Merge branch 'develop' into meier/rtd-fix

CHANGELOG.md

@@ -19,9 +19,18 @@ list yields a list of all related PRs for each release.
 
 ## Changed
 
+- The ACS Controller Gyro Sets (raw and processed) and the MEKF dataset are diagnostics now.
 - Bumped FSFW for Service 11 improvement which includes size and CRC check for contained TC
 - Syrlinks module now always included for both EM and FM
 
+## Fixed
+
+- `GyroADIS1650XHandler`: Updated handler to determine correct dynamic range from `RANG_MDL`
+  register readout. This is because ADIS16505-3BMLZ devices are used on the ACS board and the
+  previous range setting was wrong. Also fixed a small error properly set internal state
+  on shut-down.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/342
+
 # [v1.19.0] 10.01.2023
 
 ## Changed

bsp_q7s/fmObjectFactory.cpp

@@ -39,7 +39,7 @@ void ObjectFactory::produce(void* args) {
   createRadSensorComponent(gpioComIF, *stackHandler);
 #endif
 #if OBSW_ADD_SUN_SENSORS == 1
-  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);
+  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV, true);
 #endif
 
 #if OBSW_ADD_ACS_BOARD == 1

bsp_q7s/obsw.cpp

@@ -1,13 +1,13 @@
 #include "obsw.h"
 
+#include <pwd.h>
+#include <sys/types.h>
+#include <unistd.h>
+
 #include <filesystem>
 #include <fstream>
 #include <iostream>
 
-#include <unistd.h>
-#include <sys/types.h>
-#include <pwd.h>
-
 #include "OBSWConfig.h"
 #include "commonConfig.h"
 #include "core/scheduling.h"
@@ -44,7 +44,7 @@ int obsw::obsw() {
 
   const char* homedir = nullptr;
   homedir = getenv("HOME");
-  if(homedir == nullptr) {
+  if (homedir == nullptr) {
     homedir = getpwuid(getuid())->pw_dir;
   }
   std::filesystem::path bootDelayFile = std::filesystem::path(homedir) / "boot_delay_secs.txt";

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 240 translations.
  * @details
- * Generated on: 2023-01-18 14:34:15
+ * Generated on: 2023-01-18 16:08:56
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 150 translations.
- * Generated on: 2023-01-18 14:34:15
+ * Generated on: 2023-01-18 16:08:56
  */
 #include "translateObjects.h"
 

linux/ObjectFactory.cpp

@@ -30,7 +30,8 @@
 #include "mission/system/tree/payloadModeTree.h"
 
 void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
-                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
+                                              PowerSwitchIF* pwrSwitcher, std::string spiDev,
+                                              bool swap0And6) {
   using namespace gpio;
   GpioCookie* gpioCookieSus = new GpioCookie();
   GpioCallback* susgpio = nullptr;
@@ -77,7 +78,11 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
 #if OBSW_ADD_SUN_SENSORS == 1
   SusFdir* fdir = nullptr;
   std::array<SusHandler*, 12> susHandlers = {};
-  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, SUS::MAX_CMD_SIZE,
+  gpioId_t gpioId = gpioIds::CS_SUS_0;
+  if (swap0And6) {
+    gpioId = gpioIds::CS_SUS_6;
+  }
+  SpiCookie* spiCookie = new SpiCookie(addresses::SUS_0, gpioId, SUS::MAX_CMD_SIZE,
                                        spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[0] =
       new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
@@ -119,8 +124,12 @@ void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiCo
   fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
   susHandlers[5]->setCustomFdir(fdir);
 
-  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, SUS::MAX_CMD_SIZE,
+  gpioId = gpioIds::CS_SUS_6;
-                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
+  if (swap0And6) {
+    gpioId = gpioIds::CS_SUS_0;
+  }
+  spiCookie = new SpiCookie(addresses::SUS_6, gpioId, SUS::MAX_CMD_SIZE, spi::SUS_MAX_1227_MODE,
+                            spi::SUS_MAX1227_SPI_FREQ);
   susHandlers[6] =
       new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
   fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);

linux/ObjectFactory.h

@@ -19,7 +19,7 @@ class AcsController;
 namespace ObjectFactory {
 
 void createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF, PowerSwitchIF* pwrSwitcher,
-                               std::string spiDev);
+                               std::string spiDev, bool swap0And6);
 void createRtdComponents(std::string spiDev, GpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher,
                          SpiComIF* comIF);
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 240 translations.
  * @details
- * Generated on: 2023-01-18 14:34:15
+ * Generated on: 2023-01-18 16:08:56
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 150 translations.
- * Generated on: 2023-01-18 14:34:15
+ * Generated on: 2023-01-18 16:08:56
  */
 #include "translateObjects.h"
 

