GPS Update #201
2
fsfw
2
fsfw
@ -1 +1 @@
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Subproject commit aded4fae1e4f8a8a325c49b8c0d4bb4d7408d676
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Subproject commit a11d7455dfaf2e736f73f6c4dda1f8c06b9f1234
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@ -81,11 +81,9 @@ ReturnValue_t GPSHyperionLinuxController::initializeLocalDataPool(
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localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::SATS_IN_VIEW, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry<uint8_t>());
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bool enablePeriodicHk = false;
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#if OBSW_ENABLE_PERIODIC_HK == 1
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#if OBSW_ENABLE_PERIODIC_HK == 1
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enablePeriodicHk = true;
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poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), true, 2.0, false);
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#endif
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#endif
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poolManager.subscribeForPeriodicPacket(gpsSet.getSid(), enablePeriodicHk, 2.0, false);
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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@ -177,14 +177,7 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
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bool addSus9 = true;
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bool addSus9 = true;
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bool addSus10 = true;
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bool addSus10 = true;
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bool addSus11 = true;
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bool addSus11 = true;
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/**
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* The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
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* requests to a sun sensor must be performed consecutively. Another reason for calling multiple
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* device handler cycles is that the ADC conversions take some time. Thus first the ADC
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* conversions are initiated and in a next step the results can be read from the internal FIFO.
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* One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
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* inserted between the device handler cycles of one SUS.
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*/
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if (addSus0) {
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if (addSus0) {
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/* Write setup */
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/* Write setup */
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thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
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@ -51,6 +51,7 @@ void PayloadPcduHandler::doShutDown() {
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auto opCode = pwrStateMachine.fsm();
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auto opCode = pwrStateMachine.fsm();
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if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
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if (opCode == power::OpCodes::TO_OFF_DONE or opCode == power::OpCodes::TIMEOUT_OCCURED) {
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pwrStateMachine.reset();
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pwrStateMachine.reset();
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state = States::PL_PCDU_OFF;
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// No need to set mode _MODE_POWER_DOWN, power switching was already handled
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// No need to set mode _MODE_POWER_DOWN, power switching was already handled
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setMode(MODE_OFF);
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setMode(MODE_OFF);
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}
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}
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@ -66,7 +67,8 @@ void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
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ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_t subModeFrom) {
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using namespace plpcdu;
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using namespace plpcdu;
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if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON) {
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bool doFinish = true;
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if (((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == 1) {
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if (state == States::PL_PCDU_OFF) {
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if (state == States::PL_PCDU_OFF) {
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sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
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sif::error << "PayloadPcduHandler::stateMachineToNormal: Unexpected state PL_PCDU_OFF"
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<< "detected" << std::endl;
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<< "detected" << std::endl;
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@ -82,22 +84,24 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
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state = States::ON_TRANS_SSR;
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state = States::ON_TRANS_SSR;
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transitionOk = true;
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transitionOk = true;
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doFinish = false;
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}
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}
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if (state == States::ON_TRANS_SSR) {
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if (state == States::ON_TRANS_SSR) {
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// If necessary, check whether a certain amount of time has elapsed
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// If necessary, check whether a certain amount of time has elapsed
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if (transitionOk) {
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if (transitionOk) {
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transitionOk = false;
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transitionOk = false;
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state = States::ON_TRANS_ADC_CLOSE_ZERO;
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state = States::ON_TRANS_ADC_CLOSE_ZERO;
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adcCountdown.setTimeout(50);
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adcCountdown.setTimeout(50);
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adcCountdown.resetTimer();
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adcCountdown.resetTimer();
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adcState = AdcStates::BOOT_DELAY;
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adcState = AdcStates::BOOT_DELAY;
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doFinish = false;
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// If the values are not close to zero, we should not allow transition
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// If the values are not close to zero, we should not allow transition
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monMode = MonitoringMode::CLOSE_TO_ZERO;
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monMode = MonitoringMode::CLOSE_TO_ZERO;
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}
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}
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}
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}
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if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
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if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
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if (adcState == AdcStates::BOOT_DELAY) {
