tmp1075 handler, wip
This commit is contained in:
parent
06231a71cc
commit
d6eb4ebb07
@ -125,17 +125,21 @@ void InitMission::initTasks(){
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sif::error << "Object add component failed" << std::endl;
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sif::error << "Object add component failed" << std::endl;
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}
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}
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// PeriodicTaskIF* P60DockTask = TaskFactory::instance()->
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//TODO: Add handling of missed deadlines
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// createPeriodicTask("P60Dock Task", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE*4,
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/* Polling Sequence Table Default */
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// 1.6, nullptr);
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FixedTimeslotTaskIF * PollingSequenceTableTaskDefault =
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// result = P60DockTask->addComponent(objects::P60DOCK_HANDLER);
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TaskFactory::instance()->createFixedTimeslotTask("PST_TASK_DEFAULT",
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// if(result!=HasReturnvaluesIF::RETURN_OK){
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50, PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0,
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// sif::error << "Object add component failed" << std::endl;
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nullptr);
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// }
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result = pst::pollingSequenceInitDefault(PollingSequenceTableTaskDefault);
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: Creating PST failed!"
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<< std::endl;
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}
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FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
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FixedTimeslotTaskIF* GomSpacePstTask = TaskFactory::instance()->
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createFixedTimeslotTask("GS_PST_TASK", 50,
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createFixedTimeslotTask("GS_PST_TASK", 50,
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PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 1.0, nullptr);
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PeriodicTaskIF::MINIMUM_STACK_SIZE*4, 3.0, nullptr);
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result = pst::gomspacePstInit(GomSpacePstTask);
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result = pst::gomspacePstInit(GomSpacePstTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "InitMission::initTasks: GomSpace PST initialization "
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sif::error << "InitMission::initTasks: GomSpace PST initialization "
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@ -161,7 +165,8 @@ void InitMission::initTasks(){
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UdpBridgeTask->startTask();
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UdpBridgeTask->startTask();
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UdpPollingTask->startTask();
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UdpPollingTask->startTask();
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GomSpacePstTask->startTask();
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// GomSpacePstTask->startTask();
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PollingSequenceTableTaskDefault->startTask();
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PusVerification->startTask();
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PusVerification->startTask();
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PusEvents->startTask();
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PusEvents->startTask();
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@ -169,8 +174,6 @@ void InitMission::initTasks(){
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PusMedPrio->startTask();
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PusMedPrio->startTask();
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PusLowPrio->startTask();
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PusLowPrio->startTask();
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// P60DockTask->startTask();
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#if OBSW_ADD_TEST_CODE == 1
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#if OBSW_ADD_TEST_CODE == 1
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// TestTimeslotTask->startTask();
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// TestTimeslotTask->startTask();
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#endif
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#endif
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@ -13,12 +13,15 @@
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#include <mission/core/GenericFactory.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/devices/GomspaceDeviceHandler.h>
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#include <mission/devices/GomspaceDeviceHandler.h>
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#include <mission/devices/Tmp1075Handler.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include <mission/devices/devicedefinitions/GomSpacePackets.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
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#include <mission/utility/TmFunnel.h>
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#include <mission/utility/TmFunnel.h>
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#include <bsp_q7s/comIF/cookies/CspCookie.h>
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#include <bsp_q7s/comIF/cookies/CspCookie.h>
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#include <bsp_q7s/comIF/cookies/I2cCookie.h>
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#include <bsp_q7s/comIF/CspComIF.h>
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#include <bsp_q7s/comIF/CspComIF.h>
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#include <bsp_q7s/comIF/I2cComIF.h>
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void Factory::setStaticFrameworkObjectIds() {
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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@ -52,9 +55,12 @@ void ObjectFactory::produce(){
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addresses::PDU2);
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addresses::PDU2);
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
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CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
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addresses::ACU);
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addresses::ACU);
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I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
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TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
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/* Communication interfaces */
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/* Communication interfaces */
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new CspComIF(objects::CSP_COM_IF);
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new CspComIF(objects::CSP_COM_IF);
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new I2cComIF(objects::I2C_COM_IF);
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/* Device Handler */
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/* Device Handler */
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new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
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new GomspaceDeviceHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
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@ -69,6 +75,11 @@ void ObjectFactory::produce(){
