eive/eive-obsw
eive/eive-obsw
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v1.9.0 #175

Merged
muellerr merged 623 commits from develop into main 2022-03-08 10:32:41 +01:00
Conversation 0 Commits 623 Files Changed 417 +47 -19
8 changed files with 47 additions and 19 deletions
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Showing only changes of commit 1bd1e25629 - Show all commits

2
fsfw

@ -1 +1 @@
Subproject commit bda02b464a2ad00b1a8e373d4c6b80b0a7c8de95
Subproject commit 54e56ec522f485525de7b17458b22132003c5047

4
linux/fsfwconfig/OBSWConfig.h.in
View File

@ -115,8 +115,8 @@ debugging. */
/*******************************************************************/
/** Hardcoded */
/*******************************************************************/
// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
#define OBSW_ADIS16507_LINUX_COM_IF 1
// Leave at one as the BSP is linux. Used by the ADIS1650X device handler
#define OBSW_ADIS1650X_LINUX_COM_IF 1
#include "OBSWVersion.h"

20
mission/devices/GyroADIS1650XHandler.cpp
View File

@ -185,7 +185,7 @@ void GyroADIS1650XHandler::fillCommandAndReplyMap() {
ReturnValue_t GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
/* For SPI, the ID will always be the one of the last sent command. */
// For SPI, the ID will always be the one of the last sent command
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
@ -196,18 +196,19 @@ ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch(id) {
case(ADIS1650X::READ_OUT_CONFIG): {
PoolReadGuard rg(&configDataset);
uint16_t readProdId = packet[10] << 8 | packet[11];
if(((adisType == ADIS1650X::Type::ADIS16507) and
(readProdId != ADIS1650X::PROD_ID_16507)) or
((adisType == ADIS1650X::Type::ADIS16505) and
(readProdId != ADIS1650X::PROD_ID_16505))) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Invalid product ID "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
<< readProdId << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
}
PoolReadGuard rg(&configDataset);
configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
configDataset.filterSetting.value = packet[4] << 8 | packet[5];
configDataset.mscCtrlReg.value = packet[6] << 8 | packet[7];
@ -232,21 +233,20 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
switch(burstMode) {
case(BurstModes::BURST_16_BURST_SEL_1):
case(BurstModes::BURST_32_BURST_SEL_1): {
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: Analysis with BURST_SEL1"
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
" not implemented!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
case(BurstModes::BURST_16_BURST_SEL_0): {
uint16_t checksum = packet[20] << 8 | packet[21];
/* Now verify the read checksum with the expected checksum
according to datasheet p. 20 */
// Now verify the read checksum with the expected checksum according to datasheet p. 20
uint16_t calcChecksum = 0;
for(size_t idx = 2; idx < 20; idx ++) {
calcChecksum += packet[idx];
}
if(checksum != calcChecksum) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::warning << "GyroADIS16507Handler::interpretDeviceReply: "
sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
"Invalid checksum detected!" << std::endl;
#endif
return HasReturnvaluesIF::RETURN_FAILED;
@ -277,7 +277,7 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
} else if(adisType == ADIS1650X::Type::ADIS16505) {
accelScaling = ADIS1650X::ACCELEROMETER_RANGE_16505;
} else {
sif::warning << "GyroADIS16507Handler::handleSensorData: "
sif::warning << "GyroADIS1650XHandler::handleSensorData: "
"Unknown ADIS type" << std::endl;
}
int16_t accelXRaw = packet[10] << 8 | packet[11];
@ -298,11 +298,11 @@ ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
#if FSFW_HAL_ADIS1650X_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
sif::info << "GyroADIS16507Handler: Accelerations in m / s^2: " << std::endl;
sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
sif::info << "X: " << primaryDataset.accelX.value << std::endl;
sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;

6
mission/devices/GyroADIS1650XHandler.h
View File

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

24
mission/devices/Max31865PT1000Handler.cpp
View File

@ -91,6 +91,10 @@ ReturnValue_t Max31865PT1000Handler::buildNormalDeviceCommand(
*id = Max31865Definitions::REQUEST_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
*id = Max31865Definitions::CLEAR_FAULT_BYTE;
return buildCommandFromCommand(*id, nullptr, 0);
}
else {
return DeviceHandlerBase::NOTHING_TO_SEND;
}
@ -155,6 +159,13 @@ ReturnValue_t Max31865PT1000Handler::buildCommandFromCommand(
return DeviceHandlerIF::NO_COMMAND_DATA;
}
}
case(Max31865Definitions::CLEAR_FAULT_BYTE): {
commandBuffer[0] = static_cast<uint8_t>(Max31865Definitions::CONFIG_CMD);
commandBuffer[1] = Max31865Definitions::CLEAR_FAULT_BIT_VAL;
DeviceHandlerBase::rawPacketLen = 2;
DeviceHandlerBase::rawPacket = commandBuffer.data();
return HasReturnvaluesIF::RETURN_OK;
}
case(Max31865Definitions::REQUEST_CONFIG): {
commandBuffer[0] = static_cast<uint8_t>(
Max31865Definitions::REQUEST_CONFIG);
@ -233,6 +244,7 @@ void Max31865PT1000Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_RTD, 3,
&sensorDataset);
insertInCommandAndReplyMap(Max31865Definitions::REQUEST_FAULT_BYTE, 3);
insertInCommandAndReplyMap(Max31865Definitions::CLEAR_FAULT_BYTE, 3);
}
ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
@ -290,6 +302,11 @@ ReturnValue_t Max31865PT1000Handler::scanForReply(const uint8_t *start,
*foundLen = 2;
internalState = InternalState::RUNNING;
}
else if(internalState == InternalState::CLEAR_FAULT_BYTE) {
*foundId = Max31865Definitions::CLEAR_FAULT_BYTE;
*foundLen = 2;
internalState = InternalState::RUNNING;
}
else {
*foundId = Max31865Definitions::REQUEST_CONFIG;
*foundLen = configReplySize;
@ -360,9 +377,14 @@ ReturnValue_t Max31865PT1000Handler::interpretDeviceReply(
case(Max31865Definitions::REQUEST_RTD): {
// first bit of LSB reply byte is the fault bit
uint8_t faultBit = packet[2] & 0b0000'0001;
if(faultBit == 1) {
if(resetFaultBit) {
internalState = InternalState::CLEAR_FAULT_BYTE;
resetFaultBit = false;
}
else if(faultBit == 1) {
// Maybe we should attempt to restart it?
internalState = InternalState::REQUEST_FAULT_BYTE;
resetFaultBit = true;
}
// RTD value consists of last seven bits of the LSB reply byte and

4
mission/devices/Max31865PT1000Handler.h
View File

@ -96,12 +96,14 @@ private:
REQUEST_LOW_THRESHOLD,
REQUEST_CONFIG,
RUNNING,
REQUEST_FAULT_BYTE
REQUEST_FAULT_BYTE,
CLEAR_FAULT_BYTE
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
bool resetFaultBit = false;
dur_millis_t startTime = 0;
uint8_t faultByte = 0;
std::array<uint8_t, 3> commandBuffer { 0 };

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

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

2
tmtc

@ -1 +1 @@
Subproject commit 1d374230b34606d8b6aa4df1335befec316a1e35
Subproject commit eca5bba1d8df6576a19547d356e676b0fb164d87