eive/eive-obsw
eive/eive-obsw
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TMTC + MGM Handler + Host build update #5

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muellerr wants to merge 29 commits from mueller/master into develop
pull from: mueller/master
merge into: eive:develop
Conversation 1 Commits 29 Files Changed 32 +1350 -179
32 changed files with 1350 additions and 179 deletions
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2
Makefile
View File

@ -278,7 +278,7 @@ cleanbin:
-rm -rf $(BUILDPATH)/$(OUTPUT_FOLDER)
# Build target configuration
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
release: OPTIMIZATION = -O2 $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
release: LINK_TIME_OPTIMIZATION = -flto
release: TARGET = Release
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization

30
Makefile-Hosted
View File

@ -17,12 +17,12 @@ CUSTOM_DEFINES :=
# (can be overriden by adding CHIP=chip and BOARD=board to the command-line)
BOARD_FILE_ROOT = bsp_hosted
BOARD = host
OS_FSFW = host
CUSTOM_DEFINES += -D$(OS_FSFW)
DETECTED_OS :=
# Copied from stackoverflow, can be used to differentiate between Windows
# and Linux
ifeq ($(OS),Windows_NT)
DETECTED_OS = WINDOWS
CUSTOM_DEFINES += -DWIN32
ifeq ($(PROCESSOR_ARCHITEW6432),AMD64)
CUSTOM_DEFINES += -DAMD64
@ -55,6 +55,14 @@ else
endif
endif
ifeq (${DETECTED_OS}, WINDOWS)
OS_FSFW = host
else
OS_FSFW = linux
endif
CUSTOM_DEFINES += -D$(OS_FSFW)
# General folder paths
FRAMEWORK_PATH = fsfw
MISSION_PATH = mission
@ -179,10 +187,10 @@ $(foreach S,$(SUBDIRS),$(eval $(INCLUDE_FILE)))
# VPATH += mission/pus/
ifeq ($(DETECTED_OS), LINUX)
CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
endif
#ifeq ($(DETECTED_OS), LINUX)
#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TcUnixUdpPollingTask.cpp
#CXXSRC += $(FRAMEWORK_PATH)/osal/linux/TmTcUnixUdpBridge.cpp
#endif
# All C Sources included by .mk files are assigned here
# Add the objects to sources so dependency handling works
@ -227,7 +235,6 @@ DEAD_CODE_REMOVAL = -Wl,--gc-sections
# Link time is larger and size of object files can not be retrieved
# but resulting binary is smaller. Could be used in mission/deployment build
# Requires -ffunction-section in linker call
LINK_TIME_OPTIMIZATION = -flto
OPTIMIZATION += $(PROTOTYPE_OPTIMIZATION)
endif
@ -261,12 +268,12 @@ ASFLAGS = -Wall -g $(OPTIMIZATION) $(I_INCLUDES) -D__ASSEMBLY__
# LINK_INCLUDES specify the path to used libraries and the linker script
# LINK_LIBRARIES link HCC and HAL library and enable float support
LDFLAGS := -g3 -pthread $(DEAD_CODE_REMOVAL) $(OPTIMIZATION)
LINK_INCLUDES :=
LINK_LIBRARIES :=
ifeq ($(OS),Windows_NT)
LINK_LIBRARIES += -lwsock32 -lws2_32
else
LINK_LIBRARIES += -lrt
endif
# Gnu Coverage Tools Flags
@ -309,7 +316,10 @@ all: executable
# Build target configuration
release: OPTIMIZATION = -Os $(PROTOTYPE_OPTIMIZATION) $(LINK_TIME_OPTIMIZATION)
# Problematic on MinGW
ifneq ($(OS),Windows_NT)
release: LINK_TIME_OPTIMIZATION = -flto
endif
release: TARGET = Release
release: OPTIMIZATION_MESSAGE = On with Link Time Optimization
release: DEBUG_LEVEL = -g0

4
bsp_hosted/InitMission.cpp
View File

@ -8,8 +8,8 @@
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>
#include <objects/systemObjectList.h>
#include <OBSWConfig.h>
#include <iostream>

