deleted polling sequence file
This commit is contained in:
Martin Zietz
commit
f01656df4c
@ -141,7 +141,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
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1. Install the TCF agent plugin in Eclipse from the [releases](https://www.eclipse.org/tcf/downloads.php). Go to Help → Install New Software and use the download page, for example https://download.eclipse.org/tools/tcf/releases/1.6/1.6.2/ to search for the plugin and install it.
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2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**.
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Here, the Q7S should show up if the local port forwarding was set up as explained previously.
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Here, the Q7S should show up if the local port forwarding was set up as explained previously. Please note that you have to connect to `localhost` and port `1534` with port forwaring set up.
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3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
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@ -244,7 +244,7 @@ To launch application from Xilinx SDK setup port fowarding on the development ma
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(not on the flatsat!)
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```sh
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ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
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ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
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```
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This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.
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@ -3,8 +3,8 @@
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const char* const SW_NAME = "eive";
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#define SW_VERSION 0
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#define SW_SUBVERSION 2
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#define SW_VERSION 1
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#define SW_SUBVERSION 0
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#define SW_SUBSUBVERSION 0
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@ -11,8 +11,7 @@
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
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#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
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#include <iostream>
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/* This is configured for linux without CR */
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@ -70,6 +69,7 @@ void initmission::initTasks() {
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initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
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}
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/* UDP bridge */
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PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
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"UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
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result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
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@ -8,7 +8,10 @@
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#include <bsp_q7s/devices/HeaterHandler.h>
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#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
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<<<<<<< HEAD
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#include <bsp_q7s/gpio/gpioCallbacks.h>
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=======
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>>>>>>> develop
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#include <mission/core/GenericFactory.h>
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#include <mission/devices/PDU1Handler.h>
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@ -17,10 +20,13 @@
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#include <mission/devices/PCDUHandler.h>
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#include <mission/devices/P60DockHandler.h>
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#include <mission/devices/Tmp1075Handler.h>
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<<<<<<< HEAD
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#include <mission/devices/Max31865PT1000Handler.h>
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#include <mission/devices/devicedefinitions/Max31865Definitions.h>
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#include <mission/devices/SyrlinksHkHandler.h>
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=======
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>>>>>>> develop
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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/SyrlinksDefinitions.h>
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@ -44,6 +50,13 @@
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#if TEST_LIBGPIOD == 1
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#include <linux/boardtest/LibgpiodTest.h>
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#endif
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@ -114,11 +127,18 @@ void ObjectFactory::produce(){
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* Setting PCDU devices to mode normal immediately after start up because PCDU is always
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* running.
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*/
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<<<<<<< HEAD
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/** For now this needs to be commented out because there is no PCDU connected to the OBC */
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// p60dockhandler->setModeNormal();
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// pdu1handler->setModeNormal();
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// pdu2handler->setModeNormal();
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// acuhandler->setModeNormal();
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=======
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//p60dockhandler->setModeNormal();
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//pdu1handler->setModeNormal();
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//pdu2handler->setModeNormal();
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//acuhandler->setModeNormal();
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>>>>>>> develop
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#endif
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/* Temperature sensors */
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Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
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@ -201,8 +201,8 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(heaterMapIter->second.replyQueue, heaterMapIter->second.action,
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MAIN_SWITCH_SET_TIMEOUT );
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
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}
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return;
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}
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@ -229,9 +229,16 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
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/* There is no need to send action finish replies if the sender was the
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* HeaterHandler itself. */
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(heaterMapIter->second.replyQueue,
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if(result == RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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heaterMapIter->second.waitMainSwitchOn = false;
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}
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@ -250,7 +257,7 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
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sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
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<< " main line switch" << std::endl;
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if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
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actionHelper.finish(heaterMapIter->second.replyQueue,
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, mainSwitchState);
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}
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heaterMapIter->second.active = false;
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@ -282,9 +289,16 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
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triggerEvent(SWITCH_ALREADY_OFF, switchNr);
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}
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if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
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actionHelper.finish(heaterMapIter->second.replyQueue,
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/* Report back switch command reply if necessary */
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if(result == HasReturnvaluesIF::RETURN_OK) {
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actionHelper.finish(true, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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else {
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actionHelper.finish(false, heaterMapIter->second.replyQueue,
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heaterMapIter->second.action, result);
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}
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}
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heaterMapIter->second.active = false;
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}
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@ -108,7 +108,7 @@ void SolarArrayDeploymentHandler::performWaitOn8VActions() {
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} else {
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if (mainSwitchCountdown.hasTimedOut()) {
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triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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MAIN_SWITCH_TIMEOUT_FAILURE);
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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}
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@ -125,7 +125,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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* the deployment sequence. */
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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@ -135,7 +135,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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" array deployment switch 2 high " << std::endl;
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stateMachine = WAIT_ON_DELOYMENT_COMMAND;
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triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
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SWITCHING_DEPL_SA2_FAILED);
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mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
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}
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@ -146,7 +146,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
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void SolarArrayDeploymentHandler::handleDeploymentFinish() {
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ReturnValue_t result = RETURN_OK;
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if (deploymentCountdown.hasTimedOut()) {
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actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
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result = gpioInterface->pullLow(deplSA1);
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if (result != RETURN_OK) {
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sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"
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@ -3,8 +3,11 @@
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/OBSWConfig.h>
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<<<<<<< HEAD
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#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
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=======
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>>>>>>> develop
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#include <mission/utility/InitMission.h>
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#include <fsfw/objectmanager/ObjectManagerIF.h>
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@ -14,6 +17,10 @@
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#include <fsfw/tasks/FixedTimeslotTaskIF.h>
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#include <fsfw/tasks/PeriodicTaskIF.h>
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#include <fsfw/tasks/TaskFactory.h>
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<<<<<<< HEAD
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=======
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#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
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>>>>>>> develop
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#include <iostream>
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@ -117,6 +124,8 @@ void initmission::initTasks() {
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result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
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<<<<<<< HEAD
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=======
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}
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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@ -126,6 +135,24 @@ void initmission::initTasks() {
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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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#if RPI_TEST_ACS_BOARD == 1
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FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
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"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
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result = pst::pollingSequenceAcsTest(acsTask);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;
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>>>>>>> develop
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}
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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<<<<<<< HEAD
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PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
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"PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
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result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
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}
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#if RPI_TEST_ACS_BOARD == 1
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FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
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"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
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@ -161,6 +188,34 @@ void initmission::initTasks() {
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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=======
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PeriodicTaskIF* testTask = factory->createPeriodicTask(
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"TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
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#if OBSW_ADD_TEST_CODE == 1
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result = testTask->addComponent(objects::TEST_TASK);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
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}
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#endif /* OBSW_ADD_TEST_CODE == 1 */
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#if RPI_ADD_SPI_TEST == 1
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result = testTask->addComponent(objects::SPI_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
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}
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#endif /* RPI_ADD_SPI_TEST == 1 */
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#if RPI_ADD_GPIO_TEST == 1
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result = testTask->addComponent(objects::LIBGPIOD_TEST);
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if(result != HasReturnvaluesIF::RETURN_OK) {
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initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
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}
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#endif /* RPI_ADD_GPIO_TEST == 1 */
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sif::info << "Starting tasks.." << std::endl;
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tmTcDistributor->startTask();
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udpBridgeTask->startTask();
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udpPollingTask->startTask();
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>>>>>>> develop
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pusVerification->startTask();
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pusEvents->startTask();
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pusHighPrio->startTask();
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@ -1,5 +1,6 @@
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#include "ObjectFactory.h"
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#include <bsp_rpi/gpio/GPIORPi.h>
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<<<<<<< HEAD
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#include <objects/systemObjectList.h>
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#include <devices/addresses.h>
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@ -19,6 +20,29 @@
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#include <mission/utility/TmFunnel.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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=======
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#include <fsfwconfig/objects/systemObjectList.h>
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#include <fsfwconfig/devices/addresses.h>
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#include <fsfwconfig/devices/gpioIds.h>
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#include <fsfwconfig/OBSWConfig.h>
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#include <fsfwconfig/tmtc/apid.h>
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#include <fsfwconfig/tmtc/pusIds.h>
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#include <fsfwconfig/devices/spi.h>
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#include <linux/boardtest/LibgpiodTest.h>
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#include <linux/boardtest/SpiTestClass.h>
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#include <linux/gpio/GpioCookie.h>
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#include <linux/gpio/LinuxLibgpioIF.h>
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#include <linux/spi/SpiCookie.h>
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#include <linux/spi/SpiComIF.h>
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#include <mission/core/GenericFactory.h>
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#include <mission/utility/TmFunnel.h>
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#include <mission/devices/MGMHandlerLIS3MDL.h>
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#include <mission/devices/MGMHandlerRM3100.h>
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>>>>>>> develop
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#include <fsfw/datapoollocal/LocalDataPoolManager.h>
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#include <fsfw/tmtcservices/CommandingServiceBase.h>
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#include <fsfw/tmtcservices/PusServiceBase.h>
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@ -26,7 +50,12 @@
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#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
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#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
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#include <fsfw/tasks/TaskFactory.h>
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<<<<<<< HEAD
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#include <linux/spi/SpiComIF.h>
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=======
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#include <mission/devices/GyroL3GD20Handler.h>
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>>>>>>> develop
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void Factory::setStaticFrameworkObjectIds() {
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PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
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@ -96,12 +125,34 @@ void ObjectFactory::produce(){
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gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
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"GYRO_2_L3G", gpio::Direction::OUT, 1);
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gpioIF->addGpios(gpioCookieAcsBoard);
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<<<<<<< HEAD
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
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gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
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auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmHandler->setStartUpImmediately();
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=======
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std::string spiDev = "/dev/spidev0.0";
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SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
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MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
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auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmLis3Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
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RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
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auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
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objects::SPI_COM_IF, spiCookie);
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mgmRm3100Handler->setStartUpImmediately();
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spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
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L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
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auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
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spiCookie);
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gyroL3gHandler->setStartUpImmediately();
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>>>>>>> develop
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#endif /* RPI_TEST_ACS_BOARD == 1 */
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}
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@ -8,7 +8,7 @@
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/* Only one of those 2 should be enabled! */
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||||
#define RPI_ADD_SPI_TEST 0
|
||||
#define RPI_TEST_ACS_BOARD 1
|
||||
#define RPI_TEST_ACS_BOARD 0
|
||||
|
||||
/* Adapt these values accordingly */
|
||||
namespace gpio {
|
||||
|
||||
@ -16,7 +16,7 @@ fi
|
||||
|
||||
build_generator=""
|
||||
os_fsfw="host"
|
||||
build_dir="Debug-Release"
|
||||
build_dir="Release-Host"
|
||||
if [ "${OS}" = "Windows_NT" ]; then
|
||||
build_generator="MinGW Makefiles"