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new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
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new GomspaceDeviceHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
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acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
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acuCspCookie, ACU::MAX_CONFIGTABLE_ADDRESS,
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ACU::MAX_HKTABLE_ADDRESS);
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ACU::MAX_HKTABLE_ADDRESS);
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Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
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objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
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i2cCookieTmp1075tcs1);
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tmp1075Handler_1->setStartUpImmediately();
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new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
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new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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objects::CCSDS_PACKET_DISTRIBUTOR,
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@ -1,6 +1,8 @@
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target_sources(${TARGET_NAME} PRIVATE
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target_sources(${TARGET_NAME} PRIVATE
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cookies/CspCookie.cpp
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cookies/CspCookie.cpp
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cookies/I2cCookie.cpp
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CspComIF.cpp
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CspComIF.cpp
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I2cComIF.cpp
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)
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)
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158
bsp_q7s/comIF/I2cComIF.cpp
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158
bsp_q7s/comIF/I2cComIF.cpp
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@ -0,0 +1,158 @@
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#include <bsp_q7s/comIF/I2cComIF.h>
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#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <linux/i2c-dev.h>
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#include <errno.h>
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#include <string.h>
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I2cComIF::I2cComIF(object_id_t objectId): SystemObject(objectId){
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}
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I2cComIF::~I2cComIF() {}
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ReturnValue_t I2cComIF::initializeInterface(CookieIF * cookie) {
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if(cookie == nullptr) {
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return NULLPOINTER;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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int fd;
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std::string deviceFile = i2cCookie->getDeviceFile();
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/* Opening i2c device in non-blocking mode */
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fd = open("/dev/i2c-0", O_RDWR);
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if (fd < 0) {
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sif::error << "I2cComIF: Opening i2c device failed with error code "
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<< errno << ". Error description: " << strerror(errno)
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<< std::endl;
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}
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if (ioctl(fd, I2C_SLAVE, i2cAddress) < 0) {
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sif::error << "I2cComIF: Specifying target device failed with error "
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<< "code " << errno << ". Error description "
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<< strerror(errno) << std::endl;
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}
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if(i2cDeviceMapIter == i2cDeviceMap.end()) {
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size_t maxReplyLen = i2cCookie->getMaxReplyLen();
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I2cInstance_t i2cInstance = {fd, std::vector<uint8_t>(maxReplyLen), 0};
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i2cDeviceMap.emplace(i2cAddress, i2cInstance);
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}
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else {
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sif::error << "I2cComIF: Device with address " << i2cAddress
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<< "already in use" << std::endl;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::sendMessage(CookieIF *cookie,
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const uint8_t *sendData, size_t sendLen) {
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if(sendData == nullptr) {
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sif::error << "I2cComIF::sendMessage: Send Data is nullptr"
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<< std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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if(sendLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::sendMessasge: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::sendMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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int fd = i2cDeviceMapIter->second.fileDescriptor;
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if (write(fd, sendData, sendLen) != (int)sendLen) {
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sif::error << "I2cComIF::sendMessage: Failed to send data to I2C "
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"device with error code " << errno << ". Error description: "
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<< strerror(errno) << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::getSendSuccess(CookieIF *cookie) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) {
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if (requestLen == 0) {
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return HasReturnvaluesIF::RETURN_OK;
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}
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::sendMessage: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::requestReceiveMessage: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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int fd = i2cDeviceMapIter->second.fileDescriptor;
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uint8_t* replyBuffer = i2cDeviceMapIter->second.replyBuffer.data();
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if (read(fd, replyBuffer, requestLen) != (int)requestLen) {
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sif::error << "I2cComIF::requestReceiveMessage: Reading from I2C "
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<< "device failed with error code " << errno <<". Description"
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<< " of error: " << strerror(errno) << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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i2cDeviceMapIter->second.replyLen = requestLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t I2cComIF::readReceivedMessage(CookieIF *cookie,
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uint8_t **buffer, size_t* size) {
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I2cCookie* i2cCookie = dynamic_cast<I2cCookie*>(cookie);
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if(i2cCookie == nullptr) {
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sif::error << "I2cComIF::readReceivedMessage: Invalid I2C Cookie!"
