eive/eive-obsw
eive/eive-obsw
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Merge branch 'develop' of https://egit.irs.uni-stuttgart.de/eive/eive_obsw into develop

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This commit is contained in:
Jakob Meier 2021-03-21 17:35:28 +01:00
commit f5ef77facc
53 changed files with 952 additions and 640 deletions
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4
README.md
View File

@ -141,7 +141,7 @@ The [TCF agent](https://wiki.eclipse.org/TCF) can be used to perform remote debu
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.
2. Go to Window → Perspective → Open Perspective and open the **Target Explorer Perspective**.
Here, the Q7S should show up if the local port forwarding was set up as explained previously.
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.
3. A launch configuration was provided, but it might be necessary to adapt it for your own needs. Alternatively:
@ -244,7 +244,7 @@ To launch application from Xilinx SDK setup port fowarding on the development ma
(not on the flatsat!)
```sh
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5
ssh -L 1534:192.168.133.10:1534 eive@2001:7c0:2018:1099:babe:0:e1fe:f1a5 -t bash
```
This forwards any requests to localhost:1534 to the port 1534 of the Q7S with the IP address 192.168.133.10.

4
bsp_hosted/fsfwconfig/OBSWVersion.h
View File

@ -3,8 +3,8 @@
const char* const SW_NAME = "eive";
#define SW_VERSION 0
#define SW_SUBVERSION 2
#define SW_VERSION 1
#define SW_SUBVERSION 0
#define SW_SUBSUBVERSION 0

3
bsp_q7s/InitMission.cpp
View File

@ -11,8 +11,7 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <iostream>
/* This is configured for linux without CR */

8
bsp_q7s/ObjectFactory.cpp
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@ -100,10 +100,10 @@ void ObjectFactory::produce(){
* Setting PCDU devices to mode normal immediately after start up because PCDU is always
* running.
*/
p60dockhandler->setModeNormal();
pdu1handler->setModeNormal();
pdu2handler->setModeNormal();
acuhandler->setModeNormal();
//p60dockhandler->setModeNormal();
//pdu1handler->setModeNormal();
//pdu2handler->setModeNormal();
//acuhandler->setModeNormal();
#endif
/* Temperature sensors */
Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(

28
bsp_q7s/devices/HeaterHandler.cpp
View File

@ -201,8 +201,8 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
heaterMapIter->second.active = false;
heaterMapIter->second.waitMainSwitchOn = false;
if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue, heaterMapIter->second.action,
MAIN_SWITCH_SET_TIMEOUT );
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, MAIN_SWITCH_SET_TIMEOUT );
}
return;
}
@ -229,8 +229,15 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
/* There is no need to send action finish replies if the sender was the
* HeaterHandler itself. */
if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
if(result == RETURN_OK) {
actionHelper.finish(true, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
else {
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
}
heaterMapIter->second.active = false;
heaterMapIter->second.waitMainSwitchOn = false;
@ -250,7 +257,7 @@ void HeaterHandler::handleSwitchOnCommand(HeaterMapIter heaterMapIter) {
sif::debug << "HeaterHandler::handleActiveCommands: Failed to get state of"
<< " main line switch" << std::endl;
if (heaterMapIter->second.replyQueue != commandQueue->getId()) {
actionHelper.finish(heaterMapIter->second.replyQueue,
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, mainSwitchState);
}
heaterMapIter->second.active = false;
@ -282,8 +289,15 @@ void HeaterHandler::handleSwitchOffCommand(HeaterMapIter heaterMapIter) {
triggerEvent(SWITCH_ALREADY_OFF, switchNr);
}
if (heaterMapIter->second.replyQueue != NO_COMMANDER) {
actionHelper.finish(heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
/* Report back switch command reply if necessary */
if(result == HasReturnvaluesIF::RETURN_OK) {
actionHelper.finish(true, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
else {
actionHelper.finish(false, heaterMapIter->second.replyQueue,
heaterMapIter->second.action, result);
}
}
heaterMapIter->second.active = false;
}

