bsp_q7s/core/ObjectFactory.cpp

@@ -44,6 +44,7 @@
 #include "linux/csp/CspComIF.h"
 #include "linux/csp/CspCookie.h"
 #include "linux/devices/GPSHyperionLinuxController.h"
+#include "linux/devices/PayloadPcduHandler.h"
 #include "linux/devices/SolarArrayDeploymentHandler.h"
 #include "linux/devices/SusHandler.h"
 #include "linux/devices/devicedefinitions/SusDefinitions.h"
@@ -58,7 +59,6 @@
 #include "mission/devices/PCDUHandler.h"
 #include "mission/devices/PDU1Handler.h"
 #include "mission/devices/PDU2Handler.h"
-#include "mission/devices/PayloadPcduHandler.h"
 #include "mission/devices/PlocMPSoCHandler.h"
 #include "mission/devices/RadiationSensorHandler.h"
 #include "mission/devices/RwHandler.h"
@@ -1209,6 +1209,7 @@ void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF*
   // Create device handler components
   auto plPcduHandler = new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, gpioComIF, false);
+  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
   static_cast<void>(plPcduHandler);
 #if OBSW_TEST_PL_PCDU == 1
   plPcduHandler->setStartUpImmediately();

linux/boardtest/SpiTestClass.cpp

@@ -322,6 +322,7 @@ void SpiTestClass::performOneShotMax1227Test() {
 
   adcCfg.plPcduAdcExtConv = true;
   adcCfg.plPcduAdcIntConv = false;
+  adcCfg.plPcduAdcExtConvAsOne = false;
   performMax1227Test();
 }
 
@@ -344,7 +345,7 @@ void SpiTestClass::performMax1227Test() {
     return;
   }
   uint32_t spiSpeed = 976'000;
-  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  spi::SpiModes spiMode = spi::SpiModes::MODE_3;
   setSpiSpeedAndMode(fd, spiMode, spiSpeed);
 
   max1227RadSensorTest(fd);
@@ -522,7 +523,8 @@ void SpiTestClass::max1227SusTest(int fd, SusTestCfg &cfg) {
 