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<< std::endl;
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return NULLPOINTER;
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}
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address_t i2cAddress = i2cCookie->getAddress();
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i2cDeviceMapIter = i2cDeviceMap.find(i2cAddress);
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if (i2cDeviceMapIter == i2cDeviceMap.end()) {
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sif::error << "I2cComIF::getReplyBuffer: i2cAddress of Cookie not "
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<< "registered in i2cDeviceMap" << std::endl;
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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*buffer = i2cDeviceMapIter->second.replyBuffer.data();
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*size = i2cDeviceMapIter->second.replyLen;
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return HasReturnvaluesIF::RETURN_OK;
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}
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49
bsp_q7s/comIF/I2cComIF.h
Normal file
49
bsp_q7s/comIF/I2cComIF.h
Normal file
@ -0,0 +1,49 @@
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#ifndef BSP_Q7S_COMIF_I2COMIF_H_
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#define BSP_Q7S_COMIF_I2COMIF_H_
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <bsp_q7s/comIF/cookies/I2cCookie.h>
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#include <unordered_map>
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#include <vector>
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/**
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* @brief This is the communication interface for i2c devices connected
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* to a system running a linux OS.
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*
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* @author J. Meier
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*/
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class I2cComIF: public DeviceCommunicationIF, public SystemObject {
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public:
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I2cComIF(object_id_t objectId);
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virtual ~I2cComIF();
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ReturnValue_t initializeInterface(CookieIF * cookie) override;
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ReturnValue_t sendMessage(CookieIF *cookie,const uint8_t *sendData,
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size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF *cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF *cookie,
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size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF *cookie, uint8_t **buffer,
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size_t *size) override;
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private:
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typedef struct I2cInstance {
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int fileDescriptor;
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std::vector<uint8_t> replyBuffer;
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size_t replyLen;
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} I2cInstance_t;
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using I2cDeviceMap = std::unordered_map<address_t, I2cInstance_t>;
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using I2cDeviceMapIter = I2cDeviceMap::iterator;
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/* In this map all i2c devices will be registered with their address and
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* the appropriate file descriptor will be stored */
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I2cDeviceMap i2cDeviceMap;
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I2cDeviceMapIter i2cDeviceMapIter;
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};
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#endif /* BSP_Q7S_COMIF_I2COMIF_H_ */
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21
bsp_q7s/comIF/cookies/I2cCookie.cpp
Normal file
21
bsp_q7s/comIF/cookies/I2cCookie.cpp
Normal file
@ -0,0 +1,21 @@
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#include <bsp_q7s/comIF/cookies/I2cCookie.h>