8
bsp_q7s/devices/SolarArrayDeploymentHandler.cpp
View File

@ -108,7 +108,7 @@ void SolarArrayDeploymentHandler::performWaitOn8VActions() {
} else {
if (mainSwitchCountdown.hasTimedOut()) {
triggerEvent(MAIN_SWITCH_ON_TIMEOUT);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
MAIN_SWITCH_TIMEOUT_FAILURE);
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
}
@ -125,7 +125,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
* the deployment sequence. */
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA1_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
}
@ -135,7 +135,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
" array deployment switch 2 high " << std::endl;
stateMachine = WAIT_ON_DELOYMENT_COMMAND;
triggerEvent(DEPL_SA2_GPIO_SWTICH_ON_FAILED);
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
actionHelper.finish(false, rememberCommanderId, DEPLOY_SOLAR_ARRAYS,
SWITCHING_DEPL_SA2_FAILED);
mainLineSwitcher->sendSwitchCommand(mainLineSwitch, PowerSwitchIF::SWITCH_OFF);
}
@ -146,7 +146,7 @@ void SolarArrayDeploymentHandler::switchDeploymentTransistors() {
void SolarArrayDeploymentHandler::handleDeploymentFinish() {
ReturnValue_t result = RETURN_OK;
if (deploymentCountdown.hasTimedOut()) {
actionHelper.finish(rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
actionHelper.finish(true, rememberCommanderId, DEPLOY_SOLAR_ARRAYS, RETURN_OK);
result = gpioInterface->pullLow(deplSA1);
if (result != RETURN_OK) {
sif::debug << "SolarArrayDeploymentHandler::handleStateMachine: Failed to pull solar"

5
bsp_rpi/InitMission.cpp
View File

@ -3,8 +3,6 @@
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/pollingsequence/PollingSequenceFactory.h>
#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
@ -14,6 +12,7 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <iostream>
@ -128,7 +127,7 @@ void initmission::initTasks() {
#if RPI_TEST_ACS_BOARD == 1
FixedTimeslotTaskIF* acsTask = factory->createFixedTimeslotTask(
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
"ACS_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
result = pst::pollingSequenceAcsTest(acsTask);
if(result != HasReturnvaluesIF::RETURN_OK) {
sif::warning << "initmission::initTasks: ACS PST initialization failed!" << std::endl;

40
bsp_rpi/ObjectFactory.cpp
View File

@ -1,23 +1,25 @@
#include "ObjectFactory.h"
#include <bsp_rpi/gpio/GPIORPi.h>
#include <objects/systemObjectList.h>
#include <devices/addresses.h>
#include <devices/gpioIds.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/devices/addresses.h>
#include <fsfwconfig/devices/gpioIds.h>
#include <fsfwconfig/OBSWConfig.h>
#include <fsfwconfig/tmtc/apid.h>
#include <fsfwconfig/tmtc/pusIds.h>
#include <fsfwconfig/devices/spi.h>
#include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/spi/SpiCookie.h>
#include <linux/spi/SpiComIF.h>
#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
@ -26,7 +28,8 @@
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h>
#include <linux/spi/SpiComIF.h>
#include <mission/devices/GyroL3GD20Handler.h>
void Factory::setStaticFrameworkObjectIds() {
PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@ -97,11 +100,24 @@ void ObjectFactory::produce(){
"GYRO_2_L3G", gpio::Direction::OUT, 1);
gpioIF->addGpios(gpioCookieAcsBoard);
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3,
gpioIds::MGM_0_LIS3_CS, "/dev/spidev0.0", 24, spi::SpiMode::MODE_3, 3'900'000);
auto mgmHandler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
std::string spiDev = "/dev/spidev0.0";
SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmHandler->setStartUpImmediately();
mgmLis3Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
objects::SPI_COM_IF, spiCookie);
mgmRm3100Handler->setStartUpImmediately();
spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
spiCookie);
gyroL3gHandler->setStartUpImmediately();
#endif /* RPI_TEST_ACS_BOARD == 1 */
}

2
bsp_rpi/boardconfig/rpi_config.h
View File

@ -8,7 +8,7 @@
/* Only one of those 2 should be enabled! */
#define RPI_ADD_SPI_TEST 0
#define RPI_TEST_ACS_BOARD 1
#define RPI_TEST_ACS_BOARD 0
/* Adapt these values accordingly */
namespace gpio {

2
cmake/scripts/Host/create_cmake_release_cfg.sh
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@ -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.

