diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 94892adf..1527e6c5 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -125,17 +125,21 @@ void InitMission::initTasks(){ sif::error << "Object add component failed" << std::endl; } -// PeriodicTaskIF* P60DockTask = TaskFactory::instance()-> -// createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, -// 1.6, nullptr); -// result = P60DockTask->addComponent(objects::P60DOCK_HANDLER); -// if(result!=HasReturnvaluesIF::RETURN_OK){ -// sif::error << "Object add component failed" << std::endl; -// } + //TODO: Add handling of missed deadlines + /* Polling Sequence Table Default */ + FixedTimeslotTaskIF * PollingSequenceTableTaskDefault = + TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT", + 50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0, + nullptr); + result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "InitMission::initTasks: Creating PST failed!" + << std::endl; + } FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()-> createFixedTimeslotTask("GS_PST_TASK", 50, - PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr); + PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0, nullptr); result = pst::gomspacePstInit(GomSpacePstTask); if(result != HasReturnvaluesIF::RETURN_OK) { sif::error << "InitMission::initTasks: GomSpace PST initialization " @@ -161,7 +165,8 @@ void InitMission::initTasks(){ UdpBridgeTask->startTask(); UdpPollingTask->startTask(); - GomSpacePstTask->startTask(); +// GomSpacePstTask->startTask(); + PollingSequenceTableTaskDefault->startTask(); PusVerification->startTask(); PusEvents->startTask(); @@ -169,8 +174,6 @@ void InitMission::initTasks(){ PusMedPrio->startTask(); PusLowPrio->startTask(); -// P60DockTask->startTask(); - #if OBSW_ADD_TEST_CODE == 1 // TestTimeslotTask->startTask(); #endif diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 86c0f068..084d4a3b 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -13,12 +13,15 @@ #include #include +#include #include #include #include #include +#include #include +#include void Factory::setStaticFrameworkObjectIds() { PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR; @@ -52,9 +55,12 @@ void ObjectFactory::produce(){ addresses::PDU2); CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU); + I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1, + TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1")); /* Communication interfaces */ new CspComIF(objects::CSP_COM_IF); + new I2cComIF(objects::I2C_COM_IF); /* Device Handler */ new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, @@ -69,6 +75,11 @@ void ObjectFactory::produce(){ new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS, ACU::MAX_HKTABLE_ADDRESS); + Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler( + objects::TMP1075_HANDLER_1, objects::I2C_COM_IF, + i2cCookieTmp1075tcs1); + tmp1075Handler_1->setStartUpImmediately(); + new TmTcUnixUdpBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR, diff --git a/bsp_q7s/comIF/CMakeLists.txt b/bsp_q7s/comIF/CMakeLists.txt index 1652702c..a2236937 100644 --- a/bsp_q7s/comIF/CMakeLists.txt +++ b/bsp_q7s/comIF/CMakeLists.txt @@ -1,6 +1,8 @@ target_sources(${TARGET_NAME} PRIVATE cookies/CspCookie.cpp + cookies/I2cCookie.cpp CspComIF.cpp + I2cComIF.cpp ) diff --git a/bsp_q7s/comIF/I2cComIF.cpp b/bsp_q7s/comIF/I2cComIF.cpp new file mode 100644 index 00000000..cd660be4 --- /dev/null +++ b/bsp_q7s/comIF/I2cComIF.cpp @@ -0,0 +1,158 @@ +#include +#include +#include +#include +#include +#include +#include +#include + + +I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){ +} + +I2cComIF::~I2cComIF() {} + +ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) { + if(cookie == nullptr) { + return NULLPOINTER; + } + I2cCookie* i2cCookie = dynamic_cast(cookie); + if(i2cCookie == nullptr) { + sif::error << "I2cComIF: Invalid I2C Cookie!" + << std::endl; + return NULLPOINTER; + } + + address_t i2cAddress = i2cCookie->getAddress(); + + int fd; + std::string deviceFile = i2cCookie->getDeviceFile(); + /* Opening i2c device in non-blocking mode */ + fd = open("/dev/i2c-0", O_RDWR); + if (fd < 0) { + sif::error << "I2cComIF: Opening i2c device failed with error code " + << errno << ". Error description: " << strerror(errno) + << std::endl; + } + + if (ioctl(fd, I2C_SLAVE, i2cAddress) < 0) { + sif::error << "I2cComIF: Specifying target device failed with error " + << "code " << errno << ". Error description " + << strerror(errno) << std::endl; + } + + i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); + if(i2cDeviceMapIter == i2cDeviceMap.end()) { + size_t maxReplyLen = i2cCookie->getMaxReplyLen(); + I2cInstance_t i2cInstance = {fd, std::vector(maxReplyLen), 0}; + i2cDeviceMap.emplace(i2cAddress, i2cInstance); + } + else { + sif::error << "I2cComIF: Device with address " << i2cAddress + << "already in use" << std::endl; + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie, + const uint8_t *sendData, size_t sendLen) { + + if(sendData == nullptr) { + sif::error << "I2cComIF::sendMessage: Send Data is nullptr" + << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + if(sendLen == 0) { + return HasReturnvaluesIF::RETURN_OK; + } + + I2cCookie* i2cCookie = dynamic_cast(cookie); + if(i2cCookie == nullptr) { + sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!" + << std::endl; + return NULLPOINTER; + } + + address_t i2cAddress = i2cCookie->getAddress(); + i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); + if (i2cDeviceMapIter == i2cDeviceMap.end()) { + sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not " + << "registered in i2cDeviceMap" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + int fd = i2cDeviceMapIter->second.fileDescriptor; + + if (write(fd, sendData, sendLen) != (int)sendLen) { + sif::error << "I2cComIF::sendMessage: Failed to send data to I2C " + "device with error code " << errno << ". Error description: " + << strerror(errno) << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) { + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie, + size_t requestLen) { + + if (requestLen == 0) { + return HasReturnvaluesIF::RETURN_OK; + } + + I2cCookie* i2cCookie = dynamic_cast(cookie); + if(i2cCookie == nullptr) { + sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!" + << std::endl; + return NULLPOINTER; + } + + address_t i2cAddress = i2cCookie->getAddress(); + i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); + if (i2cDeviceMapIter == i2cDeviceMap.end()) { + sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not " + << "registered in i2cDeviceMap" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + int fd = i2cDeviceMapIter->second.fileDescriptor; + uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data(); + + if (read(fd, replyBuffer, requestLen) != (int)requestLen) { + sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C " + << "device failed with error code " << errno <<". Description" + << " of error: " << strerror(errno) << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + i2cDeviceMapIter->second.replyLen = requestLen; + + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie, + uint8_t **buffer, size_t* size) { + I2cCookie* i2cCookie = dynamic_cast(cookie); + if(i2cCookie == nullptr) { + sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!" + << std::endl; + return NULLPOINTER; + } + + address_t i2cAddress = i2cCookie->getAddress(); + i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress); + if (i2cDeviceMapIter == i2cDeviceMap.end()) { + sif::error << "I2cComIF::getReplyBuffer: i2cAddress of Cookie not " + << "registered in i2cDeviceMap" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + *buffer = i2cDeviceMapIter->second.replyBuffer.data(); + *size = i2cDeviceMapIter->second.replyLen; + + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/bsp_q7s/comIF/I2cComIF.h b/bsp_q7s/comIF/I2cComIF.h new file mode 100644 index 00000000..f643bc76 --- /dev/null +++ b/bsp_q7s/comIF/I2cComIF.h @@ -0,0 +1,49 @@ +#ifndef BSP_Q7S_COMIF_I2COMIF_H_ +#define BSP_Q7S_COMIF_I2COMIF_H_ + +#include +#include +#include + +#include +#include + +/** + * @brief This is the communication interface for i2c devices connected + * to a system running a linux OS. + * + * @author J. Meier + */ +class I2cComIF: public DeviceCommunicationIF, public SystemObject { +public: + I2cComIF(object_id_t objectId); + + virtual ~I2cComIF(); + + ReturnValue_t initializeInterface(CookieIF * cookie) override; + ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData, + size_t sendLen) override; + ReturnValue_t getSendSuccess(CookieIF *cookie) override; + ReturnValue_t requestReceiveMessage(CookieIF *cookie, + size_t requestLen) override; + ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer, + size_t *size) override; + +private: + + typedef struct I2cInstance { + int fileDescriptor; + std::vector replyBuffer; + size_t replyLen; + } I2cInstance_t; + + using I2cDeviceMap = std::unordered_map; + using I2cDeviceMapIter = I2cDeviceMap::iterator; + + /* In this map all i2c devices will be registered with their address and + * the appropriate file descriptor will be stored */ + I2cDeviceMap i2cDeviceMap; + I2cDeviceMapIter i2cDeviceMapIter; +}; + +#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */ diff --git a/bsp_q7s/comIF/cookies/I2cCookie.cpp b/bsp_q7s/comIF/cookies/I2cCookie.cpp new file mode 100644 index 00000000..1b2ee675 --- /dev/null +++ b/bsp_q7s/comIF/cookies/I2cCookie.cpp @@ -0,0 +1,21 @@ +#include + +I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, + std::string deviceFile_) : + i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile( + deviceFile_) { +} + +address_t I2cCookie::getAddress() const { + return i2cAddress; +} + +size_t I2cCookie::getMaxReplyLen() const { + return maxReplyLen; +} + +std::string I2cCookie::getDeviceFile() const { + return deviceFile; +} + +I2cCookie::~I2cCookie() {} diff --git a/bsp_q7s/comIF/cookies/I2cCookie.h b/bsp_q7s/comIF/cookies/I2cCookie.h new file mode 100644 index 00000000..f03d6290 --- /dev/null +++ b/bsp_q7s/comIF/cookies/I2cCookie.h @@ -0,0 +1,37 @@ +#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_ +#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_ + +#include +#include + +/** + * @brief Cookie for the i2cDeviceComIF. + * + * @author J. Meier + */ +class I2cCookie: public CookieIF { +public: + + /** + * @brief Constructor for the I2C cookie. + * @param i2cAddress_ The i2c address of the target device. + * @param maxReplyLen The maximum expected length of a reply from the + * target device. + */ + I2cCookie(address_t i2cAddress_, size_t maxReplyLen_, + std::string deviceFile_); + + virtual ~I2cCookie(); + + address_t getAddress() const; + size_t getMaxReplyLen() const; + std::string getDeviceFile() const; + +private: + + address_t i2cAddress = 0; + size_t maxReplyLen = 0; + std::string deviceFile; +}; + +#endif diff --git a/etl b/etl index f6ce3f59..1ac3b77e 160000 --- a/etl +++ b/etl @@ -1 +1 @@ -Subproject commit f6ce3f59bd9da826817d79947165991ca8655b22 +Subproject commit 1ac3b77ef40aa783024d15185ee8ff41ae04a73e diff --git a/fsfw b/fsfw index 1ac2479b..bd5cc7ae 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe +Subproject commit bd5cc7ae3ea53040cc832b5d756846d21613d91a diff --git a/fsfwconfig/devices/addresses.h b/fsfwconfig/devices/addresses.h index 37d653fa..c16f588d 100644 --- a/fsfwconfig/devices/addresses.h +++ b/fsfwconfig/devices/addresses.h @@ -15,6 +15,8 @@ namespace addresses { enum logicalAddresses: address_t { PCDU, + TMP1075_TCS_1 = 72, + TMP1075_TCS_2 = 73, /* Dummy and Test Addresses */ DUMMY_ECHO = 129, DUMMY_GPS0 = 130, diff --git a/fsfwconfig/objects/systemObjectList.h b/fsfwconfig/objects/systemObjectList.h index a5863380..f44e74ac 100644 --- a/fsfwconfig/objects/systemObjectList.h +++ b/fsfwconfig/objects/systemObjectList.h @@ -31,12 +31,15 @@ namespace objects { /* 0x49 ('I') for Communication Interfaces **/ ARDUINO_COM_IF = 0x49000001, CSP_COM_IF = 0x49000002, + I2C_COM_IF = 0x49000003, /* 0x44 ('D') for device handlers */ P60DOCK_HANDLER = 0x44000001, PDU1_HANDLER = 0x44000002, PDU2_HANDLER = 0x44000003, - ACU_HANDLER = 0x44000004 + ACU_HANDLER = 0x44000004, + TMP1075_HANDLER_1 = 0x44000005, + TMP1075_HANDLER_2 = 0x44000006 }; } diff --git a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp index 8a14cbb3..574001be 100644 --- a/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp +++ b/fsfwconfig/pollingsequence/PollingSequenceFactory.cpp @@ -10,14 +10,16 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) /* Length of a communication cycle */ uint32_t length = thisSequence->getPeriodMs(); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); - thisSequence->addSlot(objects::DUMMY_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_1, + length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::TMP1075_HANDLER_1, + length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_1, + length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::TMP1075_HANDLER_1, + length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::TMP1075_HANDLER_1, + length * 0.8, DeviceHandlerIF::GET_READ); if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_OK; @@ -42,40 +44,40 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::P60DOCK_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); + length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PDU1_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); + length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::PDU2_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); + length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::ACU_HANDLER, - length * 0, DeviceHandlerIF::SEND_WRITE); + length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::P60DOCK_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); + length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PDU1_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); + length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::PDU2_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); + length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::ACU_HANDLER, - length * 0.25, DeviceHandlerIF::GET_WRITE); + length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::P60DOCK_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); + length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PDU1_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); + length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::PDU2_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); + length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::ACU_HANDLER, - length * 0.5, DeviceHandlerIF::SEND_READ); + length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::P60DOCK_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); + length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PDU1_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); + length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::PDU2_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); + length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::ACU_HANDLER, - length * 0.75, DeviceHandlerIF::GET_READ); + length * 0.8, DeviceHandlerIF::GET_READ); if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_OK; diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp new file mode 100644 index 00000000..7d889993 --- /dev/null +++ b/mission/controller/ThermalController.cpp @@ -0,0 +1,49 @@ +#include "ThermalController.h" +#include + +ThermalController::ThermalController(object_id_t objectId): + ExtendedControllerBase(objectId, objects::NO_OBJECT), + thermalControllerSet(objectId) { +} + +ReturnValue_t ThermalController::handleCommandMessage( + CommandMessage *message) { + return HasReturnvaluesIF::RETURN_OK; +} + +void ThermalController::performControlOperation() { + +} + +void ThermalController::handleChangedDataset(sid_t sid, + store_address_t storeId) { + if(sid == sid_t(TSensorDefinitions::ObjIds::TEST_HKB_HANDLER, + TSensorDefinitions::THERMAL_SENSOR_SET_ID)) { + sif::info << "Update registered!" << std::endl; + } +} + +ReturnValue_t ThermalController::initializeAfterTaskCreation() { + ReturnValue_t result = + ExtendedControllerBase::initializeAfterTaskCreation(); + if(result != HasReturnvaluesIF::RETURN_OK) { + sif::error << "ThermalController::initializeAfterTaskCreation: Base" + << " class initialization failed!" << std::endl; + } + HasLocalDataPoolIF* testHkbHandler = objectManager->get( + TSensorDefinitions::ObjIds::TEST_HKB_HANDLER); + if(testHkbHandler == nullptr) { + sif::warning << "ThermalController::initializeAfterTaskCreation: Test" + << " HKB Handler invalid!" << std::endl; + } + // Test normal notifications without data packet first. + testHkbHandler->getHkManagerHandle()->subscribeForSetUpdateMessages( + TSensorDefinitions::THERMAL_SENSOR_SET_ID, + this->getObjectId(), commandQueue->getId(), false); + return result; +} + +ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, + Submode_t submode, uint32_t *msToReachTheMode) { + return HasReturnvaluesIF::RETURN_OK; +} diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h new file mode 100644 index 00000000..67c5b24a --- /dev/null +++ b/mission/controller/ThermalController.h @@ -0,0 +1,33 @@ +#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_ +#define MISSION_CONTROLLER_THERMALCONTROLLER_H_ + +#include +#include "ctrldefinitions/ThermalCtrlPackets.h" + + +class ThermalController: public ExtendedControllerBase { +public: + ThermalController(object_id_t objectId); +private: + + // TODO: Add stubs for thermal components. Each device / assembly with one + // or multiple redundant sensors will have a thermal component. + + /** ExtendedControllerBase overrides */ + virtual ReturnValue_t handleCommandMessage( + CommandMessage *message) override; + + virtual void performControlOperation() override; + + virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, + uint32_t *msToReachTheMode) override; + + ReturnValue_t initializeAfterTaskCreation() override; + + void handleChangedDataset(sid_t sid, store_address_t storeId) override; + + ThermalCtrl::ThermalControllerTemperatureSet thermalControllerSet; +}; + + +#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */ diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index c751800f..a96be24f 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -4,6 +4,7 @@ target_sources(${TARGET_NAME} PUBLIC MGMHandlerLIS3MDL.cpp MGMHandlerRM3100.cpp GomspaceDeviceHandler.cpp + Tmp1075Handler.cpp ) diff --git a/mission/devices/GomspaceDeviceHandler.cpp b/mission/devices/GomspaceDeviceHandler.cpp index cd37abb8..7281ea35 100644 --- a/mission/devices/GomspaceDeviceHandler.cpp +++ b/mission/devices/GomspaceDeviceHandler.cpp @@ -70,9 +70,9 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand( } } default: - break; + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; } - return HasReturnvaluesIF::RETURN_OK; + return HasReturnvaluesIF::RETURN_FAILED; } void GomspaceDeviceHandler::fillCommandAndReplyMap(){ diff --git a/mission/devices/Tmp1075Handler.cpp b/mission/devices/Tmp1075Handler.cpp new file mode 100644 index 00000000..6c42242a --- /dev/null +++ b/mission/devices/Tmp1075Handler.cpp @@ -0,0 +1,134 @@ +#include +#include + +Tmp1075Handler::Tmp1075Handler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), dataset( + this) { + if (comCookie == NULL) { + sif::error << "Tmp1075Handler: Invalid com cookie" << std::endl; + } +} + +Tmp1075Handler::~Tmp1075Handler() { +} + + +void Tmp1075Handler::doStartUp(){ + if(mode == _MODE_START_UP){ + setMode(MODE_NORMAL); + } +} + +void Tmp1075Handler::doShutDown(){ + +} + +ReturnValue_t Tmp1075Handler::buildNormalDeviceCommand( + DeviceCommandId_t * id) { + + if(communicationStep == CommunicationStep::START_ADC_CONVERSION) { + *id = TMP1075::START_ADC_CONVERSION; + communicationStep = CommunicationStep::GET_TEMPERATURE; + return buildCommandFromCommand(*id, NULL, 0); + } + else { + *id = TMP1075::GET_TEMP; + communicationStep = CommunicationStep::START_ADC_CONVERSION; + return buildCommandFromCommand(*id, NULL, 0); + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::buildTransitionDeviceCommand( + DeviceCommandId_t * id){ + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::buildCommandFromCommand( + DeviceCommandId_t deviceCommand, const uint8_t * commandData, + size_t commandDataLen) { + switch(deviceCommand) { + case(TMP1075::START_ADC_CONVERSION): { + std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); + prepareAdcConversionCommand(); + rawPacket = cmdBuffer; + rawPacketLen = TMP1075::CFGR_CMD_SIZE; + return RETURN_OK; + } + case(TMP1075::GET_TEMP): { + std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); + prepareGetTempCommand(); + rawPacket = cmdBuffer; + rawPacketLen = TMP1075::POINTER_REG_SIZE; + rememberCommandId = TMP1075::GET_TEMP; + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +void Tmp1075Handler::fillCommandAndReplyMap(){ + this->insertInCommandMap(TMP1075::START_ADC_CONVERSION); + this->insertInCommandAndReplyMap(TMP1075::GET_TEMP, 1, &dataset, + TMP1075::GET_TEMP_REPLY_SIZE); +} + +ReturnValue_t Tmp1075Handler::scanForReply(const uint8_t *start, + size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { + switch(rememberCommandId) { + case(TMP1075::GET_TEMP): + *foundId = TMP1075::GET_TEMP; + *foundLen = TMP1075::GET_TEMP_REPLY_SIZE; + rememberCommandId = TMP1075::NONE; + break; + default: + return IGNORE_REPLY_DATA; + } + return HasReturnvaluesIF::RETURN_OK; +} + +ReturnValue_t Tmp1075Handler::interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) { + switch (id) { + case TMP1075::GET_TEMP: { + int16_t tempValueRaw = packet[1] << 8 | packet[0] >> 4; + float tempValue = ((static_cast(tempValueRaw)) * 0.0625); +#if OBSW_ENHANCED_PRINTOUT == 1 + sif::info << "Tmp1075: Temperature: " << tempValue<< " °C" << std::endl; +#endif + ReturnValue_t result = dataset.read(20); + if(result == HasReturnvaluesIF::RETURN_OK) { + dataset.temperatureCelcius = tempValue; + dataset.commit(20); + } + break; + } + + default: { + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + + } + return HasReturnvaluesIF::RETURN_OK; +} + +void Tmp1075Handler::setNormalDatapoolEntriesInvalid(){ + +} + +void Tmp1075Handler::prepareAdcConversionCommand(){ + cmdBuffer[0] = TMP1075::CFGR_ADDR; + cmdBuffer[1] = TMP1075::ONE_SHOT_MODE >> 8; + cmdBuffer[2] = TMP1075::ONE_SHOT_MODE & 0xFF; +} + +void Tmp1075Handler::prepareGetTempCommand(){ + cmdBuffer[0] = TMP1075::TEMP_REG_ADDR; +} + +uint32_t Tmp1075Handler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){ + return 0; +} diff --git a/mission/devices/Tmp1075Handler.h b/mission/devices/Tmp1075Handler.h new file mode 100644 index 00000000..9e132306 --- /dev/null +++ b/mission/devices/Tmp1075Handler.h @@ -0,0 +1,66 @@ +#ifndef MISSION_DEVICES_TMP1075HANDLER_H_ +#define MISSION_DEVICES_TMP1075HANDLER_H_ + +#include +#include + +/** + * @brief This is the device handler class for the tmp1075 temperature sensor. + * + * @details The tmp1075 communicates via I2C. After the address byte and the + * read and write bit, a pointer address must be sent to the device. + * This pointer address is stored in the pointer register of the + * tmp1075 and defines to which address following data bytes will + * be written or from which address data will be read. + * + * @author J. Meier + */ +class Tmp1075Handler: public DeviceHandlerBase { +public: + + Tmp1075Handler(object_id_t objectId, object_id_t comIF, + CookieIF * comCookie); + virtual ~Tmp1075Handler(); + +protected: + 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; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + +private: + + /** + * @brief Function fills cmdBuffer with command to start the adc + * conversion for a new temperature value. + */ + void prepareAdcConversionCommand(); + + void prepareGetTempCommand(); + + enum class CommunicationStep { + START_ADC_CONVERSION, + GET_TEMPERATURE + }; + + TMP1075::Tmp1075Dataset dataset; + + static const uint8_t MAX_CMD_LEN = 3; + + uint8_t rememberRequestedSize = 0; + uint8_t rememberCommandId = TMP1075::NONE; + uint8_t cmdBuffer[MAX_CMD_LEN]; + CommunicationStep communicationStep = + CommunicationStep::START_ADC_CONVERSION; +}; + +#endif /* MISSION_DEVICES_TMP1075HANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/Tmp1075Definitions.h b/mission/devices/devicedefinitions/Tmp1075Definitions.h new file mode 100644 index 00000000..3e4c1a02 --- /dev/null +++ b/mission/devices/devicedefinitions/Tmp1075Definitions.h @@ -0,0 +1,51 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ + +namespace TMP1075 { + static const uint8_t TEMP_REG_ADDR = 0x0; + static const uint8_t CFGR_ADDR = 0x1; + + /* Writing this information to the configuration register sets the tmp1075 + * to shutdown mode and starts a single temperature conversion */ + static const uint16_t ONE_SHOT_MODE = 0x8100; + + static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending + static const DeviceCommandId_t GET_TEMP = 0x1; + static const DeviceCommandId_t START_ADC_CONVERSION = 0x2; + + static const uint8_t GET_TEMP_REPLY_SIZE = 2; + static const uint8_t CFGR_CMD_SIZE = 3; + static const uint8_t POINTER_REG_SIZE = 1; + + static const lp_id_t TEMPERATURE_C = GET_TEMP; + static const uint32_t DATA_SET_ID = 0x0; + + static const uint8_t MAX_REPLY_LENGTH = GET_TEMP_REPLY_SIZE; + +class Tmp1075Dataset: + public StaticLocalDataSet { +public: + /** + * Constructor used by owner and data creators like device handlers. + * @param owner + * @param setId + */ + Tmp1075Dataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, DATA_SET_ID) { + } + + /** + * Constructor used by data users like controllers. + * @param sid + */ + Tmp1075Dataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, DATA_SET_ID)) { + } + + lp_var_t temperatureCelcius = lp_var_t(hkManager->getOwner(), + TEMPERATURE_C, this); +}; +} + + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ */ diff --git a/tmtc b/tmtc index b1dc449c..eb9deae5 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit b1dc449ccfd7de558a87ebc7aae77b1eaf32c934 +Subproject commit eb9deae5abd5d6d6f016f7864dc37c9825aabb43