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I2cCookie::I2cCookie(address_t i2cAddress_, size_t maxReplyLen_,
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std::string deviceFile_) :
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i2cAddress(i2cAddress_), maxReplyLen(maxReplyLen_), deviceFile(
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deviceFile_) {
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}
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address_t I2cCookie::getAddress() const {
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return i2cAddress;
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}
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size_t I2cCookie::getMaxReplyLen() const {
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return maxReplyLen;
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}
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std::string I2cCookie::getDeviceFile() const {
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return deviceFile;
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|
}
|
||||||
|
|
||||||
|
I2cCookie::~I2cCookie() {}
|
37
bsp_q7s/comIF/cookies/I2cCookie.h
Normal file
37
bsp_q7s/comIF/cookies/I2cCookie.h
Normal file
@ -0,0 +1,37 @@
|
|||||||
|
#ifndef SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
|
||||||
|
#define SAM9G20_COMIF_COOKIES_I2C_COOKIE_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/CookieIF.h>
|
||||||
|
#include <string>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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
|
2
etl
2
etl
@ -1 +1 @@
|
|||||||
Subproject commit f6ce3f59bd9da826817d79947165991ca8655b22
|
Subproject commit 1ac3b77ef40aa783024d15185ee8ff41ae04a73e
|
2
fsfw
2
fsfw
@ -1 +1 @@
|
|||||||
Subproject commit 1ac2479b28c1114b0876123e0db4155abfbf06fe
|
Subproject commit bd5cc7ae3ea53040cc832b5d756846d21613d91a
|
@ -15,6 +15,8 @@ namespace addresses {
|
|||||||
enum logicalAddresses: address_t {
|
enum logicalAddresses: address_t {
|
||||||
PCDU,
|
PCDU,
|
||||||
|
|
||||||
|
TMP1075_TCS_1 = 72,
|
||||||
|
TMP1075_TCS_2 = 73,
|
||||||
/* Dummy and Test Addresses */
|
/* Dummy and Test Addresses */
|
||||||
DUMMY_ECHO = 129,
|
DUMMY_ECHO = 129,
|
||||||
DUMMY_GPS0 = 130,
|
DUMMY_GPS0 = 130,
|
||||||
|
@ -31,12 +31,15 @@ namespace objects {
|
|||||||
/* 0x49 ('I') for Communication Interfaces **/
|
/* 0x49 ('I') for Communication Interfaces **/
|
||||||
ARDUINO_COM_IF = 0x49000001,
|
ARDUINO_COM_IF = 0x49000001,
|
||||||
CSP_COM_IF = 0x49000002,
|
CSP_COM_IF = 0x49000002,
|
||||||
|
I2C_COM_IF = 0x49000003,
|
||||||
|
|
||||||
/* 0x44 ('D') for device handlers */
|
/* 0x44 ('D') for device handlers */
|
||||||
P60DOCK_HANDLER = 0x44000001,
|
P60DOCK_HANDLER = 0x44000001,
|
||||||
PDU1_HANDLER = 0x44000002,
|
PDU1_HANDLER = 0x44000002,
|
||||||
PDU2_HANDLER = 0x44000003,
|
PDU2_HANDLER = 0x44000003,
|
||||||
ACU_HANDLER = 0x44000004
|
ACU_HANDLER = 0x44000004,
|
||||||
|
TMP1075_HANDLER_1 = 0x44000005,
|
||||||
|
TMP1075_HANDLER_2 = 0x44000006
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -10,14 +10,16 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
|
|||||||
/* Length of a communication cycle */
|
/* Length of a communication cycle */
|
||||||
uint32_t length = thisSequence->getPeriodMs();
|
uint32_t length = thisSequence->getPeriodMs();
|
||||||
|
|
||||||
thisSequence->addSlot(objects::DUMMY_HANDLER,
|
thisSequence->addSlot(objects::TMP1075_HANDLER_1,
|
||||||
length * 0, DeviceHandlerIF::SEND_WRITE);
|
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
thisSequence->addSlot(objects::DUMMY_HANDLER,
|
thisSequence->addSlot(objects::TMP1075_HANDLER_1,
|
||||||
length * 0.25, DeviceHandlerIF::GET_WRITE);
|
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::DUMMY_HANDLER,
|
thisSequence->addSlot(objects::TMP1075_HANDLER_1,
|
||||||
length * 0.5, DeviceHandlerIF::SEND_READ);
|
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::DUMMY_HANDLER,
|
thisSequence->addSlot(objects::TMP1075_HANDLER_1,
|
||||||
length * 0.75, DeviceHandlerIF::GET_READ);
|
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
|
thisSequence->addSlot(objects::TMP1075_HANDLER_1,
|
||||||
|
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
@ -42,40 +44,40 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
|
|||||||
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||||
length * 0, DeviceHandlerIF::SEND_WRITE);
|
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||||
length * 0, DeviceHandlerIF::SEND_WRITE);
|
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||||
length * 0, DeviceHandlerIF::SEND_WRITE);
|
