eive/eive-obsw
eive/eive-obsw
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More buffer time #433

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muellerr merged 5 commits from bugfix_imtq_timing into develop 2023-03-06 11:33:40 +01:00
Conversation 0 Commits 5 Files Changed 6 +59 -36
6 changed files with 59 additions and 36 deletions
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Showing only changes of commit 6e10ccd2d6 - Show all commits

2
common/config/eive/definitions.h
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@ -59,7 +59,7 @@ namespace spiSched {
static constexpr uint32_t SCHED_BLOCK_1_SUS_READ_MS = 15;
static constexpr uint32_t SCHED_BLOCK_2_SENSOR_READ_MS = 30;
static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 42;
static constexpr uint32_t SCHED_BLOCK_3_READ_IMTQ_MGM_MS = 43;
static constexpr uint32_t SCHED_BLOCK_4_ACS_CTRL_MS = 45;
static constexpr uint32_t SCHED_BLOCK_5_ACTUATOR_MS = 55;
static constexpr uint32_t SCHED_BLOCK_6_IMTQ_BLOCK_2_MS = 105;

5
linux/devices/ImtqPollingTask.cpp
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@ -47,6 +47,9 @@ void ImtqPollingTask::handleMeasureStep() {
size_t replyLen = 0;
uint8_t* replyPtr;
ImtqRepliesDefault replies(replyBuf.data());
// If some startup handling is added later, set configured after it was done once.
replies.setConfigured();
// Can be used later to verify correct timing (e.g. all data has been read)
clearReadFlagsDefault(replies);
auto i2cCmdExecMeasure = [&](imtq::CC::CC cc) {
@ -223,7 +226,7 @@ ReturnValue_t ImtqPollingTask::initializeInterface(CookieIF* cookie) {
ReturnValue_t ImtqPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
const auto* imtqReq = reinterpret_cast<const ImtqRequest*>(sendData);
const auto* imtqReq = reinterpret_cast<const imtq::Request*>(sendData);
{
MutexGuard mg(ipcLock);
if (imtqReq->request == imtq::RequestType::ACTUATE) {

3
linux/devices/ImtqPollingTask.h
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@ -33,13 +33,12 @@ class ImtqPollingTask : public SystemObject,
address_t i2cAddr = 0;
uint32_t currentIntegrationTimeMs = 10;
// Required in addition to integration time, otherwise old data might be read.
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 3;
static constexpr uint32_t MGM_READ_BUFFER_TIME_MS = 5;
bool ignoreNextActuateRequest = false;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
int16_t dipoles[3] = {};
uint16_t torqueDuration = 0;
// uint8_t startActuateRawBuf[3] = {};
std::array<uint8_t, 32> cmdBuf;
std::array<uint8_t, 524> replyBuf;

32
mission/devices/ImtqHandler.cpp
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@ -131,12 +131,20 @@ ReturnValue_t ImtqHandler::performOperation(uint8_t opCode) {
ImtqHandler::~ImtqHandler() = default;
void ImtqHandler::doStartUp() {
updatePeriodicReply(true, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(true, imtq::cmdIds::REPLY_WITH_TORQUE);
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
if (internalState != InternalState::STARTUP) {
commandExecuted = false;
updatePeriodicReply(true, imtq::cmdIds::REPLY_NO_TORQUE);
updatePeriodicReply(true, imtq::cmdIds::REPLY_WITH_TORQUE);
internalState = InternalState::STARTUP;
}
if (internalState == InternalState::STARTUP) {
if (commandExecuted) {
if (goToNormalMode) {
setMode(MODE_NORMAL);
} else {
setMode(_MODE_TO_ON);
}
}
}
}
@ -145,6 +153,7 @@ void ImtqHandler::doShutDown() {
updatePeriodicReply(false, imtq::cmdIds::REPLY_WITH_TORQUE);
specialRequestActive = false;
firstReplyCycle = true;
internalState = InternalState::NONE;
setMode(_MODE_POWER_DOWN);
}
@ -163,7 +172,7 @@ ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
request.request = imtq::RequestType::DO_NOTHING;
request.specialRequest = imtq::SpecialRequest::NONE;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
}
@ -183,7 +192,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
specialRequestActive = true;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
};
switch (deviceCommand) {
case (imtq::cmdIds::POS_X_SELF_TEST): {
@ -219,7 +228,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
request.specialRequest = imtq::SpecialRequest::NONE;
expectedReply = imtq::cmdIds::REPLY_NO_TORQUE;
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
case (imtq::cmdIds::START_ACTUATION_DIPOLE): {
@ -258,7 +267,7 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
torquer::TORQUEING = true;
torquer::TORQUE_COUNTDOWN.setTimeout(dipoleSet.currentTorqueDurationMs.value);
rawPacket = reinterpret_cast<uint8_t*>(&request);
rawPacketLen = sizeof(ImtqRequest);
rawPacketLen = sizeof(imtq::Request);
return returnvalue::OK;
}
default:
@ -305,6 +314,9 @@ ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
if (expectedReply == imtq::cmdIds::REPLY_NO_TORQUE) {
// sif::debug << "handle measure" << std::endl;
ImtqRepliesDefault replies(packet);
if (replies.devWasConfigured() and internalState == InternalState::STARTUP) {
commandExecuted = true;
}
if (specialRequestActive) {
if (replies.wasSpecialRequestRead()) {
uint8_t* specialRequest = replies.getSpecialRequest();