|
||||
# Could be other OS but this works for now.
|
||||
|
||||
@ -16,5 +16,10 @@ fi
|
||||
|
||||
build_generator="Unix Makefiles"
|
||||
os_fsfw="linux"
|
||||
builddir="Debug-Linux"
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug"
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
|
||||
# Use this if commands are added which should not be printed
|
||||
# set +x
|
||||
|
||||
@ -16,5 +16,10 @@ fi
|
||||
|
||||
build_generator="Unix Makefiles"
|
||||
os_fsfw="linux"
|
||||
builddir="Release-Linux"
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "release"
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
|
||||
# Use this if commands are added which should not be printed
|
||||
# set +x
|
||||
|
||||
@ -16,5 +16,10 @@ fi
|
||||
|
||||
build_generator="Unix Makefiles"
|
||||
os_fsfw="linux"
|
||||
builddir="RelWithDeb-Linux"
|
||||
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "reldeb"
|
||||
echo "Running command (without the leading +):"
|
||||
set -x # Print command
|
||||
python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -l "${builddir}"
|
||||
# Use this if commands are added which should not be printed
|
||||
# set +x
|
||||
|
||||
0
cmake/scripts/Q7S/create_cmake_debug_cfg.sh
Normal file → Executable file
0
cmake/scripts/Q7S/create_cmake_debug_cfg.sh
Normal file → Executable file
0
cmake/scripts/Q7S/create_cmake_release_cfg.sh
Normal file → Executable file
0
cmake/scripts/Q7S/create_cmake_release_cfg.sh
Normal file → Executable file
0
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh
Normal file → Executable file
0
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_debug_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_debug_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_release_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_release_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_size_cfg.sh
Normal file → Executable file
0
cmake/scripts/RPi/create_cmake_size_cfg.sh
Normal file → Executable file
2
fsfw
2
fsfw
@ -1 +1 @@
|
||||
Subproject commit e994d81e1862fade52b090311b3978fb59061966
|
||||
Subproject commit 83d0db824289b28dbad81cce0c80276c4fc839c8
|
||||
@ -1,6 +1,6 @@
|
||||
target_sources(${TARGET_NAME} PRIVATE
|
||||
ipc/MissionMessageTypes.cpp
|
||||
pollingsequence/PollingSequenceFactory.cpp
|
||||
pollingsequence/pollingSequenceFactory.cpp
|
||||
)
|
||||
|
||||
target_include_directories(${TARGET_NAME} PUBLIC
|
||||
|
||||
@ -25,10 +25,15 @@ debugging. */
|
||||
#define PDU1_DEBUG 0
|
||||
#define PDU2_DEBUG 0
|
||||
#define ACU_DEBUG 0
|
||||
#define SYRLINKS_DEBUG 1
|
||||
#define SYRLINKS_DEBUG 0
|
||||
|
||||
#include "OBSWVersion.h"
|
||||
|
||||
/* Can be used to switch device to NORMAL mode immediately */
|
||||
#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1
|
||||
/* Can be used for low-level debugging of the SPI bus */
|
||||
#define FSFW_LINUX_SPI_WIRETAPPING 0
|
||||
|
||||
#ifdef __cplusplus
|
||||
|
||||
#include "objects/systemObjectList.h"
|
||||
|
||||
27
fsfwconfig/devices/spi.h
Normal file
27
fsfwconfig/devices/spi.h
Normal file
@ -0,0 +1,27 @@
|
||||
#ifndef FSFWCONFIG_DEVICES_SPI_H_
|
||||
#define FSFWCONFIG_DEVICES_SPI_H_
|
||||
|
||||
#include <cstdint>
|
||||
#include <linux/spi/spiDefinitions.h>
|
||||
|
||||
/**
|
||||
* SPI configuration will be contained here to let the device handlers remain independent
|
||||
* of SPI specific properties.
|
||||
*/
|
||||
namespace spi {
|
||||
|
||||
/* Default values, changing them is not supported for now */
|
||||
static constexpr uint32_t DEFAULT_LIS3_SPEED = 3'900'000;
|
||||
static constexpr spi::SpiModes DEFAULT_LIS3_MODE = spi::SpiModes::MODE_3;
|
||||
|
||||
static constexpr uint32_t DEFAULT_RM3100_SPEED = 976'000;
|
||||
static constexpr spi::SpiModes DEFAULT_RM3100_MODE = spi::SpiModes::MODE_3;
|
||||
|
||||
static constexpr uint32_t DEFAULT_L3G_SPEED = 3'900'000;
|
||||
static constexpr spi::SpiModes DEFAULT_L3G_MODE = spi::SpiModes::MODE_3;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
#endif /* FSFWCONFIG_DEVICES_SPI_H_ */
|
||||
@ -43,6 +43,13 @@ namespace objects {
|
||||
ACU_HANDLER = 0x44000004,
|
||||
TMP1075_HANDLER_1 = 0x44000005,
|
||||
TMP1075_HANDLER_2 = 0x44000006,
|
||||
MGM_0_LIS3_HANDLER = 0x4400007,
|
||||
MGM_1_RM3100_HANDLER = 0x44000008,
|
||||
MGM_2_LIS3_HANDLER = 0x44000009,
|
||||
MGM_3_RM3100_HANDLER = 0x44000010,
|
||||
GYRO_0_ADIS_HANDLER = 0x44000011,
|
||||
GYRO_1_L3G_HANDLER = 0x44000012,
|
||||
GYRO_2_L3G_HANDLER = 0x44000013,
|
||||
|
||||
MGM_0_LIS3_HANDLER = 0x4400007,
|
||||
MGM_1_RM3100_HANDLER = 0x44000008,
|
||||
@ -55,7 +62,10 @@ namespace objects {
|
||||
/* Custom device handler */
|
||||
PCDU_HANDLER = 0x44001000,
|
||||
SOLAR_ARRAY_DEPL_HANDLER = 0x44001001,
|
||||
<<<<<<< HEAD
|
||||
SYRLINKS_HK_HANDLER = 0x44000009,
|
||||
=======
|
||||
>>>>>>> develop
|
||||
|
||||
/* 0x54 ('T') for thermal objects */
|
||||
HEATER_HANDLER = 0x54000003,
|
||||
|
||||
@ -1,123 +0,0 @@
|
||||
#include <fsfw/objectmanager/ObjectManagerIF.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
|
||||
#include <fsfwconfig/objects/systemObjectList.h>
|
||||
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
|
||||
|
||||
ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
|
||||
{
|
||||
/* Length of a communication cycle */
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
sif::error << "PollingSequence::initialize has errors!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
|
||||
ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||
length * 0, DeviceHandlerIF::PERFORM_OPERATION);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||
length * 0.2, DeviceHandlerIF::SEND_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||
length * 0.4, DeviceHandlerIF::GET_WRITE);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||
length * 0.6, DeviceHandlerIF::SEND_READ);
|
||||
|
||||
thisSequence->addSlot(objects::P60DOCK_HANDLER,
|
||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::PDU1_HANDLER,
|
||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::PDU2_HANDLER,
|
||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
thisSequence->addSlot(objects::ACU_HANDLER,
|
||||
length * 0.8, DeviceHandlerIF::GET_READ);
|
||||
|
||||
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Initialization of GomSpace PST failed" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
|
||||
uint32_t length = thisSequence->getPeriodMs();
|
||||
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
|
||||
DeviceHandlerIF::PERFORM_OPERATION);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
|
||||
DeviceHandlerIF::SEND_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.4,
|
||||
DeviceHandlerIF::GET_WRITE);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
|
||||
DeviceHandlerIF::SEND_READ);
|
||||
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
|
||||
DeviceHandlerIF::GET_READ);
|
||||
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
|
||||
sif::error << "Initialization of ACS Board PST failed" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_FAILED;
|
||||
}
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
@ -1,5 +1,6 @@
|
||||
#ifndef POLLINGSEQUENCEFACTORY_H_
|
||||
#define POLLINGSEQUENCEFACTORY_H_
|
||||
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
|
||||
class FixedTimeslotTaskIF;
|
||||
@ -1,14 +1,19 @@
|
||||
#include "SpiTestClass.h"
|
||||
|
||||
