eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 121 Wiki Activity

merged develop

Browse Source
This commit is contained in:
Jakob Meier
2021-12-19 12:15:18 +01:00
parent 8694a20c63
commit e3841d180e
15 changed files with 142 additions and 73 deletions
Download Patch File Download Diff File Expand all files Collapse all files

22
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -185,7 +185,7 @@ void GyroADIS1650XHandler::fillCommandAndReplyMap() {
ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
/* For SPI, the ID will always be the one of the last sent command. */
// For SPI, the ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
@ -196,18 +196,19 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch(id) {
case(ADIS1650X::READ_OUT_CONFIG): {
PoolReadGuard rg(&configDataset);
uint16_t readProdId = packet[10] << 8 | packet[11];
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
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
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];
@ -232,21 +233,20 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
switch(burstMode) {
case(BurstModes::BURST_16_BURST_SEL_1):
case(BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case(BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
/* Now verify the read checksum with the expected checksum
according to datasheet p. 20 */
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for(size_t idx = 2; idx < 20; idx ++) {
calcChecksum += packet[idx];
}
if(checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
"Invalid checksum detected!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -277,7 +277,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
} else if(adisType == ADIS1650X::Type::ADIS16505) {
accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "GyroADIS16507Handler::handleSensorData: "
sif::warning << "GyroADIS1650XHandler::handleSensorData: "
"Unknown ADIS type" << std::endl;
}
int16_t accelXRaw = packet[10] << 8 | packet[11];
@ -298,11 +298,11 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
sif::info << "X: " << primaryDataset.accelX.value << std::endl;
sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
@ -319,7 +319,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
}
uint32_t GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
return 5000;
return 10000;
}
void GyroADIS1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,

6
mission/devices/GyroADIS1650XHandler.h
View File

@ -8,7 +8,7 @@
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
class SpiComIF;
class SpiCookie;
#endif
@ -24,7 +24,7 @@ public:
GyroADIS1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie, ADIS1650X::Type type);
/* DeviceHandlerBase abstract function implementation */
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@ -66,7 +66,7 @@ private:
BurstModes getBurstMode();
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#if OBSW_ADIS1650X_LINUX_COM_IF == 1
static ReturnValue_t spiSendCallback(SpiComIF* comIf, SpiCookie *cookie,
const uint8_t *sendData, size_t sendLen, void* args);
#endif

70
mission/devices/Max31865PT1000Handler.cpp
View File

@ -7,10 +7,10 @@
Max31865PT1000Handler::Max31865PT1000Handler(object_id_t objectId, object_id_t comIF,
CookieIF *comCookie):
DeviceHandlerBase(objectId, comIF, comCookie), sensorDataset(this),
sensorDatasetSid(sensorDataset.getSid()) {
DeviceHandlerBase(objectId, comIF, comCookie),
sensorDataset(this), sensorDatasetSid(sensorDataset.getSid()) {
#if OBSW_VERBOSE_LEVEL >= 1
debugDivider = new PeriodicOperationDivider(0);
debugDivider = new PeriodicOperationDivider(10);
#endif
}
@ -68,12 +68,21 @@ void Max31865PT1000Handler::doStartUp() {
if(internalState == InternalState::REQUEST_LOW_THRESHOLD) {
if(commandExecuted) {
setMode(MODE_ON);
setMode(MODE_NORMAL);
internalState = InternalState::RUNNING;
internalState = InternalState::CLEAR_FAULT_BYTE;
commandExecuted = false;
}
}
if(internalState == InternalState::CLEAR_FAULT_BYTE) {
if(commandExecuted) {
commandExecuted = false;
internalState = InternalState::RUNNING;
if(instantNormal) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
}
}
}
void Max31865PT1000Handler::doShutDown() {
@ -91,6 +100,10 @@ ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(
*id = Max31865Definitions::REQUEST_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
*id = Max31865Definitions::CLEAR_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
else {
return DeviceHandlerBase::NOTHING_TO_SEND;
}
@ -128,6 +141,10 @@ ReturnValue_t Max31865PT1000Handler::buildTransitionDeviceCommand(
*id = Max31865Definitions::REQUEST_LOW_THRESHOLD;
return buildCommandFromCommand(*id, nullptr, 0);
}
case(InternalState::CLEAR_FAULT_BYTE): {
*id = Max31865Definitions::CLEAR_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
@ -155,6 +172,13 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
return DeviceHandlerIF::NO_COMMAND_DATA;
}
}
case(Max31865Definitions::CLEAR_FAULT_BYTE): {
commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
commandBuffer[1] = Max31865Definitions::CLEAR_FAULT_BIT_VAL;
DeviceHandlerBase::rawPacketLen = 2;
DeviceHandlerBase::rawPacket = commandBuffer.data();
return HasReturnvaluesIF::RETURN_OK;
}
case(Max31865Definitions::REQUEST_CONFIG): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::REQUEST_CONFIG);
@ -233,6 +257,7 @@ void Max31865PT1000Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
&sensorDataset);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
insertInCommandAndReplyMap(Max31865Definitions::CLEAR_FAULT_BYTE, 3);
}
ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
@ -290,6 +315,15 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
*foundLen = 2;
internalState = InternalState::RUNNING;
}
else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
*foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
*foundLen = 2;
if(mode == _MODE_START_UP) {
commandExecuted = true;
} else {
internalState = InternalState::RUNNING;
}
}
else {
*foundId = Max31865Definitions::REQUEST_CONFIG;
*foundLen = configReplySize;
@ -306,10 +340,11 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
if(packet[1] != DEFAULT_CONFIG) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
// it propably would be better if we at least try one restart..
sif::error << "Max31865PT1000Handler: Object ID: " << std::hex << this->getObjectId()
<< ": Invalid configuration reply!" << std::endl;
sif::error << "Max31865PT1000Handler: 0x" << std::hex << this->getObjectId()
<< ": Invalid configuration reply" << std::endl;
#else
sif::printError("Max31865PT1000Handler: Invalid configuration reply!\n");
sif::printError("Max31865PT1000Handler: %04x: Invalid configuration reply!\n",
this->getObjectId());
#endif
return HasReturnvaluesIF::RETURN_OK;
}
@ -360,9 +395,14 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
case(Max31865Definitions::REQUEST_RTD): {
// first bit of LSB reply byte is the fault bit
uint8_t faultBit = packet[2] & 0b0000'0001;
if(faultBit == 1) {
if(resetFaultBit) {
internalState = InternalState::CLEAR_FAULT_BYTE;
resetFaultBit = false;
}
else if(faultBit == 1) {
// Maybe we should attempt to restart it?
internalState = InternalState::REQUEST_FAULT_BYTE;
resetFaultBit = true;
}
// RTD value consists of last seven bits of the LSB reply byte and
@ -495,6 +535,12 @@ ReturnValue_t Max31865PT1000Handler::initializeLocalDataPool(localpool::DataPool
return HasReturnvaluesIF::RETURN_OK;
}
void Max31865PT1000Handler::modeChanged() {
internalState = InternalState::NONE;
void Max31865PT1000Handler::setInstantNormal(bool instantNormal) {
this->instantNormal = instantNormal;
}
void Max31865PT1000Handler::modeChanged() {
if(mode == MODE_OFF) {
internalState = InternalState::NONE;
}
}