6
mission/devices/ImtqHandler.h
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@ -83,6 +83,11 @@ class ImtqHandler : public DeviceHandlerBase {
//! link between IMTQ and OBC.
static const Event INVALID_ERROR_BYTE = MAKE_EVENT(8, severity::LOW);
enum class InternalState { NONE, STARTUP, SHUTDOWN } internalState = InternalState::NONE;
bool commandExecuted = false;
imtq::Request request{};
imtq::StatusDataset statusSet;
imtq::DipoleActuationSet dipoleSet;
imtq::RawMtmMeasurementNoTorque rawMtmNoTorque;
@ -123,7 +128,6 @@ class ImtqHandler : public DeviceHandlerBase {
power::Switch_t switcher = power::NO_SWITCH;
ImtqRequest request{};
DeviceCommandId_t expectedReply = imtq::cmdIds::REPLY_WITH_TORQUE;
bool goToNormalMode = false;
bool debugMode = false;

47
mission/devices/devicedefinitions/imtqHelpers.h
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@ -10,18 +10,6 @@ class ImtqHandler;
namespace imtq {
enum ComStep : uint8_t {
DHB_OP = 0,
START_MEASURE_SEND = 1,
START_MEASURE_GET = 2,
READ_MEASURE_SEND = 3,
READ_MEASURE_GET = 4,
START_ACTUATE_SEND = 5,
START_ACTUATE_GET = 6,
READ_ACTUATE_SEND = 7,
READ_ACTUATE_GET = 8,
};
enum class RequestType : uint8_t { MEASURE_NO_ACTUATION, ACTUATE, DO_NOTHING };
enum class SpecialRequest : uint8_t {
@ -35,6 +23,26 @@ enum class SpecialRequest : uint8_t {
GET_SELF_TEST_RESULT = 7
};
struct Request {
imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
uint8_t integrationTimeSel = 3;
int16_t dipoles[3]{};
uint16_t torqueDuration = 0;
};
enum ComStep : uint8_t {
DHB_OP = 0,
START_MEASURE_SEND = 1,
START_MEASURE_GET = 2,
READ_MEASURE_SEND = 3,
READ_MEASURE_GET = 4,
START_ACTUATE_SEND = 5,
START_ACTUATE_GET = 6,
READ_ACTUATE_SEND = 7,
READ_ACTUATE_GET = 8,
};
static const uint8_t INTERFACE_ID = CLASS_ID::IMTQ_HANDLER;
static constexpr ReturnValue_t INVALID_COMMAND_CODE = MAKE_RETURN_CODE(0);
@ -1124,25 +1132,21 @@ class NegZSelfTestSet : public StaticLocalDataSet<SELF_TEST_DATASET_ENTRIES> {
} // namespace imtq
struct ImtqRequest {
imtq::RequestType request = imtq::RequestType::MEASURE_NO_ACTUATION;
imtq::SpecialRequest specialRequest = imtq::SpecialRequest::NONE;
int16_t dipoles[3]{};
uint16_t torqueDuration = 0;
};
struct ImtqRepliesDefault {
friend class ImtqPollingTask;
public:
static constexpr size_t BASE_LEN =
imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
1 + imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::SYSTEM_STATE + 1 +
+imtq::replySize::DEFAULT_MIN_LEN + 1 + imtq::replySize::RAW_MTM_MEASUREMENT + 1 +
imtq::replySize::ENG_HK_DATA_REPLY + 1 + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
ImtqRepliesDefault(const uint8_t* rawData) : rawData(const_cast<uint8_t*>(rawData)) {
initPointers();
}
void setConfigured() { rawData[0] = true; }
bool devWasConfigured() const { return rawData[0]; }
uint8_t* getCalibMgmMeasurement() const { return calibMgmMeasurement + 1; }
bool wasCalibMgmMeasurementRead() const { return calibMgmMeasurement[0]; };
@ -1164,7 +1168,7 @@ struct ImtqRepliesDefault {
private:
void initPointers() {
swReset = rawData;
swReset = rawData + 1;
systemState = swReset + imtq::replySize::DEFAULT_MIN_LEN + 1;
startMtmMeasurement = systemState + imtq::replySize::SYSTEM_STATE + 1;
rawMgmMeasurement = startMtmMeasurement + imtq::replySize::DEFAULT_MIN_LEN + 1;
@ -1172,6 +1176,7 @@ struct ImtqRepliesDefault {
calibMgmMeasurement = engHk + imtq::replySize::ENG_HK_DATA_REPLY + 1;
specialRequestReply = calibMgmMeasurement + imtq::replySize::CAL_MTM_MEASUREMENT + 1;
}
uint8_t* rawData;
uint8_t* swReset;
uint8_t* systemState;