7
cmake/scripts/Linux/create_cmake_debug_cfg.sh
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@ -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

7
cmake/scripts/Linux/create_cmake_release_cfg.sh
View File

@ -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

7
cmake/scripts/Linux/create_cmake_relwithdeb_cfg.sh
View File

@ -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
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0
cmake/scripts/Q7S/create_cmake_release_cfg.sh Normal file → Executable file
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0
cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_debug_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_release_cfg.sh Normal file → Executable file
View File

0
cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh Normal file → Executable file
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0
cmake/scripts/RPi/create_cmake_size_cfg.sh Normal file → Executable file
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2
fsfw

@ -1 +1 @@
Subproject commit 92f249dc62cf02a5052fee4e9877bc89b2be1ab5
Subproject commit 83d0db824289b28dbad81cce0c80276c4fc839c8

2
fsfwconfig/CMakeLists.txt
View File

@ -1,6 +1,6 @@
target_sources(${TARGET_NAME} PRIVATE
ipc/MissionMessageTypes.cpp
pollingsequence/PollingSequenceFactory.cpp
pollingsequence/pollingSequenceFactory.cpp
)
target_include_directories(${TARGET_NAME} PUBLIC

23
fsfwconfig/OBSWConfig.h
View File

@ -14,17 +14,22 @@
/* These defines should be disabled for mission code but are useful for
debugging. */
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define OBSW_VERBOSE_LEVEL 1
#define OBSW_PRINT_MISSED_DEADLINES 1
#define OBSW_ADD_TEST_CODE 1
#define TEST_LIBGPIOD 0
#define TE0720 0
#define TE0720 0
#define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0
#define PDU2_DEBUG 0
#define ACU_DEBUG 1
#define P60DOCK_DEBUG 0
#define PDU1_DEBUG 0
#define PDU2_DEBUG 0
#define ACU_DEBUG 1
/* 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

27
fsfwconfig/devices/spi.h Normal file
View 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_ */

26
fsfwconfig/pollingsequence/PollingSequenceFactory.cpp → fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -1,9 +1,11 @@
#include "pollingSequenceFactory.h"
#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)
{
@ -109,6 +111,28 @@ ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_1_L3G_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;

1
fsfwconfig/pollingsequence/PollingSequenceFactory.h → fsfwconfig/pollingsequence/pollingSequenceFactory.h
View File

@ -1,5 +1,6 @@
#ifndef POLLINGSEQUENCEFACTORY_H_
#define POLLINGSEQUENCEFACTORY_H_
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
class FixedTimeslotTaskIF;

311
linux/boardtest/SpiTestClass.cpp
View File

@ -1,14 +1,18 @@
#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 +23,7 @@ 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 +42,7 @@ ReturnValue_t SpiTestClass::performOneShotAction() {
break;
}
case(TestModes::GYRO_L3GD20H): {
performL3gTest(gyro1L3gd20ChipSelect);
break;
}
}
@ -64,10 +69,10 @@ 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 +90,67 @@ 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 +171,7 @@ 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
@ -126,11 +189,108 @@ 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";
@ -174,29 +334,9 @@ void SpiTestClass::acsInit() {
}
}
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 +347,114 @@ 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;
@ -222,10 +464,11 @@ 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);
}
return recvBuffer[1];
}

19
linux/boardtest/SpiTestClass.h
View File

@ -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 +47,26 @@ private:
uint8_t mgm3Rm3100ChipSelect = 27;
static constexpr uint8_t STM_READ_MASK = 0b1000'0000;
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::SpiMode mode, uint32_t speed);
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);
};

25
linux/spi/SpiComIF.cpp
View File

@ -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, &params);
@ -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!");

2
linux/spi/SpiComIF.h
View File

@ -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_ */

14
linux/spi/SpiCookie.cpp
View File

@ -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;
}

14
linux/spi/SpiCookie.h
View File

@ -19,19 +19,25 @@ public:
* @param maxSize
*/
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
@ -81,7 +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;
/**
@ -100,7 +106,7 @@ private:
std::string spiDevice;
const size_t maxSize;
spi::SpiMode spiMode;
spi::SpiModes spiMode;
uint32_t spiSpeed;
bool halfDuplex = false;