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||||
length * 0, DeviceHandlerIF::SEND_WRITE);
|
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||||
length * 0.25, DeviceHandlerIF::GET_WRITE);
|
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||||
length * 0.25, DeviceHandlerIF::GET_WRITE);
|
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||||
length * 0.25, DeviceHandlerIF::GET_WRITE);
|
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||||
length * 0.25, DeviceHandlerIF::GET_WRITE);
|
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||||
length * 0.5, DeviceHandlerIF::SEND_READ);
|
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||||
length * 0.5, DeviceHandlerIF::SEND_READ);
|
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||||
length * 0.5, DeviceHandlerIF::SEND_READ);
|
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||||
length * 0.5, DeviceHandlerIF::SEND_READ);
|
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||||
|
|
||||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||||
length * 0.75, DeviceHandlerIF::GET_READ);
|
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||||
length * 0.75, DeviceHandlerIF::GET_READ);
|
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||||
length * 0.75, DeviceHandlerIF::GET_READ);
|
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||||
length * 0.75, DeviceHandlerIF::GET_READ);
|
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||||
|
|
||||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_OK;
|
||||||
|
49
mission/controller/ThermalController.cpp
Normal file
49
mission/controller/ThermalController.cpp
Normal file
@ -0,0 +1,49 @@
|
|||||||
|
#include "ThermalController.h"
|
||||||
|
#include <mission/devices/devicedefinitions/ThermalSensorPacket.h>
|
||||||
|
|
||||||
|
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<HasLocalDataPoolIF>(
|
||||||
|
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;
|
||||||
|
}
|
33
mission/controller/ThermalController.h
Normal file
33
mission/controller/ThermalController.h
Normal file
@ -0,0 +1,33 @@
|
|||||||
|
#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
|
||||||
|
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_
|
||||||
|
|
||||||
|
#include <fsfw/controller/ExtendedControllerBase.h>
|
||||||
|
#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_ */
|
@ -4,6 +4,7 @@ target_sources(${TARGET_NAME} PUBLIC
|
|||||||
MGMHandlerLIS3MDL.cpp
|
MGMHandlerLIS3MDL.cpp
|
||||||
MGMHandlerRM3100.cpp
|
MGMHandlerRM3100.cpp
|
||||||
GomspaceDeviceHandler.cpp
|
GomspaceDeviceHandler.cpp
|
||||||
|
Tmp1075Handler.cpp
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|
||||||
|
@ -70,9 +70,9 @@ ReturnValue_t GomspaceDeviceHandler::buildCommandFromCommand(
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
default:
|
default:
|
||||||
break;
|
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
|
||||||
}
|
}
|
||||||
return HasReturnvaluesIF::RETURN_OK;
|
return HasReturnvaluesIF::RETURN_FAILED;
|
||||||
}
|
}
|
||||||
|
|
||||||
void GomspaceDeviceHandler::fillCommandAndReplyMap(){
|
void GomspaceDeviceHandler::fillCommandAndReplyMap(){
|
||||||
|
134
mission/devices/Tmp1075Handler.cpp
Normal file
134
mission/devices/Tmp1075Handler.cpp
Normal file
@ -0,0 +1,134 @@
|
|||||||
|
#include <mission/devices/Tmp1075Handler.h>
|
||||||
|
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
|
||||||
|
|
||||||
|
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<float>(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;
|
||||||
|
}
|
66
mission/devices/Tmp1075Handler.h
Normal file
66
mission/devices/Tmp1075Handler.h
Normal file
@ -0,0 +1,66 @@
|
|||||||
|
#ifndef MISSION_DEVICES_TMP1075HANDLER_H_
|
||||||
|
#define MISSION_DEVICES_TMP1075HANDLER_H_
|
||||||
|
|
||||||
|
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||||
|
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @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_ */
|
51
mission/devices/devicedefinitions/Tmp1075Definitions.h
Normal file
51
mission/devices/devicedefinitions/Tmp1075Definitions.h
Normal file
@ -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<sizeof(float)> {
|
||||||
|
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<float> temperatureCelcius = lp_var_t<float>(hkManager->getOwner(),
|
||||||
|
TEMPERATURE_C, this);
|
||||||
|
};
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_TMP1075DEFINITIONS_H_ */
|
2
tmtc
2
tmtc
@ -1 +1 @@
|
|||||||
Subproject commit b1dc449ccfd7de558a87ebc7aae77b1eaf32c934
|
Subproject commit eb9deae5abd5d6d6f016f7864dc37c9825aabb43
|
Loading…
Reference in New Issue
Block a user