#include <fsfwconfig/devices/gpioIds.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <fcntl.h>
|
||||
#include <fsfw/serviceinterface/ServiceInterface.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
#include <fsfw/tasks/TaskFactory.h>
|
||||
#include <fsfw/timemanager/Stopwatch.h>
|
||||
|
||||
#include <linux/gpio/gpioDefinitions.h>
|
||||
#include <linux/gpio/GpioCookie.h>
|
||||
#include <linux/utility/Utility.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
#include <fcntl.h>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <bitset>
|
||||
@ -19,7 +24,7 @@ SpiTestClass::SpiTestClass(object_id_t objectId, GpioIF* gpioIF): TestTask(objec
|
||||
if(gpioIF == nullptr) {
|
||||
sif::error << "SpiTestClass::SpiTestClass: Invalid GPIO ComIF!" << std::endl;
|
||||
}
|
||||
testMode = TestModes::MGM_LIS3MDL;
|
||||
testMode = TestModes::GYRO_L3GD20H;
|
||||
spiTransferStruct.rx_buf = reinterpret_cast<__u64>(recvBuffer.data());
|
||||
spiTransferStruct.tx_buf = reinterpret_cast<__u64>(sendBuffer.data());
|
||||
}
|
||||
@ -38,6 +43,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
|
||||
break;
|
||||
}
|
||||
case(TestModes::GYRO_L3GD20H): {
|
||||
performL3gTest(gyro1L3gd20ChipSelect);
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -64,10 +70,10 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
|
||||
else {
|
||||
currentGpioId = gpioIds::MGM_3_RM3100_CS;
|
||||
}
|
||||
uint32_t rm3100speed = 3'900'000;
|
||||
uint32_t rm3100speed = 976'000;
|
||||
uint8_t rm3100revidReg = 0x36;
|
||||
spi::SpiMode rm3100mode = spi::SpiMode::MODE_3;
|
||||
//spiTransferStruct.speed_hz = rm3100Speed;
|
||||
spi::SpiModes rm3100mode = spi::SpiModes::MODE_3;
|
||||
|
||||
#ifdef RASPBERRY_PI
|
||||
std::string deviceName = "/dev/spidev0.0";
|
||||
#else
|
||||
@ -85,9 +91,67 @@ void SpiTestClass::performRm3100Test(uint8_t mgmId) {
|
||||
}
|
||||
setSpiSpeedAndMode(fileDescriptor, rm3100mode, rm3100speed);
|
||||
|
||||
uint8_t revId = readStmRegister(fileDescriptor, currentGpioId, rm3100revidReg, false);
|
||||
uint8_t revId = readRegister(fileDescriptor, currentGpioId, rm3100revidReg);
|
||||
sif::info << "SpiTestClass::performRm3100Test: Revision ID 0b" << std::bitset<8>(revId) <<
|
||||
std::endl;
|
||||
|
||||
/* Write configuration to CMM register */
|
||||
writeRegister(fileDescriptor, currentGpioId, 0x01, 0x75);
|
||||
uint8_t cmmRegister = readRm3100Register(fileDescriptor , currentGpioId, 0x01);
|
||||
sif::info << "SpiTestClass::performRm3100Test: CMM register value: " <<
|
||||
std::hex << "0x" << static_cast<int>(cmmRegister) << std::dec << std::endl;
|
||||
|
||||
/* Read the cycle count registers */
|
||||
uint8_t cycleCountsRaw[6];
|
||||
readMultipleRegisters(fileDescriptor, currentGpioId, 0x04, cycleCountsRaw, 6);
|
||||
|
||||
uint16_t cycleCountX = cycleCountsRaw[0] << 8 | cycleCountsRaw[1];
|
||||
uint16_t cycleCountY = cycleCountsRaw[2] << 8 | cycleCountsRaw[3];
|
||||
uint16_t cycleCountZ = cycleCountsRaw[4] << 8 | cycleCountsRaw[5];
|
||||
|
||||
sif::info << "Cycle count X: " << cycleCountX << std::endl;
|
||||
sif::info << "Cycle count Y: " << cycleCountY << std::endl;
|
||||
sif::info << "Cycle count z: " << cycleCountZ << std::endl;
|
||||
|
||||
writeRegister(fileDescriptor, currentGpioId, 0x0B, 0x95);
|
||||
uint8_t tmrcReg = readRm3100Register(fileDescriptor, currentGpioId, 0x0B);
|
||||
sif::info << "SpiTestClass::performRm3100Test: TMRC register value: " <<
|
||||
std::hex << "0x" << static_cast<int>(tmrcReg) << std::dec << std::endl;
|
||||
|
||||
TaskFactory::delayTask(10);
|
||||
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
|
||||
sif::info << "SpiTestClass::performRm3100Test: Status Register 0b" <<
|
||||
std::bitset<8>(statusReg) << std::endl;
|
||||
/* This means that data is not ready */
|
||||
if((statusReg & 0b1000'0000) == 0) {
|
||||
sif::warning << "SpiTestClass::performRm3100Test: Data not ready!" << std::endl;
|
||||
TaskFactory::delayTask(10);
|
||||
uint8_t statusReg = readRm3100Register(fileDescriptor, currentGpioId, 0x34);
|
||||
if((statusReg & 0b1000'0000) == 0) {
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
uint32_t rm3100DefaultCycleCout = 0xC8;
|
||||
/* Gain scales lineary with cycle count and is 38 for cycle count 100 */
|
||||
float rm3100Gain = rm3100DefaultCycleCout / 100.0 * 38.0;
|
||||
float scaleFactor = 1 / rm3100Gain;
|
||||
uint8_t rawValues[9];
|
||||
readMultipleRegisters(fileDescriptor, currentGpioId, 0x24, rawValues, 9);
|
||||
|
||||
/* The sensor generates 24 bit signed values */
|
||||
int32_t rawX = ((rawValues[0] << 24) | (rawValues[1] << 16) | (rawValues[2] << 8)) >> 8;
|
||||
int32_t rawY = ((rawValues[3] << 24) | (rawValues[4] << 16) | (rawValues[5] << 8)) >> 8;
|
||||
int32_t rawZ = ((rawValues[6] << 24) | (rawValues[7] << 16) | (rawValues[8] << 8)) >> 8;
|
||||
|
||||
float fieldStrengthX = rawX * scaleFactor;
|
||||
float fieldStrengthY = rawY * scaleFactor;
|
||||
float fieldStrengthZ = rawZ * scaleFactor;
|
||||
|
||||
sif::info << "RM3100 measured field strenghts in microtesla:" << std::endl;
|
||||
sif::info << "Field Strength X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Field Strength Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Field Strength Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
|
||||
void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
||||
@ -108,7 +172,7 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
||||
currentGpioId = gpioIds::MGM_2_LIS3_CS;
|
||||
}
|
||||
uint32_t spiSpeed = 3'900'000;
|
||||
spi::SpiMode spiMode = spi::SpiMode::MODE_3;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
|
||||
#ifdef RASPBERRY_PI
|
||||
std::string deviceName = "/dev/spidev0.0";
|
||||
#else
|
||||
@ -126,77 +190,152 @@ void SpiTestClass::performLis3MdlTest(uint8_t lis3Id) {
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
|
||||
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
|
||||
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I Regiter 0b" <<
|
||||
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
|
||||
std::bitset<8>(whoAmIRegVal) << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpiTestClass::performL3gTest(uint8_t l3gId) {
|
||||
/* Configure all SPI chip selects and pull them high */
|
||||
acsInit();
|
||||
|
||||
l3gId = gyro2L3gd20ChipSelect;
|
||||
|
||||
/* Adapt accordingly */
|
||||
if(l3gId != gyro1L3gd20ChipSelect and l3gId != gyro2L3gd20ChipSelect) {
|
||||
sif::warning << "SpiTestClass::performLis3MdlTest: Invalid MGM ID!" << std::endl;
|
||||
}
|
||||
gpioId_t currentGpioId = 0;
|
||||
uint8_t chipSelectPin = l3gId;
|
||||
uint8_t whoAmIReg = 0b0000'1111;
|
||||
uint8_t whoAmIRegExpectedVal = 0b1101'0111;
|
||||
|
||||
if(chipSelectPin == gyro1L3gd20ChipSelect) {
|
||||
currentGpioId = gpioIds::GYRO_1_L3G_CS;
|
||||
}
|
||||
else {
|
||||
currentGpioId = gpioIds::GYRO_2_L3G_CS;
|
||||
}
|
||||
uint32_t spiSpeed = 3'900'000;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_3;
|
||||
#ifdef RASPBERRY_PI
|
||||
std::string deviceName = "/dev/spidev0.0";
|
||||
#else
|
||||
std::string deviceName = "placeholder";
|
||||
#endif
|
||||
int fileDescriptor = 0;
|
||||
|
||||
utility::UnixFileHelper fileHelper(deviceName, &fileDescriptor, O_RDWR,
|
||||
"SpiComIF::initializeInterface: ");
|
||||
if(fileHelper.getOpenResult()) {
|
||||
sif::error << "SpiTestClass::performLis3Mdl3100Test: File descriptor could not be opened!"
