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This commit is contained in:
Robin Müller
2023-02-28 01:25:25 +01:00
parent e9514b1c97
commit d4923ac3e8
10 changed files with 43 additions and 306 deletions
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294
mission/devices/GyrAdis1650XHandler.cpp
View File

@ -71,11 +71,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
return returnvalue::OK;
}
default: {
// Might be a configuration error
sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
"Unknown internal state!"
<< std::endl;
return returnvalue::OK;
return NOTHING_TO_SEND;
}
}
return returnvalue::OK;
@ -84,106 +80,12 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,
size_t commandDataLen) {
// switch (deviceCommand) {
// case (adis1650x::READ_OUT_CONFIG): {
// this->rawPacketLen = adis1650x::CONFIG_READOUT_SIZE;
// uint8_t regList[6] = {};
// regList[0] = adis1650x::DIAG_STAT_REG;
// regList[1] = adis1650x::FILTER_CTRL_REG;
// regList[2] = adis1650x::RANG_MDL_REG;
// regList[3] = adis1650x::MSC_CTRL_REG;
// regList[4] = adis1650x::DEC_RATE_REG;
// regList[5] = adis1650x::PROD_ID_REG;
// adis1650x::prepareReadCommand(regList, sizeof(regList), commandBuffer.data(),
// commandBuffer.size());
// this->rawPacket = commandBuffer.data();
// break;
// }
// case (adis1650x::READ_SENSOR_DATA): {
// if (breakCountdown.isBusy()) {
// // A glob command is pending and sensor data can't be read currently
// return NO_REPLY_EXPECTED;
// }
// std::memcpy(commandBuffer.data(), adis1650x::BURST_READ_ENABLE.data(),
// adis1650x::BURST_READ_ENABLE.size());
// std::memset(commandBuffer.data() + 2, 0, 10 * 2);
// this->rawPacketLen = adis1650x::SENSOR_READOUT_SIZE;
// this->rawPacket = commandBuffer.data();
// break;
// }
// TODO: Convert to special request
// case (adis1650x::SELF_TEST_SENSORS): {
// if (breakCountdown.isBusy()) {
// // Another glob command is pending
// return HasActionsIF::IS_BUSY;
// }
// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SENSOR_SELF_TEST, 0x00);
// breakCountdown.setTimeout(adis1650x::SELF_TEST_BREAK);
// break;
// }
// case (adis1650x::SELF_TEST_MEMORY): {
// if (breakCountdown.isBusy()) {
// // Another glob command is pending
// return HasActionsIF::IS_BUSY;
// }
// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_TEST, 0x00);
// breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_TEST_BREAK);
// break;
// }
// case (adis1650x::UPDATE_NV_CONFIGURATION): {
// if (breakCountdown.isBusy()) {
// // Another glob command is pending
// return HasActionsIF::IS_BUSY;
// }
// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_UPDATE,
// 0x00); breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_UPDATE_BREAK); break;
// }
// case (adis1650x::RESET_SENSOR_CONFIGURATION): {
// if (breakCountdown.isBusy()) {
// // Another glob command is pending
// return HasActionsIF::IS_BUSY;
// }
// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FACTORY_CALIBRATION,
// 0x00); breakCountdown.setTimeout(adis1650x::FACTORY_CALIBRATION_BREAK); break;
// }
// case (adis1650x::SW_RESET): {
// if (breakCountdown.isBusy()) {
// // Another glob command is pending
// return HasActionsIF::IS_BUSY;
// }
// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SOFTWARE_RESET, 0x00);
// breakCountdown.setTimeout(adis1650x::SW_RESET_BREAK);
// break;
// }
// case (adis1650x::PRINT_CURRENT_CONFIGURATION): {
//#if OBSW_VERBOSE_LEVEL >= 1
// PoolReadGuard pg(&configDataset);
// sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4)
// << std::setfill('0') << "0x" << configDataset.diagStatReg.value << std::endl;
// sif::info << "MSC_CTRL: " << std::hex << std::setw(4) << "0x"
// << configDataset.mscCtrlReg.value << " | FILT_CTRL: 0x"
// << configDataset.filterSetting.value << " | DEC_RATE: 0x"
// << configDataset.decRateReg.value << std::setfill(' ') << std::endl;