15
bsp_hosted/comIF/ArduinoComIF.cpp
View File

@ -1,5 +1,6 @@
#include <bsp_hosted/comIF/ArduinoComIF.h>
#include <bsp_hosted/comIF/ArduinoCookie.h>
#include "ArduinoComIF.h"
#include "ArduinoCookie.h"
#include <fsfw/globalfunctions/DleEncoder.h>
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
@ -7,6 +8,8 @@
// This only works on Linux
#ifdef LINUX
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>
#elif WIN32
#include <windows.h>
#include <strsafe.h>
@ -254,7 +257,7 @@ ReturnValue_t ArduinoComIF::sendMessage(uint8_t command,
encodedLen = sizeof(sendBuffer) - remainingLen;
#ifdef LINUX
ssize_t writtenlen = write(serialPort, sendBuffer, encodedLen);
ssize_t writtenlen = ::write(serialPort, sendBuffer, encodedLen);
if (writtenlen < 0) {
//we could try to find out what happened...
return RETURN_FAILED;
@ -285,7 +288,7 @@ void ArduinoComIF::handleSerialPortRx() {
rxBuffer.writeData(dataFromSerial, bytesRead);
uint8_t dataReceivedSoFar[rxBuffer.maxSize()];
uint8_t dataReceivedSoFar[rxBuffer.getMaxSize()];
uint32_t dataLenReceivedSoFar = 0;
@ -295,11 +298,11 @@ void ArduinoComIF::handleSerialPortRx() {
//look for STX
size_t firstSTXinRawData = 0;
while ((firstSTXinRawData < dataLenReceivedSoFar)
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX)) {
&& (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR)) {
firstSTXinRawData++;
}
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX) {
if (dataReceivedSoFar[firstSTXinRawData] != DleEncoder::STX_CHAR) {
//there is no STX in our data, throw it away...
rxBuffer.deleteData(dataLenReceivedSoFar);
return;

3
bsp_hosted/fsfwconfig/OBSWConfig.h
View File

@ -6,6 +6,9 @@
#ifndef CONFIG_OBSWCONFIG_H_
#define CONFIG_OBSWCONFIG_H_
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#define OBSW_ADD_TEST_CODE 0
// These defines should be disabled for mission code but are useful for

1
bsp_hosted/fsfwconfig/events/subsystemIdRanges.h
View File

@ -18,6 +18,7 @@ enum: uint8_t {
PUS_SERVICE_8,
PUS_SERVICE_23,
MGM_LIS3MDL,
MGM_RM3100,
DUMMY_DEVICE,
};

8
bsp_hosted/fsfwconfig/fsfwconfig.mk
View File

@ -5,11 +5,3 @@ CXXSRC += $(wildcard $(CURRENTPATH)/pollingsequence/*.cpp)
CXXSRC += $(wildcard $(CURRENTPATH)/events/*.cpp)
INCLUDES += $(CURRENTPATH)
INCLUDES += $(CURRENTPATH)/objects
INCLUDES += $(CURRENTPATH)/ipc
INCLUDES += $(CURRENTPATH)/pollingsequence
INCLUDES += $(CURRENTPATH)/returnvalues
INCLUDES += $(CURRENTPATH)/tmtc
INCLUDES += $(CURRENTPATH)/events
INCLUDES += $(CURRENTPATH)/devices
INCLUDES += $(CURRENTPATH)/cdatapool

3
bsp_hosted/fsfwconfig/returnvalues/classIds.h
View File

@ -11,7 +11,8 @@
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
MGM_LIS3MDL
MGM_LIS3MDL,
MGM_RM3100
};
}

5
bsp_hosted/main.cpp
View File

@ -1,5 +1,6 @@
#include <bsp_hosted/fsfwconfig/OBSWVersion.h>
#include <bsp_linux/InitMission.h>
#include "InitMission.h"
#include <OBSWVersion.h>
#include <fsfw/tasks/TaskFactory.h>
#include <iostream>