|
||||
<< std::endl;
|
||||
return;
|
||||
}
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
uint8_t whoAmIRegVal = readStmRegister(fileDescriptor, currentGpioId, whoAmIReg, false);
|
||||
sif::info << "SpiTestClass::performLis3MdlTest: WHO AM I register 0b" <<
|
||||
std::bitset<8>(whoAmIRegVal) << std::endl;
|
||||
if(whoAmIRegVal != whoAmIRegExpectedVal) {
|
||||
sif::warning << "SpiTestClass::performL3gTest: Read WHO AM I register invalid!" <<
|
||||
std::endl;
|
||||
}
|
||||
|
||||
uint8_t ctrlReg1Addr = 0b0010'0000;
|
||||
{
|
||||
uint8_t commandRegs[5];
|
||||
commandRegs[0] = 0b0000'1111;
|
||||
commandRegs[1] = 0x0;
|
||||
commandRegs[2] = 0x0;
|
||||
/* Configure big endian data format */
|
||||
commandRegs[3] = 0b0100'0000;
|
||||
commandRegs[4] = 0x0;
|
||||
writeMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, commandRegs,
|
||||
sizeof(commandRegs));
|
||||
uint8_t readRegs[5];
|
||||
readMultipleRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readRegs,
|
||||
sizeof(readRegs));
|
||||
for(uint8_t idx = 0; idx < sizeof(readRegs); idx++) {
|
||||
if(readRegs[idx] != commandRegs[0]) {
|
||||
sif::warning << "SpiTestClass::performL3gTest: Read control register" <<
|
||||
static_cast<int>(idx + 1) << "not equal to configured value" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t readOutBuffer[14];
|
||||
readMultipleStmRegisters(fileDescriptor, currentGpioId, ctrlReg1Addr, readOutBuffer,
|
||||
sizeof(readOutBuffer));
|
||||
|
||||
uint8_t statusReg = readOutBuffer[7];
|
||||
sif::info << "SpiTestClass::performL3gTest: Status Register 0b" <<
|
||||
std::bitset<8>(statusReg) << std::endl;
|
||||
|
||||
uint16_t l3gRange = 245;
|
||||
float scaleFactor = static_cast<float>(l3gRange) / INT16_MAX;
|
||||
/* The sensor spits out little endian */
|
||||
int16_t angVelocRawX = (readOutBuffer[8] << 8) | readOutBuffer[9];
|
||||
int16_t angVelocRawY = (readOutBuffer[10] << 8) | readOutBuffer[11];
|
||||
int16_t angVelocRawZ = (readOutBuffer[12] << 8) | readOutBuffer[13];
|
||||
|
||||
float angVelocX = scaleFactor * angVelocRawX;
|
||||
float angVelocY = scaleFactor * angVelocRawY;
|
||||
float angVelocZ = scaleFactor * angVelocRawZ;
|
||||
|
||||
sif::info << "Angular velocities for the L3GD20H in degrees per second:" << std::endl;
|
||||
sif::info << "X: " << angVelocX << std::endl;
|
||||
sif::info << "Y: " << angVelocY << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << std::endl;
|
||||
|
||||
}
|
||||
|
||||
void SpiTestClass::acsInit() {
|
||||
GpioCookie* gpioCookie = new GpioCookie();
|
||||
std::string rpiGpioName = "gpiochip0";
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, mgm0Lis3ChipSelect, "MGM_0_LIS3",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, mgm1Rm3100ChipSelect, "MGM_1_RM3100",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, gyro0AdisChipSelect, "GYRO_0_ADIS",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, gyro1L3gd20ChipSelect, "GYRO_1_L3G",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, gyro2L3gd20ChipSelect, "GYRO_2_L3G",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, mgm2Lis3mdlChipSelect, "MGM_2_LIS3",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);
|
||||
}
|
||||
{
|
||||
GpiodRegular gpio(rpiGpioName, mgm3Rm3100ChipSelect, "MGM_3_RM3100",
|
||||
gpio::Direction::OUT, 1);
|
||||
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, &gpio);
|
||||
gpioCookie->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);
|
||||
}
|
||||
if(gpioIF != nullptr) {
|
||||
gpioIF->addGpios(gpioCookie);
|
||||
}
|
||||
}
|
||||
|
||||
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
||||
bool autoIncrement) {
|
||||
if(autoIncrement) {
|
||||
reg |= STM_AUTO_INCR_MASK;
|
||||
}
|
||||
spiTransferStruct.len = 2;
|
||||
sendBuffer[0] = reg;
|
||||
sendBuffer[1] = value;
|
||||
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(chipSelect);
|
||||
}
|
||||
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiTestClass::writeStmRegister: Write failed");
|
||||
}
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(chipSelect);
|
||||
}
|
||||
}
|
||||
|
||||
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
|
||||
void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
|
||||
int mode_test = SPI_MODE_3;
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, &mode_test);//reinterpret_cast<uint8_t*>(&mode));
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
|
||||
}
|
||||
@ -207,12 +346,114 @@ void SpiTestClass::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t spe
|
||||
}
|
||||
}
|
||||
|
||||
void SpiTestClass::writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value) {
|
||||
spiTransferStruct.len = 2;
|
||||
sendBuffer[0] = reg;
|
||||
sendBuffer[1] = value;
|
||||
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(chipSelect);
|
||||
}
|
||||
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiTestClass::writeRegister: Write failed");
|
||||
}
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(chipSelect);
|
||||
}
|
||||
}
|
||||
|
||||
void SpiTestClass::writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
||||
bool autoIncrement) {
|
||||
if(autoIncrement) {
|
||||
reg |= STM_AUTO_INCR_MASK;
|
||||
}
|
||||
writeRegister(fd, chipSelect, reg, value);
|
||||
}
|
||||
|
||||
void SpiTestClass::writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
uint8_t *values, size_t len) {
|
||||
if(values == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
reg |= STM_AUTO_INCR_MASK;
|
||||
/* Clear read mask */
|
||||
reg &= ~STM_READ_MASK;
|
||||
writeMultipleRegisters(fd, chipSelect, reg, values, len);
|
||||
|
||||
}
|
||||
|
||||
void SpiTestClass::writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
uint8_t *values, size_t len) {
|
||||
if(values == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
sendBuffer[0] = reg;
|
||||
std::memcpy(sendBuffer.data() + 1, values, len);
|
||||
spiTransferStruct.len = len + 1;
|
||||
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(chipSelect);
|
||||
}
|
||||
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
||||
}
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(chipSelect);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t SpiTestClass::readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg) {
|
||||
return readStmRegister(fd, chipSelect, reg, false);
|
||||
}
|
||||
|
||||
|
||||
void SpiTestClass::readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
||||
size_t len) {
|
||||
reg |= STM_AUTO_INCR_MASK;
|
||||
readMultipleRegisters(fd, chipSelect, reg, reply, len);
|
||||
}
|
||||
|
||||
void SpiTestClass::readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
||||
size_t len) {
|
||||
if(reply == nullptr) {
|
||||
return;
|
||||
}
|
||||
|
||||
spiTransferStruct.len = len + 1;
|
||||
sendBuffer[0] = reg | STM_READ_MASK;
|
||||
|
||||
for(uint8_t idx = 0; idx < len ; idx ++) {
|
||||
sendBuffer[idx + 1] = 0;
|
||||
}
|
||||
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullLow(chipSelect);
|
||||
}
|
||||
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
||||
}
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(chipSelect);
|
||||
}
|
||||
std::memcpy(reply, recvBuffer.data() + 1, len);
|
||||
}
|
||||
|
||||
uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
bool autoIncrement) {
|
||||
reg |= STM_READ_MASK;
|
||||
if(autoIncrement) {
|
||||
reg |= STM_AUTO_INCR_MASK;
|
||||
}
|
||||
return readRegister(fd, chipSelect, reg);
|
||||
}
|
||||
|
||||
|
||||
uint8_t SpiTestClass::readRegister(int fd, gpioId_t chipSelect, uint8_t reg) {
|
||||
spiTransferStruct.len = 2;
|
||||
sendBuffer[0] = reg;
|
||||
sendBuffer[1] = 0;
|
||||
@ -222,7 +463,7 @@ uint8_t SpiTestClass::readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
}
|
||||
int retval = ioctl(fd, SPI_IOC_MESSAGE(1), &spiTransferStruct);
|
||||
if(retval < 0) {
|
||||
utility::handleIoctlError("SpiTestClass::readStmRegiste: Read failed");
|
||||
utility::handleIoctlError("SpiTestClass::readRegister: Read failed");
|
||||
}
|
||||
if(gpioIF != nullptr and chipSelect != gpio::NO_GPIO) {
|
||||
gpioIF->pullHigh(chipSelect);
|
||||
|
||||
@ -28,10 +28,11 @@ private:
|
||||
|
||||
std::array<uint8_t, 128> recvBuffer;
|
||||
std::array<uint8_t, 128> sendBuffer;
|
||||
struct spi_ioc_transfer spiTransferStruct;
|
||||
struct spi_ioc_transfer spiTransferStruct = {};
|
||||
|
||||
void performRm3100Test(uint8_t mgmId);
|
||||
void performLis3MdlTest(uint8_t lis3Id);
|
||||
void performL3gTest(uint8_t l3gId);
|
||||
|
||||
/* ACS board specific code which pulls all GPIOs high */
|
||||
void acsInit();
|
||||
@ -46,12 +47,35 @@ private:
|
||||
uint8_t mgm3Rm3100ChipSelect = 27;
|
||||
|
||||
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
|
||||
<<<<<<< HEAD
|
||||
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
||||
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
|
||||
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
||||
bool autoIncrement);
|
||||
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
||||
=======
|
||||
static constexpr uint8_t RM3100_READ_MASK = STM_READ_MASK;
|
||||
static constexpr uint8_t STM_AUTO_INCR_MASK = 0b0100'0000;
|
||||
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
|
||||
void writeStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value,
|
||||
bool autoIncrement);
|
||||
void writeMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t* values,
|
||||
size_t len);
|
||||
void writeMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *values,
|
||||
size_t len);
|
||||
void writeRegister(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t value);
|
||||
|
||||
uint8_t readRm3100Register(int fd, gpioId_t chipSelect, uint8_t reg);
|
||||
uint8_t readStmRegister(int fd, gpioId_t chipSelect, uint8_t reg, bool autoIncrement);
|
||||
uint8_t readRegister(int fd, gpioId_t chipSelect, uint8_t reg);
|
||||
void readMultipleStmRegisters(int fd, gpioId_t chipSelect, uint8_t reg, uint8_t *reply,
|
||||
size_t len);
|
||||
void readMultipleRegisters(int fd, gpioId_t chipSelect, uint8_t reg,
|
||||
uint8_t* reply, size_t len);
|
||||
>>>>>>> develop
|
||||
|
||||
};
|
||||
|
||||
|
||||
@ -88,8 +88,12 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, GpiodRegular
|
||||
lineNum = regularGpio->lineNum;
|
||||
lineHandle = gpiod_chip_get_line(chip, lineNum);
|
||||
if (!lineHandle) {
|
||||
<<<<<<< HEAD
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line for GPIO with id "
|
||||
<< gpioId << std::endl;
|
||||
=======
|
||||
sif::error << "LinuxLibgpioIF::configureGpios: Failed to open line" << std::endl;
|
||||
>>>>>>> develop
|
||||
gpiod_chip_close(chip);
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
|
||||
@ -1,10 +1,11 @@
|
||||
#include "SpiComIF.h"
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
#include <linux/utility/Utility.h>
|
||||
#include <linux/spi/SpiCookie.h>
|
||||
|
||||
#include <fsfw/ipc/MutexFactory.h>
|
||||
#include <fsfw/ipc/MutexHelper.h>
|
||||