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if (adcState == AdcStates::BOOT_DELAY) {
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doFinish = false;
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if (adcCountdown.hasTimedOut()) {
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if (adcCountdown.hasTimedOut()) {
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adcState = AdcStates::SEND_SETUP;
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adcState = AdcStates::SEND_SETUP;
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adcCmdExecuted = false;
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adcCmdExecuted = false;
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@ -106,68 +110,38 @@ ReturnValue_t PayloadPcduHandler::stateMachineToNormal(Mode_t modeFrom, Submode_
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if (adcState == AdcStates::SEND_SETUP) {
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if (adcState == AdcStates::SEND_SETUP) {
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if (adcCmdExecuted) {
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if (adcCmdExecuted) {
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adcState = AdcStates::NORMAL;
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adcState = AdcStates::NORMAL;
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doFinish = true;
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adcCountdown.setTimeout(100);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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adcCountdown.resetTimer();
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adcCmdExecuted = false;
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adcCmdExecuted = false;
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setMode(MODE_NORMAL, submode);
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return HasReturnvaluesIF::RETURN_OK;
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}
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}
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}
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}
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}
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}
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}
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}
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if (submode == NormalSubmodes::DRO_ON) {
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auto switchHandler = [&](NormalSubmodeBits bit, gpioId_t id, std::string info) {
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if (((diffMask >> bit) & 1) == 1) {
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if (((submode >> bit) & 1) == 1) {
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#if OBSW_VERBOSE_LEVEL >= 1
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU DRO module" << std::endl;
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sif::info << "Enabling PL PCDU " << info << " module" << std::endl;
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#endif
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#endif
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// Switch on DRO and start monitoring for negative voltages
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// Switch on DRO and start monitoring for negative voltages
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
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updateSwitchGpio(id, gpio::Levels::HIGH);
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adcCountdown.setTimeout(100);
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} else {
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adcCountdown.resetTimer();
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#if OBSW_VERBOSE_LEVEL >= 1
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setMode(MODE_NORMAL, submode);
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sif::info << "Disabling PL PCDU " << info << " module" << std::endl;
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#endif
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updateSwitchGpio(id, gpio::Levels::LOW);
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}
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}
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if (submode == NormalSubmodes::X8_ON) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU X8 module" << std::endl;
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#endif
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// Switch on DRO and start monitoring for negative voltages
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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setMode(MODE_NORMAL, submode);
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}
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}
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};
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if (submode == NormalSubmodes::TX_ON) {
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switchHandler(DRO_ON, gpioIds::PLPCDU_ENB_DRO, "DRO");
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#if OBSW_VERBOSE_LEVEL >= 1
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switchHandler(X8_ON, gpioIds::PLPCDU_ENB_X8, "X8");
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sif::info << "Enabling PL PCDU TX module" << std::endl;
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switchHandler(TX_ON, gpioIds::PLPCDU_ENB_TX, "TX");
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#endif
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switchHandler(MPA_ON, gpioIds::PLPCDU_ENB_MPA, "MPA");
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// Switch on DRO and start monitoring for negative voltages
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switchHandler(HPA_ON, gpioIds::PLPCDU_ENB_HPA, "HPA");
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
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if (doFinish) {
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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setMode(MODE_NORMAL, submode);
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}
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if (submode == NormalSubmodes::MPA_ON) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU MPA module" << std::endl;
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#endif
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// Switch on DRO and start monitoring for negative voltages
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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setMode(MODE_NORMAL, submode);
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}
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if (submode == NormalSubmodes::HPA_ON) {
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU HPA module" << std::endl;
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#endif
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// Switch on DRO and start monitoring for negative voltages
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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setMode(MODE_NORMAL, submode);
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setMode(MODE_NORMAL, submode);
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}
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}
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return RETURN_OK;
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return RETURN_OK;
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@ -201,6 +175,16 @@ ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t
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return NOTHING_TO_SEND;
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return NOTHING_TO_SEND;
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}
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}
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void PayloadPcduHandler::updateSwitchGpio(gpioId_t id, gpio::Levels level) {
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if (level == gpio::Levels::HIGH) {
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gpioIF->pullHigh(id);
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} else {
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gpioIF->pullLow(id);
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}
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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}
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void PayloadPcduHandler::fillCommandAndReplyMap() {
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void PayloadPcduHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
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@ -548,25 +532,33 @@ bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event)