4
linux/spi/spiDefinitions.h
View File

@ -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,

14
misc/eclipse/.cproject
View File

@ -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">
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@ -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">
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@ -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"/>
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@ -322,6 +322,7 @@
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<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"/>
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<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.920837857" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
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@ -332,6 +333,7 @@
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<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"/>
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<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input.1925043110" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.compiler.input"/>
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@ -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"/>
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<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"/>
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<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"/>
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@ -471,6 +473,7 @@
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@ -481,6 +484,7 @@
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2
misc/eclipse/Host/eive-linux-host-debug-cmake.launch
View File

@ -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"/>
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<stringAttribute key="org.eclipse.cdt.launch.PROJECT_BUILD_CONFIG_ID_ATTR" value="cdt.managedbuild.toolchain.gnu.mingw.base.1455833186.1840876443.2117915473"/>

2
misc/eclipse/Host/eive-mingw-release-cmake.launch
View File

@ -18,7 +18,7 @@
<stringAttribute key="org.eclipse.cdt.launch.DEBUGGER_START_MODE" value="run"/>
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<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"/>
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33
misc/eclipse/make/Host/eive-linux-host-debug.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<listAttribute key="org.eclipse.cdt.dsf.gdb.AUTO_SOLIB_LIST"/>
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33
misc/eclipse/make/Host/eive-linux-host-release-cmake.launch
View File

@ -1,33 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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33
misc/eclipse/make/Host/eive-linux-host-release.launch
View File

@ -1,33 +0,0 @@
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33
misc/eclipse/make/Host/eive-mingw-debug.launch
View File

@ -1,33 +0,0 @@
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33
misc/eclipse/make/Host/eive-mingw-release.launch
View File

@ -1,33 +0,0 @@
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<stringAttribute key="org.eclipse.cdt.dsf.gdb.REVERSE_MODE" value="UseSoftTrace"/>
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<stringAttribute key="org.eclipse.cdt.dsf.gdb.TRACEPOINT_MODE" value="TP_NORMAL_ONLY"/>
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<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="&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot; standalone=&quot;no&quot;?&gt;&lt;memoryBlockExpressionList context=&quot;reserved-for-future-use&quot;/&gt;"/>
<stringAttribute key="process_factory_id" value="org.eclipse.cdt.dsf.gdb.GdbProcessFactory"/>
</launchConfiguration>

107
mission/devices/GyroL3GD20Handler.cpp
View File

@ -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;
}

29
mission/devices/GyroL3GD20Handler.h
View File

@ -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
};

13
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -1,13 +1,13 @@
#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 +44,11 @@ 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 +302,7 @@ 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 +462,7 @@ 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) {