 void SpiTestClass::max1227PlPcduTest(int fd) {
   using namespace max1227;
-  if ((adcCfg.plPcduAdcExtConv or adcCfg.plPcduAdcIntConv) and adcCfg.vbatSwitch) {
+  if ((adcCfg.plPcduAdcExtConv or adcCfg.plPcduAdcIntConv or adcCfg.plPcduAdcExtConvAsOne) and
+      adcCfg.vbatSwitch) {
     // This enables the ADC
     ReturnValue_t result = gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
     if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -538,7 +540,6 @@ void SpiTestClass::max1227PlPcduTest(int fd) {
     sendBuffer[0] = max1227::buildResetByte(false);
     spiTransferStruct[0].len = 1;
     transfer(fd, gpioIds::PLPCDU_ADC_CS);
-
   }
   if (adcCfg.plPcduAdcExtConv) {
     sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
@@ -547,20 +548,52 @@ void SpiTestClass::max1227PlPcduTest(int fd) {
     transfer(fd, gpioIds::PLPCDU_ADC_CS);
     uint8_t n = 11;
     max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len);
+    size_t dummy = 0;
+    max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
+                                                     dummy);
+    // + 1 to account for temp conversion byte
+    spiTransferStruct[0].len += 1;
     transfer(fd, gpioIds::PLPCDU_ADC_CS);
     uint16_t adcRaw[n + 1] = {};
     for (uint8_t idx = 0; idx < n + 1; idx++) {
       adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
     }
-    usleep(10);
+    spiTransferStruct[0].len = 24;
-    spiTransferStruct[0].len = 0;
+    // Shift out zeros
-    max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data(), spiTransferStruct[0].len);
+    shiftOutZeros();
     transfer(fd, gpioIds::PLPCDU_ADC_CS);
-    int16_t tempRaw = ((recvBuffer[23] & 0x0f) << 8) | recvBuffer[24];
+    setSendBuffer();
+    int16_t tempRaw = ((recvBuffer[22] & 0x0f) << 8) | recvBuffer[23];
     sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
     for (int idx = 0; idx < n + 1; idx++) {
       sif::info << std::setw(3) << adcRaw[idx];
-      if(idx < n) {
+      if (idx < n) {
+        sif::info << ",";
+      }
+    }
+    sif::info << "]" << std::endl;
+    sif::info << "Temperature: " << max1227::getTemperature(tempRaw) << " C" << std::endl;
+  }
+  if (adcCfg.plPcduAdcExtConvAsOne) {
+    sendBuffer[0] = max1227::buildSetupByte(ClkSel::EXT_CONV_EXT_TIMED, RefSel::INT_REF_NO_WAKEUP,
+                                            DiffSel::NONE_0);
+    spiTransferStruct[0].len = 1;
+    transfer(fd, gpioIds::PLPCDU_ADC_CS);
+    uint8_t n = 11;
+    max1227::prepareExternallyClockedRead0ToN(sendBuffer.data(), n, spiTransferStruct[0].len);
+    max1227::prepareExternallyClockedTemperatureRead(sendBuffer.data() + spiTransferStruct[0].len,
+                                                     spiTransferStruct[0].len);
+    transfer(fd, gpioIds::PLPCDU_ADC_CS);
+    uint16_t adcRaw[n + 1] = {};
+    for (uint8_t idx = 0; idx < n + 1; idx++) {
+      adcRaw[idx] = (recvBuffer[idx * 2 + 1] << 8) | recvBuffer[idx * 2 + 2];
+    }
+    int16_t tempRaw = ((recvBuffer[spiTransferStruct[0].len - 2] & 0x0f) << 8) |
+                      recvBuffer[spiTransferStruct[0].len - 1];
+    sif::info << "PL PCDU ADC ext conv [" << std::hex << std::setfill('0');
+    for (int idx = 0; idx < n + 1; idx++) {
+      sif::info << std::setw(3) << adcRaw[idx];
+      if (idx < n) {
         sif::info << ",";
       }
     }
@@ -594,7 +627,7 @@ void SpiTestClass::max1227PlPcduTest(int fd) {
     for (int idx = 0; idx < n + 1; idx++) {
       adcRaw[idx] = (recvBuffer[idx * 2 + 2] << 8) | recvBuffer[idx * 2 + 3];
       sif::info << std::setw(3) << adcRaw[idx];
-      if(idx < n) {
+      if (idx < n) {
         sif::info << ",";
       }
     }

linux/boardtest/SpiTestClass.h

@@ -26,6 +26,7 @@ struct Max1227TestCfg {
   bool testRadSensorExtConvWithDelay = false;
   bool testRadSensorIntConv = false;
   bool plPcduAdcExtConv = false;
+  bool plPcduAdcExtConvAsOne = false;
   bool plPcduAdcIntConv = false;
   bool vbatSwitch = true;
 

linux/devices/CMakeLists.txt

@@ -1,6 +1,7 @@
 target_sources(${OBSW_NAME} PRIVATE
 	SolarArrayDeploymentHandler.cpp
 	SusHandler.cpp
+	PayloadPcduHandler.cpp
 )
 
 if(EIVE_BUILD_GPSD_GPS_HANDLER)

linux/devices/PayloadPcduHandler.cpp

@@ -1,6 +1,11 @@
 #include "PayloadPcduHandler.h"
 
 #include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
+#include <fsfw_hal/linux/UnixFileGuard.h>
+#include <fsfw_hal/linux/spi/SpiComIF.h>
+#include <fsfw_hal/linux/spi/SpiCookie.h>
+#include <fsfw_hal/linux/utility.h>
+#include <sys/ioctl.h>
 
 #include "devices/gpioIds.h"
 