#include <fsfw/ipc/MutexGuard.h>
|
||||
#include <fsfw/globalfunctions/arrayprinter.h>
|
||||
|
||||
#include <linux/spi/spidev.h>
|
||||
@ -78,7 +79,7 @@ ReturnValue_t SpiComIF::initializeInterface(CookieIF *cookie) {
|
||||
}
|
||||
|
||||
size_t spiSpeed = 0;
|
||||
spi::SpiMode spiMode = spi::SpiMode::MODE_0;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
|
||||
SpiCookie::UncommonParameters params;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, ¶ms);
|
||||
@ -162,7 +163,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
|
||||
if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
||||
return OPENING_FILE_FAILED;
|
||||
}
|
||||
spi::SpiMode spiMode = spi::SpiMode::MODE_0;
|
||||
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
||||
uint32_t spiSpeed = 0;
|
||||
spiCookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
||||
setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
||||
@ -173,7 +174,7 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
|
||||
/* GPIO access is mutex protected */
|
||||
MutexHelper(spiMutex, timeoutType, timeoutMs);
|
||||
MutexGuard(spiMutex, timeoutType, timeoutMs);
|
||||
|
||||
/* Pull SPI CS low. For now, no support for active high given */
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
@ -188,6 +189,18 @@ ReturnValue_t SpiComIF::sendMessage(CookieIF *cookie, const uint8_t *sendData, s
|
||||
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
||||
result = FULL_DUPLEX_TRANSFER_FAILED;
|
||||
}
|
||||
#if FSFW_LINUX_SPI_WIRETAPPING == 1
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "Sent SPI data: " << std::endl;
|
||||
size_t dataLen = spiCookie->getTransferStructHandle()->len;
|
||||
uint8_t* dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->tx_buf);
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
sif::info << "Received SPI data: " << std::endl;
|
||||
dataPtr = reinterpret_cast<uint8_t*>(spiCookie->getTransferStructHandle()->rx_buf);
|
||||
arrayprinter::print(dataPtr, dataLen, OutputType::HEX, false);
|
||||
#else
|
||||
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
|
||||
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
||||
}
|
||||
else {
|
||||
/* We write with a blocking half-duplex transfer here */
|
||||
@ -242,7 +255,7 @@ ReturnValue_t SpiComIF::requestReceiveMessage(CookieIF *cookie, size_t requestLe
|
||||
}
|
||||
|
||||
gpioId_t gpioId = spiCookie->getChipSelectPin();
|
||||
MutexHelper(spiMutex, timeoutType, timeoutMs);
|
||||
MutexGuard(spiMutex, timeoutType, timeoutMs);
|
||||
if(gpioId != gpio::NO_GPIO) {
|
||||
gpioComIF->pullLow(gpioId);
|
||||
}
|
||||
@ -295,7 +308,7 @@ ReturnValue_t SpiComIF::getReadBuffer(address_t spiAddress, uint8_t** buffer) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed) {
|
||||
void SpiComIF::setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed) {
|
||||
int retval = ioctl(spiFd, SPI_IOC_WR_MODE, reinterpret_cast<uint8_t*>(&mode));
|
||||
if(retval != 0) {
|
||||
utility::handleIoctlError("SpiTestClass::performRm3100Test: Setting SPI mode failed!");
|
||||
|
||||
@ -57,7 +57,7 @@ private:
|
||||
|
||||
|
||||
ReturnValue_t getReadBuffer(address_t spiAddress, uint8_t** buffer);
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiMode mode, uint32_t speed);
|
||||
void setSpiSpeedAndMode(int spiFd, spi::SpiModes mode, uint32_t speed);
|
||||
};
|
||||
|
||||
#endif /* LINUX_SPI_SPICOMIF_H_ */
|
||||
|
||||
@ -1,17 +1,17 @@
|
||||
#include "SpiCookie.h"
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxSize, spi::SpiMode spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
|
||||
const size_t maxSize, spi::SpiModes spiMode, uint32_t spiSpeed): spiAddress(spiAddress),
|
||||
chipSelectPin(chipSelect), spiDevice(spiDev), maxSize(maxSize), spiMode(spiMode),
|
||||
spiSpeed(spiSpeed) {
|
||||
}
|
||||
|
||||
SpiCookie::SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxSize,
|
||||
spi::SpiMode spiMode, uint32_t spiSpeed):
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed):
|
||||
SpiCookie(spiAddress, gpio::NO_GPIO, spiDev, maxSize, spiMode, spiSpeed) {
|
||||
}
|
||||
|
||||
void SpiCookie::getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
|
||||
void SpiCookie::getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
||||
UncommonParameters* parameters) const {
|
||||
spiMode = this->spiMode;
|
||||
spiSpeed = this->spiSpeed;
|
||||
@ -97,3 +97,11 @@ void SpiCookie::assignTransferSize(size_t transferSize) {
|
||||
size_t SpiCookie::getCurrentTransferSize() const {
|
||||
return spiTransferStruct.len;
|
||||
}
|
||||
|
||||
void SpiCookie::setSpiSpeed(uint32_t newSpeed) {
|
||||
this->spiSpeed = newSpeed;
|
||||
}
|
||||
|
||||
void SpiCookie::setSpiMode(spi::SpiModes newMode) {
|
||||
this->spiMode = newMode;
|
||||
}
|
||||
|
||||
@ -17,22 +17,27 @@ public:
|
||||
* @param chipSelect Chip select. gpio::NO_GPIO can be used for hardware slave selects.
|
||||
* @param spiDev
|
||||
* @param maxSize
|
||||
* @param spieSpeed SPI clock frequency in Hz.
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, gpioId_t chipSelect, std::string spiDev,
|
||||
const size_t maxReplySize, spi::SpiMode spiMode, uint32_t spiSpeed);
|
||||
const size_t maxReplySize, spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
/**
|
||||
* Like constructor above, but without a dedicated GPIO CS. Can be used for hardware
|
||||
* slave select or if CS logic is performed with decoders.
|
||||
*/
|
||||
SpiCookie(address_t spiAddress, std::string spiDev, const size_t maxReplySize,
|
||||
spi::SpiMode spiMode, uint32_t spiSpeed);
|
||||
spi::SpiModes spiMode, uint32_t spiSpeed);
|
||||
|
||||
address_t getSpiAddress() const;
|
||||
std::string getSpiDevice() const;
|
||||
gpioId_t getChipSelectPin() const;
|
||||
size_t getMaxBufferSize() const;
|
||||
|
||||
/** Enables changing SPI speed at run-time */
|
||||
void setSpiSpeed(uint32_t newSpeed);
|
||||
/** Enables changing the SPI mode at run-time */
|
||||
void setSpiMode(spi::SpiModes newMode);
|
||||
|
||||
/**
|
||||
* True if SPI transfers should be performed in full duplex mode
|
||||
* @return
|
||||
@ -82,7 +87,7 @@ public:
|
||||
void setCsHigh(bool enable);
|
||||
void setBitsPerWord(uint8_t bitsPerWord);
|
||||
|
||||
void getSpiParameters(spi::SpiMode& spiMode, uint32_t& spiSpeed,
|
||||
void getSpiParameters(spi::SpiModes& spiMode, uint32_t& spiSpeed,
|
||||
UncommonParameters* parameters = nullptr) const;
|
||||
|
||||
/**
|
||||
@ -101,7 +106,7 @@ private:
|
||||
std::string spiDevice;
|
||||
|
||||
const size_t maxSize;
|
||||
spi::SpiMode spiMode;
|
||||
spi::SpiModes spiMode;
|
||||
uint32_t spiSpeed;
|
||||
bool halfDuplex = false;
|
||||
|
||||
|
||||
@ -1,9 +1,11 @@
|
||||
#ifndef LINUX_SPI_SPIDEFINITONS_H_
|
||||
#define LINUX_SPI_SPIDEFINITONS_H_
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace spi {
|
||||
|
||||
enum SpiMode {
|
||||
enum SpiModes: uint8_t {
|
||||
MODE_0,
|
||||
MODE_1,
|
||||
MODE_2,
|
||||
|
||||
@ -19,7 +19,7 @@
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.1176904738" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.1087094604" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1026777292" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.813737526" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1289649483" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
@ -70,7 +70,7 @@
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249." name="/" resourcePath="">
|
||||
<toolChain id="cdt.managedbuild.toolchain.gnu.mingw.base.754560869" name="MinGW GCC" superClass="cdt.managedbuild.toolchain.gnu.mingw.base">
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF;org.eclipse.cdt.core.PE64" id="cdt.managedbuild.target.gnu.platform.mingw.base.2125491129" name="Debug Platform" osList="win32" superClass="cdt.managedbuild.target.gnu.platform.mingw.base"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-Host}" command="cmake" id="cdt.managedbuild.builder.gnu.cross.1840576359" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
|
||||
<tool id="cdt.managedbuild.tool.gnu.assembler.mingw.base.1445228447" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.mingw.base">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1571446155" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
@ -233,7 +233,7 @@
|
||||
</extensions>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<configuration artifactName="${ProjName}" buildProperties="" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851" name="eive-rpi-debug-win" optionalBuildProperties="org.eclipse.cdt.docker.launcher.containerbuild.property.enablement=null,org.eclipse.cdt.docker.launcher.containerbuild.property.volumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.connection=null,org.eclipse.cdt.docker.launcher.containerbuild.property.selectedvolumes=,org.eclipse.cdt.docker.launcher.containerbuild.property.image=null" parent="org.eclipse.cdt.build.core.emptycfg">
|
||||
<folderInfo id="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473.688890851." name="/" resourcePath="">
|
||||
<toolChain id="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base.1971474557" name="Arm Cross GCC" superClass="ilg.gnuarmeclipse.managedbuild.cross.toolchain.base">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.1813444167" name="Architecture" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.architecture" value="ilg.gnuarmeclipse.managedbuild.cross.option.architecture.arm" valueType="enumerated"/>
|
||||
@ -310,7 +310,7 @@
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.1620157986" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.1227132942" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.864731133" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Debug}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<builder arguments="--build ." autoBuildTarget="all" buildPath="${workspace_loc:/eive_obsw/Debug-RPi}" cleanBuildTarget="clean" command="cmake" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="ilg.gnuarmeclipse.managedbuild.cross.builder.342223596" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.944427471" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.319232842" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.44504375" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
@ -322,6 +322,7 @@
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.864441147" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
|
||||
</tool>
|
||||
@ -332,6 +333,7 @@
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1683468766" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
|
||||
</tool>
|
||||
@ -459,7 +461,7 @@
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other.2081670577" name="Other debugging flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.debugging.other"/>
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab.636531967" name="showDevicesTab" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.showDevicesTab"/>
|
||||
