CHANNEL_N = CHANNELS_NUM - 1;
|
||||
// Store temperature as well
|
||||
static constexpr size_t DATASET_ENTRIES = CHANNELS_NUM + 1;
|
||||
|
||||
class PlPcduAdcSet : public StaticLocalDataSet<DATASET_ENTRIES> {
|
||||
public:
|
||||
PlPcduAdcSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, ADC_SET_ID) {}
|
||||
|
||||
PlPcduAdcSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, ADC_SET_ID)) {}
|
||||
|
||||
lp_vec_t<uint16_t, 12> channels = lp_vec_t<uint16_t, 12>(sid.objectId, CHANNEL_VEC, this);
|
||||
lp_var_t<float> tempC = lp_var_t<float>(sid.objectId, TEMP, this);
|
||||
};
|
||||
|
||||
} // namespace plpcdu
|
||||
|
||||
#endif /* LINUX_DEVICES_DEVICEDEFINITIONS_PAYLOADPCDUDEFINITIONS_H_ */
|
Loading…
Reference in New Issue
Block a user