//#endif /* OBSW_VERBOSE_LEVEL >= 1 */
//
//}
//}
// return returnvalue::OK;
return NOTHING_TO_SEND;
}
void GyrAdis1650XHandler::fillCommandAndReplyMap() {
insertInCommandMap(adis1650x::REQUEST);
insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
// insertInCommandAndReplyMap(adis1650x::READ_SENSOR_DATA, 1, &primaryDataset);
// insertInCommandAndReplyMap(adis1650x::READ_OUT_CONFIG, 1, &configDataset);
// insertInCommandAndReplyMap(adis1650x::SELF_TEST_SENSORS, 1);
// insertInCommandAndReplyMap(adis1650x::SELF_TEST_MEMORY, 1);
// insertInCommandAndReplyMap(adis1650x::UPDATE_NV_CONFIGURATION, 1);
// insertInCommandAndReplyMap(adis1650x::RESET_SENSOR_CONFIGURATION, 1);
// insertInCommandAndReplyMap(adis1650x::SW_RESET, 1);
// insertInCommandAndReplyMap(adis1650x::PRINT_CURRENT_CONFIGURATION, 1);
}
ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
@ -197,7 +99,9 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
}
*foundId = adis1650x::REPLY;
*foundLen = remainingSize;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
@ -263,94 +167,6 @@ LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
return nullptr;
}
// ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
// using namespace adis1650x;
// BurstModes burstMode = getBurstMode();
// switch (burstMode) {
// case (BurstModes::BURST_16_BURST_SEL_1):
// case (BurstModes::BURST_32_BURST_SEL_1): {
// sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
// " not implemented!"
// << std::endl;
// return returnvalue::OK;
// }
// case (adis1650x::BurstModes::BURST_16_BURST_SEL_0): {
// uint16_t checksum = packet[20] << 8 | packet[21];
// // Now verify the read checksum with the expected checksum according to datasheet p. 20
// uint16_t calcChecksum = 0;
// for (size_t idx = 2; idx < 20; idx++) {
// calcChecksum += packet[idx];
// }
// if (checksum != calcChecksum) {
//#if OBSW_VERBOSE_LEVEL >= 1
// sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
// "Invalid checksum detected!"
// << std::endl;
//#endif
// return returnvalue::FAILED;
// }
//
// ReturnValue_t result = configDataset.diagStatReg.read();
// if (result == returnvalue::OK) {
// configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
// configDataset.diagStatReg.setValid(true);
// }
// configDataset.diagStatReg.commit();
//
// {
// PoolReadGuard pg(&primaryDataset);
// int16_t angVelocXRaw = packet[4] << 8 | packet[5];
// primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) * sensitivity;
// int16_t angVelocYRaw = packet[6] << 8 | packet[7];
// primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) * sensitivity;
// int16_t angVelocZRaw = packet[8] << 8 | packet[9];
// primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) * sensitivity;
//
// float accelScaling = 0;
// if (adisType == adis1650x::Type::ADIS16507) {
// accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
// } else if (adisType == adis1650x::Type::ADIS16505) {
// accelScaling = adis1650x::ACCELEROMETER_RANGE_16505;
// } else {
// sif::warning << "GyroADIS1650XHandler::handleSensorData: "
// "Unknown ADIS type"
// << std::endl;
// }
// int16_t accelXRaw = packet[10] << 8 | packet[11];
// primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX * accelScaling;
// int16_t accelYRaw = packet[12] << 8 | packet[13];
// primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX * accelScaling;
// int16_t accelZRaw = packet[14] << 8 | packet[15];
// primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX * accelScaling;
//
// int16_t temperatureRaw = packet[16] << 8 | packet[17];
// primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
// // Ignore data counter for now
// primaryDataset.setValidity(true, true);
// }
//
// if (periodicPrintout) {
// if (debugDivider.checkAndIncrement()) {
// sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
// sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
// sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
// sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
// sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
// sif::info << "X: " << primaryDataset.accelX.value << std::endl;
// sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
// sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
// }
// }
//
// break;
// }
// case (BurstModes::BURST_32_BURST_SEL_0): {
// break;
// }
// }
// return returnvalue::OK;
// }
uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
@ -394,108 +210,6 @@ adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}
//#ifdef FSFW_OSAL_LINUX
// ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
// const uint8_t *sendData, size_t sendLen,
// void *args) {
// GyroADIS1650XHandler *handler = reinterpret_cast<GyroADIS1650XHandler *>(args);
// if (handler == nullptr) {
// sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
// << std::endl;
// return returnvalue::FAILED;
// }
// DeviceCommandId_t currentCommand = handler->getPendingCommand();
// switch (currentCommand) {
// case (adis1650x::READ_SENSOR_DATA): {
// return comIf->performRegularSendOperation(cookie, sendData, sendLen);
// }
// case (adis1650x::READ_OUT_CONFIG):
// default: {
// ReturnValue_t result = returnvalue::OK;
// int retval = 0;
// // Prepare transfer
// int fileDescriptor = 0;
// std::string device = comIf->getSpiDev();
// UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
// if (fileHelper.getOpenResult() != returnvalue::OK) {
// return SpiComIF::OPENING_FILE_FAILED;
// }
// spi::SpiModes spiMode = spi::SpiModes::MODE_0;
// uint32_t spiSpeed = 0;
// cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
// comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
// cookie->assignWriteBuffer(sendData);
// cookie->setTransferSize(2);
//
// gpioId_t gpioId = cookie->getChipSelectPin();
// GpioIF &gpioIF = comIf->getGpioInterface();
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
// uint32_t timeoutMs = 0;
// MutexIF *mutex = comIf->getCsMutex();
// cookie->getMutexParams(timeoutType, timeoutMs);
// if (mutex == nullptr) {
//#if OBSW_VERBOSE_LEVEL >= 1
// sif::warning << "GyroADIS16507Handler::spiSendCallback: "
// "Mutex or GPIO interface invalid"
// << std::endl;
// return returnvalue::FAILED;
//#endif
// }
//
// if (gpioId != gpio::NO_GPIO) {
// result = mutex->lockMutex(timeoutType, timeoutMs);
// if (result != returnvalue::OK) {
//#if FSFW_CPP_OSTREAM_ENABLED == 1
// sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
//#endif
// return result;
// }
// }
//
// size_t idx = 0;
// spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
// uint64_t origTx = transferStruct->tx_buf;
// uint64_t origRx = transferStruct->rx_buf;
// while (idx < sendLen) {
// // Pull SPI CS low. For now, no support for active high given
// if (gpioId != gpio::NO_GPIO) {
// gpioIF.pullLow(gpioId);
// }
//
// // Execute transfer
// // Initiate a full duplex SPI transfer.
// retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
// if (retval < 0) {
// utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
// result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
// }
//#if FSFW_HAL_SPI_WIRETAPPING == 1
// comIf->performSpiWiretapping(cookie);
//#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
//
// if (gpioId != gpio::NO_GPIO) {
// gpioIF.pullHigh(gpioId);
// }
//
// idx += 2;
// if (idx < sendLen) {
// usleep(adis1650x::STALL_TIME_MICROSECONDS);
// }
//
// transferStruct->tx_buf += 2;
// transferStruct->rx_buf += 2;
// }
// transferStruct->tx_buf = origTx;
// transferStruct->rx_buf = origRx;
// if (gpioId != gpio::NO_GPIO) {
// mutex->unlockMutex();
// }
// }
// }
// return returnvalue::OK;
// }
void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {

6
mission/devices/GyrL3gCustomHandler.cpp
View File

@ -28,7 +28,7 @@ void GyrL3gCustomHandler::doStartUp() {
} else {
setMode(_MODE_TO_ON);
}
internalState == InternalState::NONE;
internalState = InternalState::NONE;
commandExecuted = false;
}
}
@ -37,6 +37,7 @@ void GyrL3gCustomHandler::doStartUp() {
void GyrL3gCustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
internalState = InternalState::SHUTDOWN;
dataset.setValidity(false, true);
commandExecuted = false;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
@ -108,6 +109,9 @@ ReturnValue_t GyrL3gCustomHandler::scanForReply(const uint8_t *start, size_t len
}
*foundId = l3gd20h::REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}

6
mission/devices/MgmLis3CustomHandler.cpp
View File

@ -29,6 +29,7 @@ void MgmLis3CustomHandler::doStartUp() {
void MgmLis3CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
dataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
commandExecuted = false;
}
@ -67,12 +68,15 @@ ReturnValue_t MgmLis3CustomHandler::scanForReply(const uint8_t *start, size_t le
if (getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
return IGNORE_FULL_PACKET;
}
if (len != sizeof(acs::MgmRm3100Reply)) {
if (len != sizeof(acs::MgmLis3Reply)) {
*foundLen = len;
return returnvalue::FAILED;
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
ReturnValue_t MgmLis3CustomHandler::interpretDeviceReply(DeviceCommandId_t id,

2
mission/devices/MgmLis3CustomHandler.h
View File

@ -70,7 +70,7 @@ class MgmLis3CustomHandler : public DeviceHandlerBase {
private:
mgmLis3::MgmPrimaryDataset dataset;
acs::MgmLis3Request request;
acs::MgmLis3Request request{};
uint32_t transitionDelay;

11
mission/devices/MgmRm3100CustomHandler.cpp
View File

@ -33,6 +33,7 @@ void MgmRm3100CustomHandler::doStartUp() {
void MgmRm3100CustomHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
commandExecuted = false;
primaryDataset.setValidity(false, true);
internalState = InternalState::SHUTDOWN;
}
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
@ -75,6 +76,9 @@ ReturnValue_t MgmRm3100CustomHandler::scanForReply(const uint8_t *start, size_t
}
*foundId = REPLY;
*foundLen = len;
if (internalState == InternalState::SHUTDOWN) {
commandExecuted = true;
}
return returnvalue::OK;
}
@ -125,3 +129,10 @@ ReturnValue_t MgmRm3100CustomHandler::prepareRequest(acs::SimpleSensorMode mode)
rawPacketLen = sizeof(acs::MgmRm3100Request);
return returnvalue::OK;
}
LocalPoolDataSetBase *MgmRm3100CustomHandler::getDataSetHandle(sid_t sid) {
if (sid == primaryDataset.getSid()) {
return &primaryDataset;
}
return nullptr;
}

5
mission/devices/MgmRm3100CustomHandler.h
View File

@ -59,6 +59,7 @@ class MgmRm3100CustomHandler : public DeviceHandlerBase {
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
private:
enum class InternalState { NONE, STARTUP, SHUTDOWN };
@ -79,6 +80,7 @@ class MgmRm3100CustomHandler : public DeviceHandlerBase {
bool goToNormalModeAtStartup = false;
uint32_t transitionDelay;
PoolEntry<float> mgmXYZ = PoolEntry<float>(3);
bool periodicPrintout = false;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen);
@ -88,9 +90,6 @@ class MgmRm3100CustomHandler : public DeviceHandlerBase {
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen);
// ReturnValue_t handleDataReadout(const uint8_t *packet);
bool periodicPrintout = false;
ReturnValue_t prepareRequest(acs::SimpleSensorMode mode);
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);
};