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solved merge conflicts

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This commit is contained in:
Jakob Meier
2021-05-12 17:01:11 +02:00
parent ff4a156a45 79a5847b67
commit e337f97e62
14 changed files with 628 additions and 282 deletions
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204
mission/devices/SusHandler.cpp
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@ -1,28 +1,70 @@
#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/SusHandler.h>
#include <OBSWConfig.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF,
CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), dataset(
this) {
if (comCookie == NULL) {
sif::error << "SusHandler: Invalid com cookie" << std::endl;
}
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), chipSelectId(
chipSelectId), dataset(this) {
if (comCookie == NULL) {
sif::error << "SusHandler: Invalid com cookie" << std::endl;
}
if (gpioComIF == NULL) {
sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
}
}
SusHandler::~SusHandler() {
}
ReturnValue_t SusHandler::performOperation(uint8_t counter) {
if (counter != FIRST_WRITE) {
DeviceHandlerBase::performOperation(counter);
return RETURN_OK;
}
if (mode != MODE_NORMAL) {
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
/* If device is in normale mode the communication sequence is initiated here */
if (communicationStep == CommunicationStep::IDLE) {
communicationStep = CommunicationStep::WRITE_SETUP;
}
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
ReturnValue_t SusHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
auto spiComIF = dynamic_cast<SpiComIF*>(communicationInterface);
if (spiComIF == nullptr) {
sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
spiMutex = spiComIF->getMutex();
if (spiMutex == nullptr) {
sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return RETURN_OK;
}
void SusHandler::doStartUp(){
if (internalState == InternalState::CONFIGURED) {
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
setMode(_MODE_TO_ON);
#endif
}
}
void SusHandler::doShutDown(){
@ -32,36 +74,28 @@ void SusHandler::doShutDown(){
ReturnValue_t SusHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
switch (communicationStep) {
case CommunicationStep::START_CONVERSION: {
*id = SUS::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
if (communicationStep == CommunicationStep::IDLE) {
return NOTHING_TO_SEND;
}
case CommunicationStep::READ_CONVERSIONS: {
if (communicationStep == CommunicationStep::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
communicationStep = CommunicationStep::START_CONVERSIONS;
}
else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
*id = SUS::START_CONVERSIONS;
communicationStep = CommunicationStep::READ_CONVERSIONS;
}
else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
*id = SUS::READ_CONVERSIONS;
// communicationStep = CommunicationStep::START_CONVERSION;
communicationStep = CommunicationStep::READ_CONVERSIONS;
break;
communicationStep = CommunicationStep::IDLE;
}
default: {
sif::debug << "SusHandler::buildNormalDeviceCommand: Unknwon communication "
<< "step" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
}
return buildCommandFromCommand(*id, nullptr, 0);
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
if (internalState == InternalState::SETUP) {
*id = SUS::WRITE_SETUP;
}
else {
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::buildCommandFromCommand(
@ -69,33 +103,42 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
size_t commandDataLen) {
switch(deviceCommand) {
case(SUS::WRITE_SETUP): {
cmdBuffer[0] = SUS::SETUP_DEFINITION;
cmdBuffer[1] = SUS::UNIPOLAR_CONFIG;
/**
* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
* measurement the setup has to be rewritten. There must also be a little delay between
* the transmission of the setup byte and the first conversion. Thus the conversion
* will be performed in an extra step.
* Because the chip select is driven manually by the SusHandler the SPI bus must be
* protected with a mutex here.
*/
ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
if(result == MutexIF::MUTEX_TIMEOUT) {
sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
return ERROR_LOCK_MUTEX;
}
else if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex"
<< std::endl;
return ERROR_LOCK_MUTEX;
}
gpioComIF->pullLow(chipSelectId);
cmdBuffer[0] = SUS::SETUP;
rawPacket = cmdBuffer;
rawPacketLen = 2;
internalState = InternalState::CONFIGURED;
rawPacketLen = 1;
return RETURN_OK;
}
case(SUS::START_CONVERSION): {
/* First the fifo will be reset before a new conversion is initiated */
cmdBuffer[0] = SUS::RESET_DEFINITION;
cmdBuffer[1] = SUS::CONVERSION_DEFINITION;
case(SUS::START_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = SUS::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
return RETURN_OK;
}
case(SUS::READ_CONVERSIONS): {
cmdBuffer[0] = SUS::DUMMY_BYTE;
cmdBuffer[1] = SUS::DUMMY_BYTE;
cmdBuffer[2] = SUS::DUMMY_BYTE;
cmdBuffer[3] = SUS::DUMMY_BYTE;
cmdBuffer[4] = SUS::DUMMY_BYTE;
cmdBuffer[5] = SUS::DUMMY_BYTE;
cmdBuffer[6] = SUS::DUMMY_BYTE;
cmdBuffer[7] = SUS::DUMMY_BYTE;
cmdBuffer[8] = SUS::DUMMY_BYTE;
rawPacket = cmdBuffer;
rawPacketLen = SUS::READ_SIZE;
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
return RETURN_OK;
}
default:
@ -106,9 +149,8 @@ ReturnValue_t SusHandler::buildCommandFromCommand(
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
this->insertInCommandMap(SUS::START_CONVERSION);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset,
SUS::READ_SIZE);
this->insertInCommandMap(SUS::START_CONVERSIONS);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
@ -123,20 +165,37 @@ ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
switch (id) {
case SUS::READ_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.diffScanChannel0_1 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel2_3 = (*(packet + 2) << 8 | *(packet + 3));
dataset.diffScanChannel4_5 = (*(packet + 2) << 8 | *(packet + 3));
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 with object id " << std::hex << this->getObjectId() << ", temperature: "
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", Temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 0/1: "
<< dataset.diffScanChannel0_1 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 2/3: "
<< dataset.diffScanChannel2_3 << std::endl;
sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 4/5: "
<< dataset.diffScanChannel4_5 << 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: "
<< std::dec << dataset.ain1 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: "
<< std::dec << dataset.ain2 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: "
<< std::dec << dataset.ain3 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: "
<< std::dec << dataset.ain4 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: "
<< std::dec << dataset.ain5 << std::endl;
#endif
/** SUS can now be shutdown and thus the SPI bus released again */
gpioComIF->pullHigh(chipSelectId);
ReturnValue_t result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex"
<< std::endl;
return ERROR_UNLOCK_MUTEX;
}
break;
}
default: {
@ -153,15 +212,18 @@ void SusHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 5000;
return 1000;
}
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_0_1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_2_3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_4_5, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}