4
bsp_linux/InitMission.cpp
View File

@ -4,7 +4,6 @@
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/datapool/DataPool.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
@ -29,9 +28,6 @@ ServiceInterfaceStream sif::error("ERROR", true, false, true);
ObjectManagerIF *objectManager = nullptr;
//Initialize Data Pool
DataPool dataPool(nullptr);
void InitMission::initMission() {
sif::info << "Building global objects.." << std::endl;
/* Instantiate global object manager and also create all objects */

2
fsfw

@ -1 +1 @@
Subproject commit 086cbe1e3950cf6c904609352408a7fa48cc83ef
Subproject commit dcc111e4facf39137fe52d8234361b7d99bdde06

14
fsfwconfig/FSFWConfig.h
View File

@ -1,8 +1,8 @@
#ifndef FSFWCONFIG_FSFWCONFIG_H_
#define FSFWCONFIG_FSFWCONFIG_H_
#include <FSFWVersion.h>
#include <cstddef>
#include <cstdint>
//! Used to determine whether C++ ostreams are used
//! Those can lead to code bloat.
@ -15,12 +15,6 @@
//! Can be used to enable debugging printouts for developing the FSFW
#define FSFW_DEBUGGING 0
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
#define FSFW_CSB_FIFO_DEPTH 6
//! If FSFW_OBJ_EVENT_TRANSLATION is set to one,
//! additional output which requires the translation files translateObjects
//! and translateEvents (and their compiled source files)
@ -49,6 +43,12 @@ static constexpr uint8_t FSFW_MISSION_TIMESTAMP_SIZE = 8;
static constexpr size_t FSFW_EVENTMGMR_MATCHTREE_NODES = 240;
static constexpr size_t FSFW_EVENTMGMT_EVENTIDMATCHERS = 120;
static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
//! Defines the FIFO depth of each commanding service base which
//! also determines how many commands a CSB service can handle in one cycle
//! simulataneously. This will increase the required RAM for
//! each CSB service !
static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
}
#endif /* FSFWCONFIG_FSFWCONFIG_H_ */

3
fsfwconfig/OBSWConfig.h
View File

@ -6,6 +6,9 @@
#ifndef FSFWCONFIG_OBSWCONFIG_H_
#define FSFWCONFIG_OBSWCONFIG_H_
#include "returnvalues/classIds.h"
#include "events/subsystemIdRanges.h"
#define OBSW_ADD_TEST_CODE 0
// These defines should be disabled for mission code but are useful for

5
fsfwconfig/cdatapool/dataPoolInit.cpp
View File

@ -1,5 +0,0 @@
#include <fsfwconfig/cdatapool/dataPoolInit.h>
void datapool::dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap) {
}

13
fsfwconfig/cdatapool/dataPoolInit.h
View File

@ -1,13 +0,0 @@
#ifndef FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
#define FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_
#include <fsfw/datapool/DataPool.h>
namespace datapool{
void dataPoolInit(std::map<uint32_t, PoolEntryIF*>* poolMap);
enum datapoolvariables {
NO_PARAMETER = 0,
};
}
#endif /* FSFWCONFIG_CDATAPOOL_DATAPOOLINIT_H_ */

3
fsfwconfig/events/subsystemIdRanges.h
View File

@ -17,7 +17,8 @@ enum: uint8_t {
PUS_SERVICE_6,
PUS_SERVICE_8,
PUS_SERVICE_23,
MGM_LIS3MDL
MGM_LIS3MDL,
MGM_RM3100
};
}

1
fsfwconfig/objects/systemObjectList.h
View File

@ -19,7 +19,6 @@ namespace objects {
PUS_SERVICE_23 = 0x51002300,
PUS_SERVICE_201 = 0x51020100,
TIME_STAMPER = 0x52000001,
TM_FUNNEL = 0x52000002,
/* Test Task */

3
fsfwconfig/returnvalues/classIds.h
View File

@ -11,7 +11,8 @@
namespace CLASS_ID {
enum {
MISSION_CLASS_ID_START = FW_CLASS_ID_COUNT,
MGM_LIS3MDL
MGM_LIS3MDL,
MGM_RM3100
};
}