@@ -52,7 +57,7 @@ ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     case (AdcStates::NORMAL): {
-      *id = plpcdu::READ_WITH_TEMP;
+      *id = plpcdu::READ_WITH_TEMP_EXT;
       return buildCommandFromCommand(*id, nullptr, 0);
     }
     default: {
@@ -72,8 +77,8 @@ ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t
 
 void PayloadPcduHandler::fillCommandAndReplyMap() {
   insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
-  insertInCommandAndReplyMap(plpcdu::READ_TEMP, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
-  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP, 1, &adcSet);
+  insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
   insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
 }
 
@@ -92,12 +97,12 @@ ReturnValue_t PayloadPcduHandler::buildCommandFromCommand(DeviceCommandId_t devi
       rawPacket = cmdBuf.data();
       break;
     }
-    case (plpcdu::READ_TEMP): {
+    case (plpcdu::READ_TEMP_EXT): {
       max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data(), rawPacketLen);
       rawPacket = cmdBuf.data();
       break;
     }
-    case (plpcdu::READ_WITH_TEMP): {
+    case (plpcdu::READ_WITH_TEMP_EXT): {
       size_t sz = 0;
       max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, sz);
       max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data() + sz, sz);
@@ -130,7 +135,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       }
       break;
     }
-    case (READ_TEMP): {
+    case (READ_TEMP_EXT): {
       uint8_t tempStartIdx = TEMP_REPLY_SIZE - 2;
       adcSet.tempC.value =
           max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
@@ -145,7 +150,7 @@ ReturnValue_t PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
       handlePrintout();
       break;
     }
-    case (READ_WITH_TEMP): {
+    case (READ_WITH_TEMP_EXT): {
       PoolReadGuard pg(&adcSet);
       if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
         return pg.getReadResult();
@@ -309,3 +314,132 @@ void PayloadPcduHandler::stateMachineToNormal() {
     }
   }
 }
+
+ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
+                                                       const uint8_t* sendData, size_t sendLen,
+                                                       void* args) {
+  auto handler = reinterpret_cast<PayloadPcduHandler*>(args);
+  if (handler == nullptr) {
+    sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
+               << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+  }
+  DeviceCommandId_t currentCommand = handler->getPendingCommand();
+  switch (currentCommand) {
+    case (plpcdu::READ_WITH_TEMP_EXT): {
+      return transferAsTwo(comIf, cookie, sendData, sendLen, false);
+    }
+    case (plpcdu::READ_TEMP_EXT): {
+      return transferAsTwo(comIf, cookie, sendData, sendLen, true);
+    }
+    default: {
+      return comIf->performRegularSendOperation(cookie, sendData, sendLen);
+    }
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cookie,
+                                                const uint8_t* sendData, size_t sendLen,
+                                                bool tempOnly) {
+  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+  int retval = 0;
+  // Prepare transfer
+  int fileDescriptor = 0;
+  std::string device = cookie->getSpiDevice();
+  UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
+    return SpiComIF::OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
+  comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  cookie->assignWriteBuffer(sendData);
+  size_t transferLen = plpcdu::TEMP_REPLY_SIZE;
+  if (not tempOnly) {
+    transferLen += plpcdu::ADC_REPLY_SIZE;
+  }
+  cookie->setTransferSize(transferLen);
+
+  gpioId_t gpioId = cookie->getChipSelectPin();
+  GpioIF* gpioIF = comIf->getGpioInterface();
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 0;
+  MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
+  if (mutex == nullptr or gpioIF == nullptr) {
+#if OBSW_VERBOSE_LEVEL >= 1
+    sif::warning << "GyroADIS16507Handler::spiSendCallback: "
+                    "Mutex or GPIO interface invalid"
+                 << std::endl;
+    return HasReturnvaluesIF::RETURN_FAILED;
+#endif
+  }
+
+  if (gpioId != gpio::NO_GPIO) {
+    result = mutex->lockMutex(timeoutType, timeoutMs);
+    if (result != RETURN_OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
+#endif
+      return result;
+    }
+  }
+  spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
+  uint64_t origTx = transferStruct->tx_buf;
+  uint64_t origRx = transferStruct->rx_buf;
+  if (tempOnly) {
+    transferLen = 1;
+  } else {
+    transferLen = plpcdu::ADC_REPLY_SIZE + 1;
+  }
+  transferStruct->len = transferLen;
+  // Pull SPI CS low. For now, no support for active high given
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullLow(gpioId);
+  }
+
+  // Execute transfer
+  // Initiate a full duplex SPI transfer.
+  retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
+  if (retval < 0) {
+    utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+  }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullHigh(gpioId);
+  }
+
+  transferStruct->tx_buf += transferLen;
+  transferStruct->rx_buf += transferLen;
+  transferStruct->len = plpcdu::TEMP_REPLY_SIZE - 1;
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullLow(gpioId);
+  }
+
+  // Execute transfer
+  // Initiate a full duplex SPI transfer.
+  retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
+  if (retval < 0) {
+    utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+  }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+  comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+  if (gpioId != gpio::NO_GPIO) {
+    gpioIF->pullHigh(gpioId);
+  }
+
+  transferStruct->tx_buf = origTx;
+  transferStruct->rx_buf = origRx;
+  if (gpioId != gpio::NO_GPIO) {
+    mutex->unlockMutex();
+  }
+  return HasReturnvaluesIF::RETURN_OK;
+}