562
mission/devices/MGMHandlerRM3100.cpp
View File

@ -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>
@ -7,345 +9,355 @@
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
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;
}
if(internalState == InternalState::STATE_CONFIGURE_CMM) {
internalState = InternalState::STATE_READ_CMM;
}
else if(internalState == InternalState::STATE_READ_CMM) {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
}
if(internalState == InternalState::STATE_CONFIGURE_TMRC) {
internalState = InternalState::STATE_READ_TMRC;
}
else if(internalState == InternalState::STATE_READ_TMRC) {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
setMode(_MODE_TO_ON);
}
}
switch(internalState) {
case(InternalState::NONE): {
internalState = InternalState::CONFIGURE_CMM;
break;
}
case(InternalState::CONFIGURE_CMM): {
internalState = InternalState::READ_CMM;
break;
}
case(InternalState::READ_CMM): {
if(commandExecuted) {
internalState = InternalState::STATE_CONFIGURE_TMRC;
}
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
if(commandExecuted) {
internalState = InternalState::STATE_READ_TMRC;
}
break;
}
case(InternalState::STATE_READ_TMRC): {
if(commandExecuted) {
internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
break;
}
default: {
break;
}
}
}
void MGMHandlerRM3100::doShutDown() {
setMode(_MODE_POWER_DOWN);
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::STATE_READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::NONE):
case(InternalState::NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
break;
}
case(InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
break;
}
case(InternalState::STATE_CONFIGURE_TMRC): {
*id = RM3100::CONFIGURE_TMRC;
break;
}
case(InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
break;
}
default:
/* Might be a configuration error. */
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, nullptr, 0);
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case(RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return RETURN_OK;
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case(RM3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData,
commandDataLen);
}
case(RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case(RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
size_t len, DeviceCommandId_t *foundId,
size_t *foundLen) {
size_t *foundLen) {
// 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;
/* For SPI, ID will always be the one of the last sent command. */
*foundId = this->getPendingCommand();
*foundLen = len;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
// We can only check whether write was sucessful with read operation.
break;
}
case(RM3100::READ_CMM): {
if(packet[1] == cmmRegValue) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
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
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
// Reading TMRC was commanded. Trigger event to inform ground.
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = cycleCountX << 16 | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(RM3100::CONFIGURE_CMM):
case(RM3100::CONFIGURE_CYCLE_COUNT):
case(RM3100::CONFIGURE_TMRC): {
/* We can only check whether write was successful with read operation. */
if(mode == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case(RM3100::READ_CMM): {
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::CONFIGURE_CMM;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_TMRC): {
if(packet[1] == tmrcRegValue) {
commandExecuted = true;
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
triggerEvent(tmrcSet, tmrcRegValue, 0);
}
}
else {
/* Attempt reconfiguration. */
internalState = InternalState::STATE_CONFIGURE_TMRC;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(RM3100::READ_CYCLE_COUNT): {
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
cycleCountZ != cycleCountRegValueZ) {
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
/* Reading TMRC was commanded. Trigger event to inform ground. */
if(mode != _MODE_START_UP) {
uint32_t eventParam1 = (cycleCountX << 16) | cycleCountY;
triggerEvent(cycleCountersSet, eventParam1, cycleCountZ);
}
break;
}
case(RM3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
default:
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
return result;
return result;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData, size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count
if(commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
// Set cycle count
if(commandDataLen == 2) {
handleCycleCommand(true, commandData, commandDataLen);
}
else if(commandDataLen == 6) {
handleCycleCommand(false, commandData, commandDataLen);
}
else {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
rawPacketLen = 7;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
const uint8_t *commandData, size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::BIG);
if(result != HasReturnvaluesIF::RETURN_OK) {
return result;
}
// Data sheet p.30
// "while noise limits the useful upper range to ~400 cycle counts."
if(command.cycleCountX > 450 ) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
/* 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)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(not oneCycleValue and (command.cycleCountY > 450 or command.cycleCountZ > 450)) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK;
cycleCountRegValueX = command.cycleCountX;
cycleCountRegValueY = command.cycleCountY;
cycleCountRegValueZ = command.cycleCountZ;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
if(commandData == nullptr) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
if(commandDataLen != 1) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[1];
rawPacketLen = 2;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[1] = commandData[1];
rawPacketLen = 2;
rawPacket = commandBuffer;
return HasReturnvaluesIF::RETURN_OK;
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 1);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 1);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
insertInCommandAndReplyMap(RM3100::READ_DATA, 1, &primaryDataset);
}
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}));
return HasReturnvaluesIF::RETURN_OK;
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}));
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"
" microtesla:" << std::endl;
// 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;
}
if(debugDivider->checkAndIncrement()) {
sif::info << "MGMHandlerRM3100: Magnetic field strength in"
" microtesla:" << std::endl;
/* 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) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit();
}
return result;
/* 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);
}
return RETURN_OK;
}

10
mission/devices/MGMHandlerRM3100.h
View File

@ -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;

4
mission/devices/PCDUHandler.cpp
View File

@ -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 "

77
mission/devices/devicedefinitions/GyroL3GD20Definitions.h
View File

@ -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_ */

3
mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h
View File

@ -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;

3
mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
View File

@ -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;
/*----------------------------------------------------------------------------*/

2
test/testtasks/TestTask.cpp
View File

@ -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

@ -1 +1 @@
Subproject commit d276f9722d1311b552e7c99ee5b03a68487a0fc5
Subproject commit 3dbfe390a6784ebc723d3907062cf883c8cf85cd

2
tmtc

@ -1 +1 @@
Subproject commit d1899ef1816aa7531b142f87d8b9ea91ef4011fd
Subproject commit 5f1803b66393210ded8c5d88fbc28cd8130cef91