205
misc/eclipse/.cproject
View File

@ -1,52 +1,12 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<externalSettings/>
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<externalSettings/>
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@ -58,16 +18,22 @@
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@ -88,6 +54,7 @@
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@ -99,16 +66,22 @@
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<tool id="cdt.managedbuild.tool.gnu.c.linker.mingw.base.416732714" name="MinGW C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.mingw.base"/>
@ -124,15 +97,123 @@
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<externalSettings/>
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<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.PE64" point="org.eclipse.cdt.core.BinaryParser"/>
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<tool id="cdt.managedbuild.tool.gnu.c.linker.base.845164076" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1609058002" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
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<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
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<configuration configurationName="eive-linux-host-release"/>
<configuration configurationName="eive-mingw-debug">
<resource resourceType="PROJECT" workspacePath="/eive_obsw"/>
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@ -141,4 +222,36 @@
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33
misc/eclipse/eive-linux-host-debug.launch Normal file
View File

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

@ -0,0 +1,33 @@
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57
mission/devices/GPSHandler.cpp Normal file
View File

@ -0,0 +1,57 @@
#include "GPSHandler.h"
GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
}
GPSHandler::~GPSHandler() {}
void GPSHandler::doStartUp() {
}
void GPSHandler::doShutDown() {
}
ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
return HasReturnvaluesIF::RETURN_OK;
}
uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GPSHandler::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
return HasReturnvaluesIF::RETURN_OK;
}
void GPSHandler::fillCommandAndReplyMap() {
}
void GPSHandler::modeChanged() {
}

41
mission/devices/GPSHandler.h Normal file
View File

@ -0,0 +1,41 @@
#ifndef MISSION_DEVICES_GPSHANDLER_H_
#define MISSION_DEVICES_GPSHANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
class GPSHandler: public DeviceHandlerBase {
public:
GPSHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GPSHandler();
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
};
#endif /* MISSION_DEVICES_GPSHANDLER_H_ */

217
mission/devices/GyroL3GD20Handler.cpp Normal file
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@ -0,0 +1,217 @@
#include <mission/devices/GyroL3GD20Handler.h>
GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF *comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
dataset(this) {
}
GyroHandler::~GyroHandler() {}
void GyroHandler::doStartUp() {
if(internalState == InternalState::STATE_NONE) {
internalState = InternalState::STATE_CONFIGURE;
}
if(internalState == InternalState::STATE_CONFIGURE) {
if(commandExecuted) {
internalState = InternalState::STATE_NORMAL;
commandExecuted = false;
}
}
}
void GyroHandler::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
switch(internalState) {
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
uint8_t command [5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL;
command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5);
break;
}
default:
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t GyroHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
break;
}
case(L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
if(commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ctrlReg1Value = commandData[0];
ctrlReg2Value = commandData[1];
ctrlReg3Value = commandData[2];
ctrlReg4Value = commandData[3];
ctrlReg5Value = commandData[4];
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
if(not fsH and not fsL) {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
}
else if(not fsH and fsL) {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
}
else {
scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
}
commandBuffer[1] = ctrlReg1Value;
commandBuffer[2] = ctrlReg2Value;
commandBuffer[3] = ctrlReg3Value;
commandBuffer[4] = ctrlReg4Value;
commandBuffer[5] = ctrlReg5Value;
rawPacket = commandBuffer;
rawPacketLen = 6;
break;
}
case(L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
rawPacketLen = 6;
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t GyroHandler::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.
*foundId = this->getPendingCommand();
*foundLen = this->rawPacketLen;
// 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,
const uint8_t *packet) {
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
switch(id) {
case(L3GD20H::CONFIGURE_CTRL_REGS): {
break;
}
case(L3GD20H::READ_CTRL_REGS): {
if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
commandExecuted = true;
}
else {
// Attempt reconfiguration.
internalState = InternalState::STATE_CONFIGURE;
return DeviceHandlerIF::DEVICE_REPLY_INVALID;
}
break;
}
case(L3GD20H::READ_START): {
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;
}
statusReg = packet[L3GD20H::STATUS_IDX];
float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
packet[L3GD20H::OUT_X_L]) * scaleFactor;
float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
packet[L3GD20H::OUT_Y_L]) * scaleFactor;
float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
packet[L3GD20H::OUT_Z_L]) * scaleFactor;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
ReturnValue_t result = dataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
dataset.angVelocX = angVelocX;
dataset.angVelocY = angVelocX;
dataset.angVelocZ = angVelocX;
dataset.temperature = temperature;
dataset.setValidity(true, true);
result = dataset.commit(20);
}
break;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return result;
}
uint32_t GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
return 5000;
}
ReturnValue_t GyroHandler::initializeLocalDataPool(
LocalDataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
new PoolEntry<float>({0.0}));
return HasReturnvaluesIF::RETURN_OK;
}
void GyroHandler::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;
}