mission/controller/AcsController.cpp

@@ -358,14 +358,14 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_L3, &gyr1VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_ADIS, &gyr2VecRaw);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_L3, &gyr3VecRaw);
-  poolManager.subscribeForRegularPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataRaw.getSid(), false, 5.0});
   // GYR Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_0_VEC, &gyr0VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_1_VEC, &gyr1VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_2_VEC, &gyr2VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_3_VEC, &gyr3VecProc);
   localDataPoolMap.emplace(acsctrl::PoolIds::GYR_VEC_TOT, &gyrVecTot);
-  poolManager.subscribeForRegularPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
+  poolManager.subscribeForDiagPeriodicPacket({gyrDataProcessed.getSid(), false, 5.0});
   // GPS Processed
   localDataPoolMap.emplace(acsctrl::PoolIds::GC_LATITUDE, &gcLatitude);
   localDataPoolMap.emplace(acsctrl::PoolIds::GD_LONGITUDE, &gdLongitude);
@@ -373,7 +373,7 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
   // MEKF
   localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
   localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
-  poolManager.subscribeForRegularPeriodicPacket({mekfData.getSid(), false, 5.0});
+  poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), false, 5.0});
   // Ctrl Values
   localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
   localDataPoolMap.emplace(acsctrl::PoolIds::ERROR_QUAT, &errQuat);

mission/devices/GyroADIS1650XHandler.cpp

@@ -63,6 +63,7 @@ void GyroADIS1650XHandler::doStartUp() {
 
 void GyroADIS1650XHandler::doShutDown() {
   commandExecuted = false;
+  internalState = InternalState::STARTUP;
   setMode(_MODE_POWER_DOWN);
 }
 
@@ -99,12 +100,13 @@ ReturnValue_t GyroADIS1650XHandler::buildCommandFromCommand(DeviceCommandId_t de
   switch (deviceCommand) {
     case (ADIS1650X::READ_OUT_CONFIG): {
       this->rawPacketLen = ADIS1650X::CONFIG_READOUT_SIZE;
-      uint8_t regList[5] = {};
+      uint8_t regList[6] = {};
       regList[0] = ADIS1650X::DIAG_STAT_REG;
       regList[1] = ADIS1650X::FILTER_CTRL_REG;
-      regList[2] = ADIS1650X::MSC_CTRL_REG;
+      regList[2] = ADIS1650X::RANG_MDL_REG;
-      regList[3] = ADIS1650X::DEC_RATE_REG;
+      regList[3] = ADIS1650X::MSC_CTRL_REG;
-      regList[4] = ADIS1650X::PROD_ID_REG;
+      regList[4] = ADIS1650X::DEC_RATE_REG;
+      regList[5] = ADIS1650X::PROD_ID_REG;
       prepareReadCommand(regList, sizeof(regList));
       this->rawPacket = commandBuffer.data();
       break;
@@ -203,9 +205,10 @@ ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t re
 
 ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                          const uint8_t *packet) {
+  using namespace ADIS1650X;
   switch (id) {
     case (ADIS1650X::READ_OUT_CONFIG): {
-      uint16_t readProdId = packet[10] << 8 | packet[11];
+      uint16_t readProdId = packet[12] << 8 | packet[13];
       if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
           ((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
 #if OBSW_VERBOSE_LEVEL >= 1
@@ -220,8 +223,32 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
       PoolReadGuard rg(&configDataset);
       configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
       configDataset.filterSetting.value = packet[4] << 8 | packet[5];
-      configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
+      uint16_t rangMdlRaw = packet[6] << 8 | packet[7];
-      configDataset.decRateReg.value = packet[8] << 8 | packet[9];
+      ADIS1650X::RangMdlBitfield bitfield =
+          static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
+      switch (bitfield) {
+        case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
+          rangeMultiplicator = RANGE_1BMLZ;
+          break;
+        }
+        case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
+          rangeMultiplicator = RANGE_2BMLZ;
+          break;
+        }
+        case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
+          rangeMultiplicator = RANGE_3BMLZ;
+          break;
+        }
+        case (RangMdlBitfield::RESERVED): {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+          sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
+#endif
+          break;
+        }
+      }
+      configDataset.rangMdl.value = rangMdlRaw;
+      configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9];
+      configDataset.decRateReg.value = packet[10] << 8 | packet[11];
       configDataset.setValidity(true, true);
       if (internalState == InternalState::CONFIG) {
         commandExecuted = true;
@@ -272,13 +299,13 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
         PoolReadGuard pg(&primaryDataset);
         int16_t angVelocXRaw = packet[4] << 8 | packet[5];
         primaryDataset.angVelocX.value =
-            static_cast<float>(angVelocXRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+            static_cast<float>(angVelocXRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
         int16_t angVelocYRaw = packet[6] << 8 | packet[7];
         primaryDataset.angVelocY.value =
-            static_cast<float>(angVelocYRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+            static_cast<float>(angVelocYRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
         int16_t angVelocZRaw = packet[8] << 8 | packet[9];
         primaryDataset.angVelocZ.value =
-            static_cast<float>(angVelocZRaw) / INT16_MAX * ADIS1650X::GYRO_RANGE;
+            static_cast<float>(angVelocZRaw) / static_cast<float>(INT16_MAX) * rangeMultiplicator;
 
