diff --git a/mission/devices/SusHandler.cpp b/mission/devices/SusHandler.cpp index 4f3dc834..8d80322c 100644 --- a/mission/devices/SusHandler.cpp +++ b/mission/devices/SusHandler.cpp @@ -34,18 +34,14 @@ ReturnValue_t SusHandler::buildNormalDeviceCommand( DeviceCommandId_t * id) { if (communicationStep == CommunicationStep::WRITE_SETUP) { *id = SUS::WRITE_SETUP; - communicationStep = CommunicationStep::REQUEST_TEMPERATURE; + communicationStep = CommunicationStep::START_CONVERSIONS; } - else if (communicationStep == CommunicationStep::REQUEST_TEMPERATURE) { - *id = SUS::REQUEST_TEMPERATURE; - communicationStep = CommunicationStep::READ_TEMPERATURE; + else if (communicationStep == CommunicationStep::START_CONVERSIONS) { + *id = SUS::START_CONVERSIONS; + communicationStep = CommunicationStep::READ_CONVERSIONS; } - else if (communicationStep == CommunicationStep::READ_TEMPERATURE) { - *id = SUS::READ_TEMPERATURE; - communicationStep = CommunicationStep::READ_CHANNELS; - } - else if (communicationStep == CommunicationStep::READ_CHANNELS) { - *id = SUS::READ_CHANNELS; + else if (communicationStep == CommunicationStep::READ_CONVERSIONS) { + *id = SUS::READ_CONVERSIONS; communicationStep = CommunicationStep::WRITE_SETUP; } return buildCommandFromCommand(*id, nullptr, 0); @@ -69,41 +65,22 @@ ReturnValue_t SusHandler::buildCommandFromCommand( */ //TODO: Protect spi bus with mutex gpioComIF->pullLow(chipSelectId); - cmdBuffer[0] = SUS::SETUP_DEFINITION; + cmdBuffer[0] = SUS::SETUP; rawPacket = cmdBuffer; rawPacketLen = 1; return RETURN_OK; } - case(SUS::READ_CHANNELS): { + case(SUS::START_CONVERSIONS): { std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); - cmdBuffer[0] = SUS::CONVERT_DIFF_CHANNEL_0; - cmdBuffer[1] = SUS::DUMMY_BYTE; - cmdBuffer[2] = SUS::CONVERT_DIFF_CHANNEL_1; - cmdBuffer[3] = SUS::DUMMY_BYTE; - cmdBuffer[4] = SUS::CONVERT_DIFF_CHANNEL_2; - cmdBuffer[5] = SUS::DUMMY_BYTE; - cmdBuffer[6] = SUS::CONVERT_DIFF_CHANNEL_3; - cmdBuffer[7] = SUS::DUMMY_BYTE; - cmdBuffer[8] = SUS::CONVERT_DIFF_CHANNEL_4; - cmdBuffer[9] = SUS::DUMMY_BYTE; - cmdBuffer[10] = SUS::CONVERT_DIFF_CHANNEL_5; - cmdBuffer[11] = SUS::DUMMY_BYTE; - cmdBuffer[12] = SUS::DUMMY_BYTE; + cmdBuffer[0] = SUS::CONVERSION; rawPacket = cmdBuffer; - rawPacketLen = SUS::SIZE_READ_CHANNELS; + rawPacketLen = 1; return RETURN_OK; } - case(SUS::REQUEST_TEMPERATURE): { - std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); - cmdBuffer[0] = SUS::CONVERT_TEMPERATURE; - rawPacket = cmdBuffer; - rawPacketLen = 1; - return RETURN_OK; - } - case(SUS::READ_TEMPERATURE): { + case(SUS::READ_CONVERSIONS): { std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); rawPacket = cmdBuffer; - rawPacketLen = 24; + rawPacketLen = SUS::SIZE_READ_CONVERSIONS; return RETURN_OK; } default: @@ -114,10 +91,8 @@ ReturnValue_t SusHandler::buildCommandFromCommand( void SusHandler::fillCommandAndReplyMap() { this->insertInCommandMap(SUS::WRITE_SETUP); - this->insertInCommandMap(SUS::REQUEST_TEMPERATURE); - this->insertInCommandAndReplyMap(SUS::READ_CHANNELS, 1, &dataset, SUS::SIZE_READ_CHANNELS); - this->insertInCommandAndReplyMap(SUS::READ_TEMPERATURE, 1, nullptr, - SUS::SIZE_READ_TEMPERATURE); + this->insertInCommandMap(SUS::START_CONVERSIONS); + this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS); } ReturnValue_t SusHandler::scanForReply(const uint8_t *start, @@ -130,15 +105,18 @@ ReturnValue_t SusHandler::scanForReply(const uint8_t *start, ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { switch (id) { - case SUS::READ_CHANNELS: { + case SUS::READ_CONVERSIONS: { PoolReadGuard readSet(&dataset); - dataset.ain0 = (*(packet + 1) << 8 | *(packet + 2)); - dataset.ain1 = (*(packet + 3) << 8 | *(packet + 4)); - dataset.ain2 = (*(packet + 5) << 8 | *(packet + 6)); - dataset.ain3 = (*(packet + 7) << 8 | *(packet + 8)); - dataset.ain4 = (*(packet + 9) << 8 | *(packet + 10)); - dataset.ain5 = (*(packet + 11) << 8 | *(packet + 12)); + dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125; + dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3)); + dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5)); + dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7)); + dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9)); + dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11)); + dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13)); #if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS + sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", Temperature: " + << dataset.temperatureCelcius << " °C" << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: " << std::dec << dataset.ain0 << std::endl; sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: " @@ -152,22 +130,10 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id, sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: " << std::dec << dataset.ain5 << std::endl; #endif - /** - * Reading the channel conversion results is the last communication step in one SUS - * sequence. SPI bus can now be released again. - */ + /** SUS can now be shutdown and thus the SPI bus released again */ gpioComIF->pullHigh(chipSelectId); break; } - case SUS::READ_TEMPERATURE: { - PoolReadGuard readSet(&dataset); - dataset.temperatureCelcius = (*(packet + 22) << 8 | *(packet + 23)) * 0.125; -#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS - sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", temperature: " - << dataset.temperatureCelcius << " °C" << std::endl; -#endif - break; - } default: { sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; diff --git a/mission/devices/SusHandler.h b/mission/devices/SusHandler.h index 5ef7ec32..14685dd9 100644 --- a/mission/devices/SusHandler.h +++ b/mission/devices/SusHandler.h @@ -42,9 +42,8 @@ private: enum class CommunicationStep { WRITE_SETUP, - REQUEST_TEMPERATURE, - READ_TEMPERATURE, - READ_CHANNELS + START_CONVERSIONS, + READ_CONVERSIONS }; LinuxLibgpioIF* gpioComIF = nullptr; diff --git a/mission/devices/devicedefinitions/RadSensorDefinitions.h b/mission/devices/devicedefinitions/RadSensorDefinitions.h index db105495..7d434d04 100644 --- a/mission/devices/devicedefinitions/RadSensorDefinitions.h +++ b/mission/devices/devicedefinitions/RadSensorDefinitions.h @@ -18,7 +18,7 @@ namespace RAD_SENSOR { * power on. * * @note Bit1 (DIFFSEL1) - Bit0 (DIFFSEL0): 0b00, no data follows the setup byte - * Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b01, external reference single ended + * Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, internal reference, no wake-up delay * Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b10, MAX1227 uses internal oscillator for timing * Bit7 - Bit6: 0b01, tells MAX1227 that this is the setup register * diff --git a/mission/devices/devicedefinitions/SusDefinitions.h b/mission/devices/devicedefinitions/SusDefinitions.h index fc46f75f..6cc8aa65 100644 --- a/mission/devices/devicedefinitions/SusDefinitions.h +++ b/mission/devices/devicedefinitions/SusDefinitions.h @@ -11,55 +11,52 @@ namespace SUS { static const DeviceCommandId_t NONE = 0x0; // Set when no command is pending - /** - * This command initiates the ADC conversion for all channels including the internal - * temperature sensor. - */ static const DeviceCommandId_t WRITE_SETUP = 0x1; - static const DeviceCommandId_t READ_CHANNELS = 0x2; - static const DeviceCommandId_t READ_TEMPERATURE = 0x3; - static const DeviceCommandId_t REQUEST_TEMPERATURE = 0x4; + /** + * This command initiates the ADC conversion for all channels including the internal + * temperature sensor. + */ + static const DeviceCommandId_t START_CONVERSIONS = 0x2; + /** + * This command reads the internal fifo which holds the temperature and the channel + * conversions. + */ + static const DeviceCommandId_t READ_CONVERSIONS = 0x3; /** * @brief This is the configuration byte which will be written to the setup register after * power on. * * @note Bit1 (DIFFSEL1) - Bit0 (DIFFSEL0): 0b00, No byte is following the setup byte - * Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, internal reference, no wake-up delay - * Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b11, MAX1227 clocked through SPI SCLK - * Bit7 - Bit6: 0b01, tells MAX1227 that this is the setup register + * Bit3 (REFSEL1) - Bit2 (REFSEL0): 0b10, Internal reference, no wake-up delay + * Bit5 (CLKSEL1) - Bit4 (CLKSEL0): 0b10, Internally clocked + * Bit7 - Bit6: 0b01, Tells MAX1227 that this byte should be + * written to the setup register * */ - static const uint8_t SETUP_DEFINITION = 0b01111000; + static const uint8_t SETUP = 0b01101000; /** - * @brief This value will always be written to the ADC conversion register to specify the + * @brief This values will always be written to the ADC conversion register to specify the * conversions to perform. * @details Bit0: 1 - Enables temperature conversion - * Bit2 (SCAN1) and Bit1 (SCAN0): 0b11, No scan, converts channel N once only. - * Scanning is not supported in spi clock mode. - * Bit6 - Bit3 defines N: 0b0001 (N = 4) + * Bit2 (SCAN1) and Bit1 (SCAN0): 0b00, Scans channels 0 through N + * Bit6 - Bit3 defines N: 0b0101 (N = 5) * Bit7: Always 1. Tells the ADC that this is the conversion register. */ - static const uint8_t CONVERT_TEMPERATURE = 0b10000001; - static const uint8_t CONVERT_DIFF_CHANNEL_0 = 0b10000110; - static const uint8_t CONVERT_DIFF_CHANNEL_1 = 0b10001110; - static const uint8_t CONVERT_DIFF_CHANNEL_2 = 0b10010110; - static const uint8_t CONVERT_DIFF_CHANNEL_3 = 0b10011110; - static const uint8_t CONVERT_DIFF_CHANNEL_4 = 0b10100110; - static const uint8_t CONVERT_DIFF_CHANNEL_5 = 0b10101110; + static const uint8_t CONVERSION = 0b10101001; + /** Writing this value resets the fifo */ static const uint8_t RESET_FIFO = 0b00011000; static const uint8_t DUMMY_BYTE = 0x0; - static const uint8_t SUS_DATA_SET_ID = READ_CHANNELS; + static const uint8_t SUS_DATA_SET_ID = READ_CONVERSIONS; - /** Size of data replies */ - static const uint8_t SIZE_READ_CHANNELS = 13; - static const uint8_t SIZE_READ_TEMPERATURE = 25; + /** Size of data replies. Temperature and 6 channel convesions (AIN0 - AIN5) */ + static const uint8_t SIZE_READ_CONVERSIONS = 14; - static const uint8_t MAX_CMD_SIZE = SIZE_READ_TEMPERATURE; + static const uint8_t MAX_CMD_SIZE = SIZE_READ_CONVERSIONS; static const uint8_t POOL_ENTRIES = 7;