69
mission/devices/GyroL3GD20Handler.h Normal file
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@ -0,0 +1,69 @@
#ifndef MISSION_DEVICES_GYROL3GD20HANDLER_H_
#define MISSION_DEVICES_GYROL3GD20HANDLER_H_
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
* (https://www.st.com/en/mems-and-sensors/l3gd20h.html)
* @details
* Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/L3GD20H_Gyro
*/
class GyroHandler: public DeviceHandlerBase {
public:
GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
virtual ~GyroHandler();
protected:
/* DeviceHandlerBase overrides */
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged() override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
L3GD20H::GyroPrimaryDataset dataset;
enum class InternalState {
STATE_NONE,
STATE_CONFIGURE,
STATE_NORMAL
};
InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false;
uint8_t statusReg = 0;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
float scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
};
#endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */

52
mission/devices/MGMHandlerLIS3MDL.cpp
View File

@ -23,23 +23,23 @@ MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
void MGMHandlerLIS3MDL::doStartUp() {
switch (internalState) {
case STATE_NONE:
internalState = STATE_FIRST_CONTACT;
case(InternalState::STATE_NONE):
internalState = InternalState::STATE_FIRST_CONTACT;
break;
case STATE_FIRST_CONTACT:
internalState = STATE_SETUP;
case(InternalState::STATE_FIRST_CONTACT):
internalState = InternalState::STATE_SETUP;
break;
case STATE_SETUP:
internalState = STATE_CHECK_REGISTERS;
case(InternalState::STATE_SETUP):
internalState = InternalState::STATE_CHECK_REGISTERS;
break;
case STATE_CHECK_REGISTERS: {
case(InternalState::STATE_CHECK_REGISTERS): {
// Set up cached registers which will be used to configure the MGM.
if(commandExecuted) {
commandExecuted = false;
setMode(MODE_NORMAL);
setMode(_MODE_TO_ON);
}
break;
}
@ -56,20 +56,27 @@ void MGMHandlerLIS3MDL::doShutDown() {
ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
switch (internalState) {
case STATE_FIRST_CONTACT:
case(InternalState::STATE_NONE):
case(InternalState::STATE_NORMAL): {
return HasReturnvaluesIF::RETURN_OK;
}
case(InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
break;
case STATE_SETUP:
}
case(InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM;
break;
case STATE_CHECK_REGISTERS:
}
case(InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
break;
}
default:
break;
// might be a configuration error.
sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown "
<< "internal state!" << std::endl;
return HasReturnvaluesIF::RETURN_OK;
}
return buildCommandFromCommand(*id, NULL, 0);
}
@ -105,13 +112,11 @@ ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner.
if(communicationStep == CommunicationStep::DATA) {
lastSentCommand = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0);
}
else {
lastSentCommand = MGMLIS3MDL::READ_TEMPERATURE;
*id = MGMLIS3MDL::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0);
@ -122,7 +127,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) {
lastSentCommand = deviceCommand;
switch(deviceCommand) {
case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer));
@ -154,7 +158,6 @@ ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
return setOperatingMode(commandData, commandDataLen);
}
default:
lastSentCommand = DeviceHandlerIF::NO_COMMAND;
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
@ -198,7 +201,7 @@ ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
}
else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = lastSentCommand;
*foundId = getPendingCommand();
}
else {
return DeviceHandlerIF::INVALID_DATA;
@ -259,6 +262,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
dataset.fieldStrengthX = mgmX;
dataset.fieldStrengthY = mgmY;
dataset.fieldStrengthZ = mgmZ;
dataset.setValidity(true, true);
dataset.commit(20);
}
break;
@ -283,7 +287,7 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
}
default: {
return DeviceHandlerIF::UNKNOW_DEVICE_REPLY;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
@ -406,10 +410,6 @@ ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
return RETURN_OK;
}
void MGMHandlerLIS3MDL::setNormalDatapoolEntriesInvalid() {
// TODO: use new distributed datapools here.
}
void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
}
@ -419,7 +419,7 @@ uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
}
void MGMHandlerLIS3MDL::modeChanged(void) {
internalState = STATE_NONE;
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(