<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform.1186120086" isAbstract="false" osList="all" superClass="ilg.gnuarmeclipse.managedbuild.cross.targetPlatform"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/fsfw_example/Release}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<builder arguments="--build ." buildPath="${workspace_loc:/eive_obsw/Release-RPi}" command="cmake" id="ilg.gnuarmeclipse.managedbuild.cross.builder.292623790" incrementalBuildTarget="" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="ilg.gnuarmeclipse.managedbuild.cross.builder"/>
|
||||
<tool id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.1419530222" name="GNU Arm Cross Assembler" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler">
|
||||
<option id="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor.700547918" name="Use preprocessor" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.assembler.usepreprocessor" value="true" valueType="boolean"/>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.789142005" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
|
||||
@ -471,6 +473,7 @@
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1796598598" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.2081570054" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
|
||||
</tool>
|
||||
@ -481,6 +484,7 @@
|
||||
</option>
|
||||
<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1881223360" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
|
||||
<listOptionValue builtIn="false" value="LINUX=1"/>
|
||||
<listOptionValue builtIn="false" value="RASPBERRY_PI"/>
|
||||
</option>
|
||||
<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1551006500" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
|
||||
</tool>
|
||||
|
||||
@ -18,7 +18,7 @@
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Linux/eive_obsw"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
|
||||
|
||||
@ -18,7 +18,7 @@
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug/eive_obsw"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Debug-Release/eive_obsw.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>
|
||||
|
||||
@ -1,33 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -1,33 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="Release/eive_obsw"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -1,33 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/linux/devel/eiveobsw-host.elf"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.447898075"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -1,33 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -1,33 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<launchConfiguration type="org.eclipse.cdt.launch.applicationLaunchType">
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB" value="true"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_NAME" value="gdb"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.DEBUG_ON_FORK" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.EXTERNAL_CONSOLE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.GDB_INIT" value=".gdbinit"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.NON_STOP" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
|
||||
<listAttribute key="org.eclipse.cdt.dsf.gdb.SOLIB_PATH"/>
|
||||
<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.UPDATE_THREADLIST_ON_SUSPEND" value="false"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.dsf.gdb.internal.ui.launching.LocalApplicationCDebuggerTab.DEFAULTS_SET" value="true"/>
|
||||
<intAttribute key="org.eclipse.cdt.launch.ATTR_BUILD_BEFORE_LAUNCH_ATTR" value="2"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_ID" value="gdb"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN" value="true"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_STOP_AT_MAIN_SYMBOL" value="main"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROGRAM_NAME" value="_bin/host/devel/eiveobsw-host.exe"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_ATTR" value="eive_obsw"/>
|
||||
<booleanAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_AUTO_ATTR" value="false"/>
|
||||
<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.1043649249"/>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_PATHS">
|
||||
<listEntry value="/eive_obsw"/>
|
||||
</listAttribute>
|
||||
<listAttribute key="org.eclipse.debug.core.MAPPED_RESOURCE_TYPES">
|
||||
<listEntry value="4"/>
|
||||
</listAttribute>
|
||||
<stringAttribute key="org.eclipse.dsf.launch.MEMORY_BLOCKS" value="<?xml version="1.0" encoding="UTF-8" standalone="no"?><memoryBlockExpressionList context="reserved-for-future-use"/>"/>
|
||||
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
|
||||
</launchConfiguration>
|
||||
@ -1,38 +1,55 @@
|
||||
#include <mission/devices/GyroL3GD20Handler.h>
|
||||
#include <fsfw/datapool/PoolReadHelper.h>
|
||||
#include "GyroL3GD20Handler.h"
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
|
||||
GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF *comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
}
|
||||
|
||||
GyroHandler::~GyroHandler() {}
|
||||
GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}
|
||||
|
||||
void GyroHandler::doStartUp() {
|
||||
if(internalState == InternalState::STATE_NONE) {
|
||||
internalState = InternalState::STATE_CONFIGURE;
|
||||
void GyroHandlerL3GD20H::doStartUp() {
|
||||
if(internalState == InternalState::NONE) {
|
||||
internalState = InternalState::CONFIGURE;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE) {
|
||||
if(internalState == InternalState::CONFIGURE) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_NORMAL;
|
||||
internalState = InternalState::CHECK_REGS;
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::NORMAL;
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
setMode(MODE_NORMAL);
|
||||
#else
|
||||
setMode(_MODE_TO_ON);
|
||||
#endif
|
||||
commandExecuted = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void GyroHandler::doShutDown() {
|
||||
void GyroHandlerL3GD20H::doShutDown() {
|
||||
setMode(_MODE_POWER_DOWN);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE): {
|
||||
case(InternalState::CONFIGURE): {
|
||||
*id = L3GD20H::CONFIGURE_CTRL_REGS;
|
||||
uint8_t command [5];
|
||||
command[0] = L3GD20H::CTRL_REG_1_VAL;
|
||||
@ -41,10 +58,13 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
command[3] = L3GD20H::CTRL_REG_4_VAL;
|
||||
command[4] = L3GD20H::CTRL_REG_5_VAL;
|
||||
return buildCommandFromCommand(*id, command, 5);
|
||||
break;
|
||||
}
|
||||
case(InternalState::CHECK_REGS): {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
default:
|
||||
// might be a configuration error.
|
||||
/* Might be a configuration error. */
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
@ -52,12 +72,12 @@ ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
||||
*id = L3GD20H::READ_REGS;
|
||||
return buildCommandFromCommand(*id, nullptr, 0);
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::buildCommandFromCommand(
|
||||
ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
switch(deviceCommand) {
|
||||
@ -120,24 +140,25 @@ ReturnValue_t GyroHandler::buildCommandFromCommand(
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::scanForReply(const uint8_t *start, size_t len,
|
||||
ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
|
||||
DeviceCommandId_t *foundId, size_t *foundLen) {
|
||||
// SPI, 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;
|
||||
|
||||
// Data with SPI Interface has always this answer
|
||||
/* Data with SPI Interface has always this answer */
|
||||
if (start[0] == 0b11111111) {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
|
||||
const uint8_t *packet) {
|
||||
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
||||
switch(id) {
|
||||
case(L3GD20H::CONFIGURE_CTRL_REGS): {
|
||||
commandExecuted = true;
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_CTRL_REGS): {
|
||||
@ -147,18 +168,23 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = InternalState::STATE_CONFIGURE;
|
||||
/* Attempt reconfiguration. */
|
||||
internalState = InternalState::CONFIGURE;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(L3GD20H::READ_START): {
|
||||
case(L3GD20H::READ_REGS): {
|
||||
if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
|
||||
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
|
||||
packet[5] != ctrlReg5Value) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
else {
|
||||
if(internalState == InternalState::CHECK_REGS) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
}
|
||||
|
||||
statusReg = packet[L3GD20H::STATUS_IDX];
|
||||
|
||||
@ -171,8 +197,25 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
|
||||
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
|
||||
float temperature = 25.0 + temperaturOffset;
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
||||
sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
|
||||
std::endl;
|
||||
sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
|
||||
sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
|
||||
#else
|
||||
sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
|
||||
sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
|
||||
sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
|
||||
sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
PoolReadHelper readSet(&dataset);
|
||||
PoolReadGuard readSet(&dataset);
|
||||
if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.angVelocX = angVelocX;
|
||||
dataset.angVelocY = angVelocY;
|
||||
@ -189,11 +232,11 @@ ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
|
||||
}
|
||||
|
||||
|
||||
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 10000;
|
||||
}
|
||||
|
||||
ReturnValue_t GyroHandler::initializeLocalDataPool(
|
||||
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
@ -206,12 +249,12 @@ ReturnValue_t GyroHandler::initializeLocalDataPool(
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
void GyroHandler::fillCommandAndReplyMap() {
|
||||
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
|
||||
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
|
||||
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
|
||||
}
|
||||
|
||||
void GyroHandler::modeChanged() {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
void GyroHandlerL3GD20H::modeChanged() {
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
|
||||
@ -1,8 +1,12 @@
|
||||
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include "devicedefinitions/GyroL3GD20Definitions.h"
|
||||
#include <OBSWConfig.h>
|
||||
|
||||
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
|
||||
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
|
||||
|
||||
|
||||
/**
|
||||
* @brief Device Handler for the L3GD20H gyroscope sensor
|
||||
@ -10,12 +14,14 @@
|
||||
* @details
|
||||
* Advanced documentation:
|
||||
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
|
||||
*
|
||||
* Data is read big endian with the smallest possible range of 245 degrees per second.