         float accelScaling = 0;
         if (adisType == ADIS1650X::Type::ADIS16507) {

mission/devices/GyroADIS1650XHandler.h

@@ -46,6 +46,8 @@ class GyroADIS1650XHandler : public DeviceHandlerBase {
   ADIS1650X::Type adisType;
   AdisGyroPrimaryDataset primaryDataset;
   AdisGyroConfigDataset configDataset;
+  double rangeMultiplicator = ADIS1650X::RANGE_UNSET;
+
   bool goToNormalMode = false;
   bool warningSwitch = true;
 

mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h

@@ -13,7 +13,19 @@ enum class Type { ADIS16505, ADIS16507 };
 static constexpr size_t MAXIMUM_REPLY_SIZE = 64;
 static constexpr uint8_t WRITE_MASK = 0b1000'0000;
 
-static constexpr uint32_t GYRO_RANGE = 125;
+// Ranges in deg / s
+static constexpr double RANGE_UNSET = 0.0;
+static constexpr double RANGE_1BMLZ = 125.0;
+static constexpr double RANGE_2BMLZ = 500.0;
+static constexpr double RANGE_3BMLZ = 2000.0;
+
+enum RangMdlBitfield {
+  RANGE_125_1BMLZ = 0b00,
+  RANGE_500_2BMLZ = 0b01,
+  RESERVED = 0b10,
+  RANGE_2000_3BMLZ = 0b11
+};
+
 static constexpr uint32_t ACCELEROMETER_RANGE_16507 = 392;
 static constexpr float ACCELEROMETER_RANGE_16505 = 78.4;
 
@@ -33,6 +45,7 @@ static constexpr dur_millis_t SELF_TEST_BREAK = 24;
 
 static constexpr uint8_t DIAG_STAT_REG = 0x02;
 static constexpr uint8_t FILTER_CTRL_REG = 0x5c;
+static constexpr uint8_t RANG_MDL_REG = 0x5e;
 static constexpr uint8_t MSC_CTRL_REG = 0x60;
 static constexpr uint8_t DEC_RATE_REG = 0x64;
 static constexpr uint8_t GLOB_CMD = 0x68;
@@ -54,7 +67,7 @@ static constexpr uint16_t BURST_SEL_BIT = 1 << 8;
 static constexpr uint16_t LIN_ACCEL_COMPENSATION_BIT = 1 << 7;
 static constexpr uint16_t POINT_PERCUSSION_COMPENSATION_BIT = 1 << 6;
 
-static constexpr size_t CONFIG_READOUT_SIZE = 10 + 2;
+static constexpr size_t CONFIG_READOUT_SIZE = 12 + 2;
 static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
 
 static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
@@ -78,6 +91,7 @@ enum PrimaryPoolIds : lp_id_t {
   TEMPERATURE,
   DIAG_STAT_REGISTER,
   FILTER_SETTINGS,
+  RANG_MDL,
   MSC_CTRL_REGISTER,
   DEC_RATE_REGISTER,
 };
@@ -130,6 +144,7 @@ class AdisGyroConfigDataset : public StaticLocalDataSet<5> {
 
   lp_var_t<uint16_t> diagStatReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DIAG_STAT_REGISTER);
   lp_var_t<uint8_t> filterSetting = lp_var_t<uint8_t>(sid.objectId, ADIS1650X::FILTER_SETTINGS);
+  lp_var_t<uint16_t> rangMdl = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::RANG_MDL);
   lp_var_t<uint16_t> mscCtrlReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::MSC_CTRL_REGISTER);
   lp_var_t<uint16_t> decRateReg = lp_var_t<uint16_t>(sid.objectId, ADIS1650X::DEC_RATE_REGISTER);