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ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
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ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
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using namespace plpcdu;
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using namespace plpcdu;
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if (mode == MODE_NORMAL) {
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if (mode == MODE_NORMAL) {
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diffMask = submode ^ this->submode;
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// Also deals with the case where the mode is MODE_ON, submode should be 0 here
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// Also deals with the case where the mode is MODE_ON, submode should be 0 here
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if (submode == NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON and
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if ((((submode >> SOLID_STATE_RELAYS_ADC_ON) & 0b1) == SOLID_STATE_RELAYS_ADC_ON) and
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(this->mode == MODE_NORMAL and this->submode != NormalSubmodes::ALL_OFF)) {
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(this->mode == MODE_NORMAL and this->submode != ALL_OFF_SUBMODE)) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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if ((submode == NormalSubmodes::DRO_ON and
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if (((((submode >> DRO_ON) & 1) == 1) and
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this->submode != NormalSubmodes::SOLID_STATE_RELAYS_ADC_ON)) {
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((this->submode & 0b1) != (1 << SOLID_STATE_RELAYS_ADC_ON)))) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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if ((submode == NormalSubmodes::X8_ON and this->submode != NormalSubmodes::DRO_ON)) {
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if ((((submode >> X8_ON) & 1) == 1) and
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((this->submode & 0b11) != ((1 << SOLID_STATE_RELAYS_ADC_ON) | (1 << DRO_ON)))) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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if ((submode == NormalSubmodes::TX_ON and this->submode != NormalSubmodes::X8_ON)) {
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if (((((submode >> TX_ON) & 1) == 1) and
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((this->submode & 0b111) !=
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((1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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if ((submode == NormalSubmodes::MPA_ON and this->submode != NormalSubmodes::TX_ON)) {
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if ((((submode >> MPA_ON) & 1) == 1 and
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((this->submode & 0b1111) !=
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((1 << TX_ON) | (1 << X8_ON) | (1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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if ((submode == NormalSubmodes::HPA_ON and this->submode != NormalSubmodes::MPA_ON)) {
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if ((((submode >> HPA_ON) & 1) == 1 and
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((this->submode & 0b11111) != ((1 << MPA_ON) | (1 << TX_ON) | (1 << X8_ON) |
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(1 << DRO_ON) | (1 << SOLID_STATE_RELAYS_ADC_ON))))) {
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return TRANS_NOT_ALLOWED;
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return TRANS_NOT_ALLOWED;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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return HasReturnvaluesIF::RETURN_OK;
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@ -134,6 +134,7 @@ class PayloadPcduHandler : public DeviceHandlerBase {
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SdCardMountedIF* sdcMan;
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SdCardMountedIF* sdcMan;
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plpcdu::PlPcduParameter params;
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plpcdu::PlPcduParameter params;
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bool quickTransitionAlreadyCalled = true;
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bool quickTransitionAlreadyCalled = true;
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uint8_t diffMask = 0;
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PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
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PoolEntry<uint16_t> channelValues = PoolEntry<uint16_t>({0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0});
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PoolEntry<float> processedValues =
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PoolEntry<float> processedValues =
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@ -141,6 +142,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
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PoolEntry<float> tempC = PoolEntry<float>({0.0});
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PoolEntry<float> tempC = PoolEntry<float>({0.0});
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DualLanePowerStateMachine pwrStateMachine;
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DualLanePowerStateMachine pwrStateMachine;
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void updateSwitchGpio(gpioId_t id, gpio::Levels level);
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void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
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void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
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void doStartUp() override;
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void doStartUp() override;
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void doShutDown() override;
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void doShutDown() override;
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@ -91,16 +91,17 @@ static constexpr DeviceCommandId_t SETUP_CMD = 1;
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static constexpr DeviceCommandId_t READ_TEMP_EXT = 2;
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static constexpr DeviceCommandId_t READ_TEMP_EXT = 2;
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static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
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static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
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enum NormalSubmodes {
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enum NormalSubmodeBits {
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ALL_OFF = 0,
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SOLID_STATE_RELAYS_ADC_ON = 0,
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SOLID_STATE_RELAYS_ADC_ON = 1,
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DRO_ON = 1,
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DRO_ON = 2,
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X8_ON = 2,
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X8_ON = 3,
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TX_ON = 3,
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TX_ON = 4,
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MPA_ON = 4,
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MPA_ON = 5,
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HPA_ON = 5
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HPA_ON = 6
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};
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};
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static constexpr Submode_t ALL_OFF_SUBMODE = 0;
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// 12 ADC values * 2 + trailing zero
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// 12 ADC values * 2 + trailing zero
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static constexpr size_t ADC_REPLY_SIZE = 25;
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static constexpr size_t ADC_REPLY_SIZE = 25;
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// Conversion byte + 24 * zero
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// Conversion byte + 24 * zero
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||||||
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Loading…
Reference in New Issue
Block a user