41
mission/devices/MGMHandlerLIS3MDL.h
View File

@ -35,28 +35,26 @@ public:
protected:
/** DeviceHandlerBase overrides */
virtual void doShutDown() override;
virtual void doStartUp() override;
virtual void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
virtual uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
virtual ReturnValue_t buildCommandFromCommand(
void doShutDown() override;
void doStartUp() override;
void doTransition(Mode_t modeFrom, Submode_t subModeFrom) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
virtual ReturnValue_t buildTransitionDeviceCommand(
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t buildNormalDeviceCommand(
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
virtual void fillCommandAndReplyMap() override;
virtual void modeChanged(void) override;
void setNormalDatapoolEntriesInvalid() override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
@ -139,13 +137,6 @@ private:
uint8_t statusRegister = 0;
/**
* As this is a SPI Device, we get the Answer of the last sent command in
* the next read cycle, so we could check the command for identification.
*/
DeviceCommandId_t lastSentCommand = DeviceHandlerIF::NO_COMMAND;
/**
* We always update all registers together, so this method updates
* the rawpacket and rawpacketLen, so we just manipulate the local
@ -154,11 +145,15 @@ private:
*/
ReturnValue_t prepareCtrlRegisterWrite();
enum InternalState {
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
enum class InternalState {
STATE_NONE,
STATE_FIRST_CONTACT,
STATE_SETUP,
STATE_CHECK_REGISTERS,
STATE_NORMAL
};
InternalState internalState = STATE_NONE;
InternalState internalState = InternalState::STATE_NONE;
CommunicationStep communicationStep = CommunicationStep::DATA;
bool commandExecuted = false;

324
mission/devices/MGMHandlerRM3100.cpp
View File

@ -1,4 +1,5 @@
#include "MGMHandlerRM3100.h"
#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
@ -6,40 +7,345 @@
MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
object_id_t deviceCommunication, CookieIF* comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
DeviceHandlerBase(objectId, deviceCommunication, comCookie),
primaryDataset(this) {
#if OBSW_ENHANCED_PRINTOUT == 1
debugDivider = new PeriodicOperationDivider(10);
#endif
}
MGMHandlerRM3100::~MGMHandlerRM3100() {}
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
return RETURN_OK;
}
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);
}
}
}
void MGMHandlerRM3100::doShutDown() {
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
DeviceCommandId_t *id) {
return RETURN_OK;
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;
}
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;
}
ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
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) {
// 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;
}
ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
DeviceCommandId_t id, const uint8_t *packet) {
return RETURN_OK;
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;
}
return result;
}
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;
}
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;
}
// 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;
}
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;
}
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;
}
void MGMHandlerRM3100::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 1);
insertInCommandAndReplyMap(RM3100::READ_CMM, 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::READ_DATA, 1, &primaryDataset);
}
void MGMHandlerRM3100::modeChanged(void) {
internalState = InternalState::STATE_NONE;
}
ReturnValue_t MGMHandlerRM3100::initializeLocalDataPool(
LocalDataPool &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;
}
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;
#if OBSW_ENHANCED_PRINTOUT == 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;
}
#endif
ReturnValue_t result = primaryDataset.read(20);
if(result == HasReturnvaluesIF::RETURN_OK) {
primaryDataset.fieldStrengthX = fieldStrengthX;
primaryDataset.fieldStrengthY = fieldStrengthY;
primaryDataset.fieldStrengthZ = fieldStrengthZ;
primaryDataset.setValidity(true, true);
result = primaryDataset.commit(20);
}
return result;
}