|
||||
*/
|
||||
class GyroHandler: public DeviceHandlerBase {
|
||||
class GyroHandlerL3GD20H: public DeviceHandlerBase {
|
||||
public:
|
||||
GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
|
||||
GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
|
||||
CookieIF* comCookie);
|
||||
virtual ~GyroHandler();
|
||||
virtual ~GyroHandlerL3GD20H();
|
||||
|
||||
protected:
|
||||
|
||||
@ -41,14 +47,15 @@ protected:
|
||||
LocalDataPoolManager &poolManager) override;
|
||||
|
||||
private:
|
||||
L3GD20H::GyroPrimaryDataset dataset;
|
||||
GyroPrimaryDataset dataset;
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_CONFIGURE,
|
||||
STATE_NORMAL
|
||||
NONE,
|
||||
CONFIGURE,
|
||||
CHECK_REGS,
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
|
||||
uint8_t statusReg = 0;
|
||||
@ -62,6 +69,10 @@ private:
|
||||
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
|
||||
|
||||
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
PeriodicOperationDivider* debugDivider = nullptr;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -1,13 +1,14 @@
|
||||
#include <fsfw/datapool/PoolReadHelper.h>
|
||||
#include "MGMHandlerLIS3MDL.h"
|
||||
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
|
||||
MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId,
|
||||
object_id_t deviceCommunication, CookieIF* comCookie):
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
dataset(this) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
debugDivider = new PeriodicOperationDivider(10);
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
/* Set to default values right away. */
|
||||
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
|
||||
@ -44,8 +45,11 @@ void MGMHandlerLIS3MDL::doStartUp() {
|
||||
/* Set up cached registers which will be used to configure the MGM. */
|
||||
if(commandExecuted) {
|
||||
commandExecuted = false;
|
||||
/* Replace _MODE_TO_ON with MODE_NORMAL to jump to normal mode quickly */
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
setMode(MODE_NORMAL);
|
||||
#else
|
||||
setMode(_MODE_TO_ON);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
}
|
||||
@ -299,7 +303,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
PoolReadHelper readHelper(&dataset);
|
||||
PoolReadGuard readHelper(&dataset);
|
||||
if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
dataset.fieldStrengthX = mgmX;
|
||||
dataset.fieldStrengthY = mgmY;
|
||||
@ -459,7 +463,7 @@ void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 30000;
|
||||
return 10000;
|
||||
}
|
||||
|
||||
void MGMHandlerLIS3MDL::modeChanged(void) {
|
||||
|
||||
@ -1,5 +1,7 @@
|
||||
#include <fsfw/datapool/PoolReadGuard.h>
|
||||
#include "MGMHandlerRM3100.h"
|
||||
|
||||
#include <fsfw/globalfunctions/bitutility.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
|
||||
#include <fsfw/objectmanager/SystemObjectIF.h>
|
||||
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
|
||||
@ -10,33 +12,47 @@ MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
|
||||
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
||||
primaryDataset(this) {
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
debugDivider = new PeriodicOperationDivider(10);
|
||||
debugDivider = new PeriodicOperationDivider(5);
|
||||
#endif
|
||||
}
|
||||
|
||||
MGMHandlerRM3100::~MGMHandlerRM3100() {}
|
||||
|
||||
void MGMHandlerRM3100::doStartUp() {
|
||||
if(internalState == InternalState::STATE_NONE) {
|
||||
internalState = InternalState::STATE_CONFIGURE_CMM;
|
||||
switch(internalState) {
|
||||
case(InternalState::NONE): {
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
|
||||
internalState = InternalState::STATE_READ_CMM;
|
||||
case(InternalState::CONFIGURE_CMM): {
|
||||
internalState = InternalState::READ_CMM;
|
||||
break;
|
||||
}
|
||||
else if(internalState == InternalState::STATE_READ_CMM) {
|
||||
case(InternalState::READ_CMM): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
|
||||
case(InternalState::STATE_CONFIGURE_TMRC): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_READ_TMRC;
|
||||
}
|
||||
else if(internalState == InternalState::STATE_READ_TMRC) {
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_TMRC): {
|
||||
if(commandExecuted) {
|
||||
internalState = InternalState::STATE_NORMAL;
|
||||
internalState = InternalState::NORMAL;
|
||||
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
|
||||
setMode(MODE_NORMAL);
|
||||
#else
|
||||
setMode(_MODE_TO_ON);
|
||||
#endif
|
||||
}
|
||||
break;
|
||||
}
|
||||
default: {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -48,15 +64,15 @@ void MGMHandlerRM3100::doShutDown() {
|
||||
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
|
||||
DeviceCommandId_t *id) {
|
||||
switch(internalState) {
|
||||
case(InternalState::STATE_NONE):
|
||||
case(InternalState::STATE_NORMAL): {
|
||||
case(InternalState::NONE):
|
||||
case(InternalState::NORMAL): {
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
case(InternalState::STATE_CONFIGURE_CMM): {
|
||||
case(InternalState::CONFIGURE_CMM): {
|
||||
*id = RM3100::CONFIGURE_CMM;
|
||||
break;
|
||||
}
|
||||
case(InternalState::STATE_READ_CMM): {
|
||||
case(InternalState::READ_CMM): {
|
||||
*id = RM3100::READ_CMM;
|
||||
break;
|
||||
}
|
||||
@ -69,9 +85,9 @@ ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
|
||||
break;
|
||||
}
|
||||
default:
|
||||
// might be a configuration error.
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
|
||||
<< "internal state!" << std::endl;
|
||||
/* Might be a configuration error. */
|
||||
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
|
||||
std::endl;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
@ -112,8 +128,7 @@ ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
|
||||
commandDataLen);
|
||||
}
|
||||
case(RM3100::READ_CYCLE_COUNT): {
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
|
||||
RM3100::READ_MASK;
|
||||
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
|
||||
std::memset(commandBuffer + 1, 0, 6);
|
||||
rawPacket = commandBuffer;
|
||||
rawPacketLen = 7;
|
||||
@ -141,15 +156,10 @@ ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
|
||||
size_t len, DeviceCommandId_t *foundId,
|
||||
size_t *foundLen) {
|
||||
|
||||
// SPI, ID will always be the one of the last sent command.
|
||||
/* For SPI, ID will always be the one of the last sent command. */
|
||||
*foundId = this->getPendingCommand();
|
||||
*foundLen = this->rawPacketLen;
|
||||
|
||||
// Data with SPI Interface has always this answer
|
||||
if (start[0] == 0b11111111) {
|
||||
return RETURN_OK;
|
||||
}
|
||||
return DeviceHandlerIF::INVALID_DATA;
|
||||
*foundLen = len;
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
@ -159,16 +169,23 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
case(RM3100::CONFIGURE_CMM):
|
||||
case(RM3100::CONFIGURE_CYCLE_COUNT):
|
||||
case(RM3100::CONFIGURE_TMRC): {
|
||||
// We can only check whether write was sucessful with read operation.
|
||||
/* We can only check whether write was successful with read operation. */
|
||||
if(mode == _MODE_START_UP) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
break;
|
||||
}
|
||||
case(RM3100::READ_CMM): {
|
||||
if(packet[1] == cmmRegValue) {
|
||||
uint8_t cmmValue = packet[1];
|
||||
/* We clear the seventh bit in any case
|
||||
* because this one is zero sometimes for some reason */
|
||||
bitutil::bitClear(&cmmValue, 6);
|
||||
if(cmmValue == cmmRegValue and internalState == InternalState::READ_CMM) {
|
||||
commandExecuted = true;
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
internalState = InternalState::STATE_CONFIGURE_CMM;
|
||||
/* Attempt reconfiguration. */
|
||||
internalState = InternalState::CONFIGURE_CMM;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
break;
|
||||
@ -176,13 +193,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
case(RM3100::READ_TMRC): {
|
||||
if(packet[1] == tmrcRegValue) {
|
||||
commandExecuted = true;
|
||||
// Reading TMRC was commanded. Trigger event to inform ground.
|
||||
/* Reading TMRC was commanded. Trigger event to inform ground. */
|
||||
if(mode != _MODE_START_UP) {
|
||||
triggerEvent(tmrcSet, tmrcRegValue, 0);
|
||||
}
|
||||
}
|
||||
else {
|
||||
// Attempt reconfiguration.
|
||||
/* Attempt reconfiguration. */
|
||||
internalState = InternalState::STATE_CONFIGURE_TMRC;
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
@ -192,14 +209,13 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
uint16_t cycleCountX = packet[1] << 8 | packet[2];
|
||||
uint16_t cycleCountY = packet[3] << 8 | packet[4];
|
||||
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
|
||||
if(cycleCountX != cycleCountRegValueX or
|
||||
cycleCountY != cycleCountRegValueY or
|
||||
if(cycleCountX != cycleCountRegValueX or cycleCountY != cycleCountRegValueY or
|
||||
cycleCountZ != cycleCountRegValueZ) {
|
||||
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
|
||||
}
|
||||
// Reading TMRC was commanded. Trigger event to inform ground.
|
||||
/* Reading TMRC was commanded. Trigger event to inform ground. */
|
||||
if(mode != _MODE_START_UP) {
|
||||
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
|
||||
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
|
||||
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
|
||||
}
|
||||
break;
|
||||
@ -215,9 +231,8 @@ ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
|
||||
return result;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
|
||||
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
|
||||
size_t commandDataLen) {
|
||||
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
|
||||
const uint8_t *commandData, size_t commandDataLen) {
|
||||
if(commandData == nullptr) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
@ -251,14 +266,12 @@ ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
|
||||
return result;
|
||||
}
|
||||
|
||||
// Data sheet p.30
|
||||
// "while noise limits the useful upper range to ~400 cycle counts."
|
||||
/* Data sheet p.30 "while noise limits the useful upper range to ~400 cycle counts." */
|
||||
if(command.cycleCountX > 450 ) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
if(not oneCycleValue and
|
||||
(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
|
||||
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
|
||||
}
|
||||
|
||||
@ -300,52 +313,51 @@ void MGMHandlerRM3100::fillCommandAndReplyMap() {
|
||||
}
|
||||
|
||||
void MGMHandlerRM3100::modeChanged(void) {
|
||||
internalState = InternalState::STATE_NONE;
|
||||
internalState = InternalState::NONE;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
|
||||
localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z,
|
||||
new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_X, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Y, new PoolEntry<float>({0.0}));
|
||||
localDataPoolMap.emplace(RM3100::FIELD_STRENGTH_Z, new PoolEntry<float>({0.0}));
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
uint32_t MGMHandlerRM3100::getTransitionDelayMs(Mode_t from, Mode_t to) {
|
||||
return 5000;
|
||||
return 10000;
|
||||
}
|
||||
|
||||
ReturnValue_t MGMHandlerRM3100::handleDataReadout(const uint8_t *packet) {
|
||||
// analyze data here.
|
||||
// Field strengths in micro Tesla
|
||||
int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
|
||||
* scaleFactorX;
|
||||
int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
|
||||
* scaleFactorY;
|
||||
int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
|
||||
* scaleFactorZ;
|
||||
/* Analyze data here. The sensor generates 24 bit signed values so we need to do some bitshift
|
||||
* trickery here to calculate the raw values first */
|
||||
int32_t fieldStrengthRawX = ((packet[1] << 24) | (packet[2] << 16) | (packet[3] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawY = ((packet[4] << 24) | (packet[5] << 16) | (packet[6] << 8)) >> 8;
|
||||
int32_t fieldStrengthRawZ = ((packet[7] << 24) | (packet[8] << 16) | (packet[3] << 8)) >> 8;
|
||||
|
||||
/* Now scale to physical value in microtesla */
|
||||
float fieldStrengthX = fieldStrengthRawX * scaleFactorX;
|
||||
float fieldStrengthY = fieldStrengthRawY * scaleFactorX;
|
||||
float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX;
|
||||
|
||||
#if OBSW_VERBOSE_LEVEL >= 1
|
||||
if(debugDivider->checkAndIncrement()) {
|
||||
sif::info << "MGMHandlerLIS3: Magnetic field strength in"
|
||||
sif::info << "MGMHandlerRM3100: Magnetic field strength in"
|
||||
" microtesla:" << std::endl;
|
||||
// Set terminal to utf-8 if there is an issue with micro printout.
