eive/eive-obsw
eive/eive-obsw
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why do we need so much buffer time?
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This commit is contained in:
Robin Müller 2023-03-06 11:02:56 +01:00
parent 6e10ccd2d6
commit d18a0e98a5
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 19 additions and 6 deletions
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6
linux/devices/ImtqPollingTask.cpp
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@ -138,7 +138,8 @@ void ImtqPollingTask::handleMeasureStep() {
if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) { if (i2cCmdExecMeasure(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
return; return;
} }
if ((replyPtr[2] >> 7) == 0b1) { if ((replyPtr[2] >> 7) == 0) {
sif::error << "IMTQ: MGM measurement still too old" << std::endl;
replyPtr[0] = false; replyPtr[0] = false;
} }
} }
@ -198,7 +199,8 @@ void ImtqPollingTask::handleActuateStep() {
if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) { if (i2cCmdExecActuate(imtq::CC::GET_RAW_MTM_MEASUREMENT) != returnvalue::OK) {
return; return;
} }
if ((replyPtr[2] >> 7) == 0b1) { if ((replyPtr[2] >> 7) == 0) {
sif::error << "IMTQ: MGM measurement still too old" << std::endl;
replyPtr[0] = false; replyPtr[0] = false;
} }
} }

2
linux/devices/ImtqPollingTask.h
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@ -33,7 +33,7 @@ class ImtqPollingTask : public SystemObject,
address_t i2cAddr = 0; address_t i2cAddr = 0;
uint32_t currentIntegrationTimeMs = 10; uint32_t currentIntegrationTimeMs = 10;
// Required in addition to integration time, otherwise old data might be read. // Required in addition to integration time, otherwise old data might be read.
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 5; static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 6;
bool ignoreNextActuateRequest = false; bool ignoreNextActuateRequest = false;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE; imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;

15
mission/devices/ImtqHandler.cpp
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@ -144,6 +144,7 @@ void ImtqHandler::doStartUp() {
} else { } else {
setMode(_MODE_TO_ON); setMode(_MODE_TO_ON);
} }
commandExecuted = false;
} }
} }
} }
@ -154,6 +155,7 @@ void ImtqHandler::doShutDown() {
specialRequestActive = false; specialRequestActive = false;
firstReplyCycle = true; firstReplyCycle = true;
internalState = InternalState::NONE; internalState = InternalState::NONE;
commandExecuted = false;
setMode(_MODE_POWER_DOWN); setMode(_MODE_POWER_DOWN);
} }
@ -171,6 +173,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
*id = imtq::cmdIds::REQUEST; *id = imtq::cmdIds::REQUEST;
request.request = imtq::RequestType::DO_NOTHING; request.request = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE; request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
rawPacket = reinterpret_cast<uint8_t*>(&request); rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(imtq::Request); rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK; return returnvalue::OK;
@ -180,6 +183,10 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
} }
ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) { ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (internalState == InternalState::STARTUP) {
*id = imtq::cmdIds::REQUEST;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND; return NOTHING_TO_SEND;
} }
@ -307,10 +314,14 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
ReturnValue_t result; ReturnValue_t result;
ReturnValue_t status = returnvalue::OK; ReturnValue_t status = returnvalue::OK;
if (getMode() != MODE_NORMAL) { if (getMode() != MODE_NORMAL) {
// Ignore replies during transitions. if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
ImtqRepliesDefault replies(packet);
if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
commandExecuted = true;
}
}
return returnvalue::OK; return returnvalue::OK;
} }
// arrayprinter::print(packet, ImtqReplies::BASE_LEN);
if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) { if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
// sif::debug << "handle measure" << std::endl; // sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet); ImtqRepliesDefault replies(packet);

2
mission/devices/ImtqHandler.h
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@ -128,7 +128,7 @@ class ImtqHandler : public DeviceHandlerBase {
power::Switch_t switcher = power::NO_SWITCH; power::Switch_t switcher = power::NO_SWITCH;
DeviceCommandId_t expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE; DeviceCommandId_t expectedReply = DeviceHandlerIF::NO_COMMAND_ID;
bool goToNormalMode = false; bool goToNormalMode = false;
bool debugMode = false; bool debugMode = false;
bool specialRequestActive = false; bool specialRequestActive = false;