linux/devices/PayloadPcduHandler.h

@@ -5,8 +5,11 @@
 #include <fsfw/globalfunctions/PeriodicOperationDivider.h>
 #include <fsfw/timemanager/Countdown.h>
 
-#include "devicedefinitions/payloadPcduDefinitions.h"
 #include "fsfw_hal/common/gpio/GpioIF.h"
+#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
+
+class SpiComIF;
+class SpiCookie;
 
 /**
  * @brief Device handler for the EIVE Payload PCDU
@@ -30,6 +33,11 @@ class PayloadPcduHandler : public DeviceHandlerBase {
   void setToGoToNormalModeImmediately(bool enable);
   void enablePeriodicPrintout(bool enable, uint8_t divider);
 
+  static ReturnValue_t extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
+                                            const uint8_t* sendData, size_t sendLen, void* args);
+  static ReturnValue_t transferAsTwo(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
+                                     size_t sendLen, bool tempOnly);
+
  private:
   enum class States {
     PCDU_OFF,
@@ -52,6 +60,8 @@ class PayloadPcduHandler : public DeviceHandlerBase {
     PCDU_ON,
   } state = States::PCDU_OFF;
 
+  enum class AdcMode { EXT_CONV, INT_CONV } adcMode = AdcMode::INT_CONV;
+
   enum class MonitoringMode { NONE, CLOSE_TO_ZERO, NEGATIVE } monMode = MonitoringMode::NONE;
 
   enum class AdcStates { OFF, BOOT_DELAY, SEND_SETUP, NORMAL } adcState = AdcStates::OFF;

mission/devices/CMakeLists.txt

@@ -16,5 +16,4 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE
     GyroADIS1650XHandler.cpp
     RwHandler.cpp
     max1227.cpp
-    PayloadPcduHandler.cpp
 )

mission/devices/devicedefinitions/payloadPcduDefinitions.h

@@ -18,8 +18,8 @@ static constexpr size_t MAX_ADC_REPLY_SIZE = 64;
 
 static constexpr DeviceCommandId_t READ_CMD = 0;
 static constexpr DeviceCommandId_t SETUP_CMD = 1;
-static constexpr DeviceCommandId_t READ_TEMP = 2;
+static constexpr DeviceCommandId_t READ_TEMP_EXT = 2;
-static constexpr DeviceCommandId_t READ_WITH_TEMP = 3;
+static constexpr DeviceCommandId_t READ_WITH_TEMP_EXT = 3;
 
 static constexpr Submode_t NORMAL_ADC_ONLY = 0;
 static constexpr Submode_t NORMAL_ALL_ON = 1;