|
||||
/* Set terminal to utf-8 if there is an issue with micro printout. */
|
||||
sif::info << "X: " << fieldStrengthX << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Y: " << fieldStrengthY << " \xC2\xB5T" << std::endl;
|
||||
sif::info << "Z: " << fieldStrengthZ << " \xC2\xB5T" << std::endl;
|
||||
}
|
||||
#endif
|
||||
|
||||
ReturnValue_t result = primaryDataset.read();
|
||||
if(result == HasReturnvaluesIF::RETURN_OK) {
|
||||
/* TODO: Sanity check on values */
|
||||
PoolReadGuard readGuard(&primaryDataset);
|
||||
if(readGuard.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
|
||||
primaryDataset.fieldStrengthX = fieldStrengthX;
|
||||
primaryDataset.fieldStrengthY = fieldStrengthY;
|
||||
primaryDataset.fieldStrengthZ = fieldStrengthZ;
|
||||
primaryDataset.setValidity(true, true);
|
||||
result = primaryDataset.commit();
|
||||
}
|
||||
return result;
|
||||
return RETURN_OK;
|
||||
}
|
||||
|
||||
@ -61,18 +61,18 @@ protected:
|
||||
private:
|
||||
|
||||
enum class InternalState {
|
||||
STATE_NONE,
|
||||
STATE_CONFIGURE_CMM,
|
||||
STATE_READ_CMM,
|
||||
NONE,
|
||||
CONFIGURE_CMM,
|
||||
READ_CMM,
|
||||
// The cycle count states are propably not going to be used because
|
||||
// the default cycle count will be used.
|
||||
STATE_CONFIGURE_CYCLE_COUNT,
|
||||
STATE_READ_CYCLE_COUNT,
|
||||
STATE_CONFIGURE_TMRC,
|
||||
STATE_READ_TMRC,
|
||||
STATE_NORMAL
|
||||
NORMAL
|
||||
};
|
||||
InternalState internalState = InternalState::STATE_NONE;
|
||||
InternalState internalState = InternalState::NONE;
|
||||
bool commandExecuted = false;
|
||||
RM3100::Rm3100PrimaryDataset primaryDataset;
|
||||
|
||||
|
||||
@ -49,7 +49,7 @@ ReturnValue_t PCDUHandler::initialize() {
|
||||
sif::error << "PCDUHandler::initialize: Invalid pdu2Handler" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
|
||||
result = pdu2Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
|
||||
PDU2::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
|
||||
@ -63,7 +63,7 @@ ReturnValue_t PCDUHandler::initialize() {
|
||||
sif::error << "PCDUHandler::initialize: Invalid pdu1Handler" << std::endl;
|
||||
return RETURN_FAILED;
|
||||
}
|
||||
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessages(
|
||||
result = pdu1Handler->getSubscriptionInterface()->subscribeForSetUpdateMessage(
|
||||
PDU1::HK_TABLE_DATA_SET_ID, this->getObjectId(), commandQueue->getId(), true);
|
||||
if (result != RETURN_OK) {
|
||||
sif::error << "PCDUHandler::initialize: Failed to subscribe for set update messages from "
|
||||
|
||||
@ -1,11 +1,15 @@
|
||||
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
|
||||
|
||||
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
|
||||
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
|
||||
#include <cstdint>
|
||||
|
||||
namespace L3GD20H {
|
||||
|
||||
/* Actual size is 15 but we round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0b1000'0000;
|
||||
|
||||
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
|
||||
@ -22,7 +26,7 @@ static constexpr uint8_t CTRL_REG_3 = 0b0010'0010;
|
||||
static constexpr uint8_t CTRL_REG_4 = 0b0010'0011;
|
||||
static constexpr uint8_t CTRL_REG_5 = 0b0010'0100;
|
||||
|
||||
// Register 1
|
||||
/* Register 1 */
|
||||
static constexpr uint8_t SET_DR_1 = 1 << 7;
|
||||
static constexpr uint8_t SET_DR_0 = 1 << 6;
|
||||
static constexpr uint8_t SET_BW_1 = 1 << 5;
|
||||
@ -35,7 +39,7 @@ static constexpr uint8_t SET_Y_ENABLE = 1;
|
||||
static constexpr uint8_t CTRL_REG_1_VAL = SET_POWER_NORMAL_MODE | SET_Z_ENABLE |
|
||||
SET_Y_ENABLE | SET_X_ENABLE;
|
||||
|
||||
// Register 2
|
||||
/* Register 2 */
|
||||
static constexpr uint8_t EXTERNAL_EDGE_ENB = 1 << 7;
|
||||
static constexpr uint8_t LEVEL_SENSITIVE_TRIGGER = 1 << 6;
|
||||
static constexpr uint8_t SET_HPM_1 = 1 << 5;
|
||||
@ -47,10 +51,10 @@ static constexpr uint8_t SET_HPCF_0 = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
|
||||
|
||||
// Register 3
|
||||
/* Register 3 */
|
||||
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
|
||||
|
||||
// Register 4
|
||||
/* Register 4 */
|
||||
static constexpr uint8_t SET_BNU = 1 << 7;
|
||||
static constexpr uint8_t SET_BLE = 1 << 6;
|
||||
static constexpr uint8_t SET_FS_1 = 1 << 5;
|
||||
@ -60,15 +64,16 @@ static constexpr uint8_t SET_SELF_TEST_ENB_1 = 1 << 2;
|
||||
static constexpr uint8_t SET_SELF_TEST_ENB_0 = 1 << 1;
|
||||
static constexpr uint8_t SET_SPI_IF_SELECT = 1;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_4_VAL = 0b0000'0000;
|
||||
/* Enable big endian data format */
|
||||
static constexpr uint8_t CTRL_REG_4_VAL = SET_BLE;
|
||||
|
||||
// Register 5
|
||||
/* Register 5 */
|
||||
static constexpr uint8_t SET_REBOOT_MEM = 1 << 7;
|
||||
static constexpr uint8_t SET_FIFO_ENB = 1 << 6;
|
||||
|
||||
static constexpr uint8_t CTRL_REG_5_VAL = 0b0000'0000;
|
||||
|
||||
// In degrees per second (DPS) for now.
|
||||
/* Possible range values in degrees per second (DPS). */
|
||||
static constexpr uint16_t RANGE_DPS_00 = 245;
|
||||
static constexpr uint16_t RANGE_DPS_01 = 500;
|
||||
static constexpr uint16_t RANGE_DPS_11 = 2000;
|
||||
@ -76,16 +81,16 @@ static constexpr uint16_t RANGE_DPS_11 = 2000;
|
||||
static constexpr uint8_t READ_START = CTRL_REG_1;
|
||||
static constexpr size_t READ_LEN = 14;
|
||||
|
||||
// Indexing
|
||||
/* Indexing */
|
||||
static constexpr uint8_t REFERENCE_IDX = 6;
|
||||
static constexpr uint8_t TEMPERATURE_IDX = 7;
|
||||
static constexpr uint8_t STATUS_IDX = 8;
|
||||
static constexpr uint8_t OUT_X_L = 9;
|
||||
static constexpr uint8_t OUT_X_H = 10;
|
||||
static constexpr uint8_t OUT_Y_L = 11;
|
||||
static constexpr uint8_t OUT_Y_H = 12;
|
||||
static constexpr uint8_t OUT_Z_L = 13;
|
||||
static constexpr uint8_t OUT_Z_H = 14;
|
||||
static constexpr uint8_t OUT_X_H = 9;
|
||||
static constexpr uint8_t OUT_X_L = 10;
|
||||
static constexpr uint8_t OUT_Y_H = 11;
|
||||
static constexpr uint8_t OUT_Y_L = 12;
|
||||
static constexpr uint8_t OUT_Z_H = 13;
|
||||
static constexpr uint8_t OUT_Z_L = 14;
|
||||
|
||||
/*------------------------------------------------------------------------*/
|
||||
/* Device Handler specific */
|
||||
@ -103,27 +108,33 @@ enum GyroPoolIds: lp_id_t {
|
||||
TEMPERATURE
|
||||
};
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, GYRO_DATASET_ID) {}
|
||||
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, GYRO_DATASET_ID)) {}
|
||||
|
||||
// Angular velocities in degrees per second (DPS)
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
TEMPERATURE, this);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
class GyroPrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
|
||||
public:
|
||||
|
||||
/** Constructor for data users like controllers */
|
||||
GyroPrimaryDataset(object_id_t mgmId):
|
||||
StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
|
||||
setAllVariablesReadOnly();
|
||||
}
|
||||
|
||||
/* Angular velocities in degrees per second (DPS) */
|
||||
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_X, this);
|
||||
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Y, this);
|
||||
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::ANG_VELOC_Z, this);
|
||||
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId,
|
||||
L3GD20H::TEMPERATURE, this);
|
||||
private:
|
||||
|
||||
friend class GyroHandlerL3GD20H;
|
||||
/** Constructor for the data creator */
|
||||
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner):
|
||||
StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
|
||||
};
|
||||
|
||||
|
||||
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */
|
||||
|
||||
@ -15,6 +15,9 @@ enum opMode {
|
||||
LOW, MEDIUM, HIGH, ULTRA
|
||||
};
|
||||
|
||||
/* Actually 15, we just round up a bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 16;
|
||||
|
||||
static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100;
|
||||
|
||||
static const DeviceCommandId_t SETUP_MGM = 0x00;
|
||||
|
||||
@ -9,6 +9,9 @@
|
||||
|
||||
namespace RM3100 {
|
||||
|
||||
/* Actually 10, we round up a little bit */
|
||||
static constexpr size_t MAX_BUFFER_SIZE = 12;
|
||||
|
||||
static constexpr uint8_t READ_MASK = 0b1000'0000;
|
||||
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
@ -68,7 +68,7 @@ gps_rx_data[] = ""
|
||||
|
||||
ReturnValue_t TestTask::performOneShotAction() {
|
||||
#if OBSW_ADD_TEST_CODE == 1
|
||||
performLwgpsTest();
|
||||
//performLwgpsTest();
|
||||
#endif
|
||||
return HasReturnvaluesIF::RETURN_OK;
|
||||
}
|
||||
|
||||
2
thirdparty/lwgps
vendored
2
thirdparty/lwgps
vendored
@ -1 +1 @@
|
||||
Subproject commit d276f9722d1311b552e7c99ee5b03a68487a0fc5
|
||||
Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd
|
||||
2
tmtc
2
tmtc
@ -1 +1 @@
|
||||
Subproject commit 81cd88f5211e0d9853ba3d9dd7611a9c2149cd55
|
||||
Subproject commit 5f1803b66393210ded8c5d88fbc28cd8130cef91
|
||||
Loading…
Reference in New Issue
Block a user