8
mission/devices/Max31865PT1000Handler.h
View File

@ -45,6 +45,7 @@ public:
// 8. 1 for 50 Hz filter, 0 for 60 Hz filter (noise rejection filter)
static constexpr uint8_t DEFAULT_CONFIG = 0b11000001;
void setInstantNormal(bool instantNormal);
/**
* Expected temperature range is -100 C and 100 C.
* If there are temperatures beyond this range there must be a fault.
@ -59,7 +60,7 @@ public:
static constexpr float RTD_RREF_PT1000 = 4020.0; //!< Ohm
static constexpr float RTD_RESISTANCE0_PT1000 = 1000.0; //!< Ohm
protected:
/* DeviceHandlerBase abstract function implementation */
// DeviceHandlerBase abstract function implementation
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override;
@ -85,6 +86,7 @@ protected:
private:
uint8_t switchId = 0;
bool instantNormal = true;
enum class InternalState {
NONE,
@ -96,12 +98,14 @@ private:
REQUEST_LOW_THRESHOLD,
REQUEST_CONFIG,
RUNNING,
REQUEST_FAULT_BYTE
REQUEST_FAULT_BYTE,
CLEAR_FAULT_BYTE
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
bool resetFaultBit = false;
dur_millis_t startTime = 0;
uint8_t faultByte = 0;
std::array<uint8_t, 3> commandBuffer { 0 };

4
mission/devices/devicedefinitions/Max31865Definitions.h
View File

@ -17,13 +17,17 @@ enum PoolIds: lp_id_t {
static constexpr DeviceCommandId_t CONFIG_CMD = 0x80;
static constexpr DeviceCommandId_t WRITE_HIGH_THRESHOLD = 0x83;
static constexpr DeviceCommandId_t WRITE_LOW_THRESHOLD = 0x85;
static constexpr DeviceCommandId_t REQUEST_CONFIG = 0x00;
static constexpr DeviceCommandId_t REQUEST_RTD = 0x01;
static constexpr DeviceCommandId_t REQUEST_HIGH_THRESHOLD = 0x03;
static constexpr DeviceCommandId_t REQUEST_LOW_THRESHOLD = 0x05;
static constexpr DeviceCommandId_t REQUEST_FAULT_BYTE = 0x07;
static constexpr DeviceCommandId_t CLEAR_FAULT_BYTE = 0x08;
static constexpr uint32_t MAX31865_SET_ID = REQUEST_RTD;
static constexpr uint8_t CLEAR_FAULT_BIT_VAL = 0b0000'0010;
static constexpr size_t MAX_REPLY_SIZE = 5;