84
mission/devices/MGMHandlerRM3100.h
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@ -4,8 +4,32 @@
#include "devicedefinitions/MGMHandlerRM3100Definitions.h"
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <OBSWConfig.h>
#if OBSW_ENHANCED_PRINTOUT == 1
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#endif
/**
* @brief Device Handler for the RM3100 geomagnetic magnetometer sensor
* (https://www.pnicorp.com/rm3100/)
* @details
* Advanced documentation:
* https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/RM3100_MGM
*/
class MGMHandlerRM3100: public DeviceHandlerBase {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100;
//! P1: TMRC value which was set, P2: 0
static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100,
0x00, severity::INFO);
//! P1: First two bytes new Cycle Count X
//! P1: Second two bytes new Cycle Count Y
//! P2: New cycle count Z
static constexpr Event cycleCountersSet = event::makeEvent(
SUBSYSTEM_ID::MGM_RM3100, 0x01, severity::INFO);
MGMHandlerRM3100(object_id_t objectId, object_id_t deviceCommunication,
CookieIF* comCookie);
@ -14,26 +38,68 @@ public:
protected:
/* DeviceHandlerBase overrides */
virtual ReturnValue_t buildTransitionDeviceCommand(
ReturnValue_t buildTransitionDeviceCommand(
DeviceCommandId_t *id) override;
virtual void doStartUp() override;
virtual void doShutDown() override;
virtual ReturnValue_t buildNormalDeviceCommand(
void doStartUp() override;
void doShutDown() override;
ReturnValue_t buildNormalDeviceCommand(
DeviceCommandId_t *id) override;
virtual ReturnValue_t buildCommandFromCommand(
ReturnValue_t buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t *commandData,
size_t commandDataLen) override;
virtual ReturnValue_t scanForReply(const uint8_t *start, size_t len,
ReturnValue_t scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) override;
virtual ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) override;
void fillCommandAndReplyMap() override;
void modeChanged(void) override;
uint32_t getTransitionDelayMs(Mode_t from, Mode_t to) override;
ReturnValue_t initializeLocalDataPool(LocalDataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) override;
private:
enum InternalState {
STATE_NONE, STATE_FIRST_CONTACT, STATE_SETUP, STATE_CHECK_REGISTERS
enum class InternalState {
STATE_NONE,
STATE_CONFIGURE_CMM,
STATE_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
};
InternalState internalState = InternalState::STATE_NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
uint8_t cmmRegValue = RM3100::CMM_VALUE;
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1 / RM3100::DEFAULT_GAIN;
float scaleFactorY = 1 / RM3100::DEFAULT_GAIN;
float scaleFactorZ = 1 / RM3100::DEFAULT_GAIN;
ReturnValue_t handleCycleCountConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleCycleCommand(bool oneCycleValue,
const uint8_t *commandData, size_t commandDataLen);
ReturnValue_t handleTmrcConfigCommand(DeviceCommandId_t deviceCommand,
const uint8_t *commandData,size_t commandDataLen);
ReturnValue_t handleDataReadout(const uint8_t* packet);
#if OBSW_ENHANCED_PRINTOUT == 1
PeriodicOperationDivider* debugDivider;
#endif
};
#endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */

129
mission/devices/devicedefinitions/GyroL3GD20Definitions.h Normal file
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@ -0,0 +1,129 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <cstdint>
namespace L3GD20H {
static constexpr uint8_t READ_MASK = 0b1000'0000;
static constexpr uint8_t AUTO_INCREMENT_MASK = 0b0100'0000;
static constexpr uint8_t WHO_AM_I_REG = 0b0000'1111;
static constexpr uint8_t WHO_AM_I_VAL = 0b1101'0111;
/*------------------------------------------------------------------------*/
/* Control registers
/*------------------------------------------------------------------------*/
static constexpr uint8_t CTRL_REG_1 = 0b0010'0000;
static constexpr uint8_t CTRL_REG_2 = 0b0010'0001;
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
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;
static constexpr uint8_t SET_BW_0 = 1 << 4;
static constexpr uint8_t SET_POWER_NORMAL_MODE = 1 << 3;
static constexpr uint8_t SET_Z_ENABLE = 1 << 2;
static constexpr uint8_t SET_X_ENABLE = 1 << 1;
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
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;
static constexpr uint8_t SET_HPM_0 = 1 << 4;
static constexpr uint8_t SET_HPCF_3 = 1 << 3;
static constexpr uint8_t SET_HPCF_2 = 1 << 2;
static constexpr uint8_t SET_HPCF_1 = 1 << 1;
static constexpr uint8_t SET_HPCF_0 = 1;
static constexpr uint8_t CTRL_REG_2_VAL = 0b0000'0000;
// Register 3
static constexpr uint8_t CTRL_REG_3_VAL = 0b0000'0000;
// 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;
static constexpr uint8_t SET_FS_0 = 1 << 4;
static constexpr uint8_t SET_IMP_ENB = 1 << 3;
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;
// 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.
static constexpr uint16_t RANGE_DPS_00 = 245;
static constexpr uint16_t RANGE_DPS_01 = 500;
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
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;
/*------------------------------------------------------------------------*/
/* Device Handler specific
/*------------------------------------------------------------------------*/
static constexpr DeviceCommandId_t READ_REGS = 0;
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds: lp_id_t {
ANG_VELOC_X,
ANG_VELOC_Y,
ANG_VELOC_Z,
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);
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

119
mission/devices/devicedefinitions/MGMHandlerRM3100Definitions.h
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@ -1,8 +1,127 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/serialize/SerialLinkedListAdapter.h>
#include <cstdint>
namespace RM3100 {
static constexpr uint8_t READ_MASK = 0b1000'0000;
/*----------------------------------------------------------------------------*/
/* CMM Register
/*----------------------------------------------------------------------------*/
static constexpr uint8_t SET_CMM_CMZ = 1 << 6;
static constexpr uint8_t SET_CMM_CMY = 1 << 5;
static constexpr uint8_t SET_CMM_CMX = 1 << 4;
static constexpr uint8_t SET_CMM_DRDM = 1 << 2;
static constexpr uint8_t SET_CMM_START = 1;
static constexpr uint8_t CMM_REGISTER = 0x01;
static constexpr uint8_t CMM_VALUE = SET_CMM_CMZ | SET_CMM_CMY | SET_CMM_CMX |
SET_CMM_DRDM | SET_CMM_START;
/*----------------------------------------------------------------------------*/
/* Cycle count register
/*----------------------------------------------------------------------------*/
// Default value (200)
static constexpr uint8_t CYCLE_COUNT_VALUE = 0xC8;
static constexpr float DEFAULT_GAIN = static_cast<float>(CYCLE_COUNT_VALUE) /
100 * 38;
static constexpr uint8_t CYCLE_COUNT_START_REGISTER = 0x04;
/*----------------------------------------------------------------------------*/
/* TMRC register
/*----------------------------------------------------------------------------*/
static constexpr uint8_t TMRC_150HZ_VALUE = 0x94;
static constexpr uint8_t TMRC_75HZ_VALUE = 0x95;
static constexpr uint8_t TMRC_DEFAULT_37HZ_VALUE = 0x96;
static constexpr uint8_t TMRC_REGISTER = 0x0B;
static constexpr uint8_t TMRC_DEFAULT_VALUE = TMRC_75HZ_VALUE;
static constexpr uint8_t MEASUREMENT_REG_START = 0x24;
static constexpr uint8_t BIST_REGISTER = 0x33;
static constexpr uint8_t DATA_READY_VAL = 0b1000'0000;
static constexpr uint8_t STATUS_REGISTER = 0x34;
static constexpr uint8_t REVID_REGISTER = 0x36;
// Range in Microtesla. 1 T equals 10000 Gauss (for comparison with LIS3 MGM)
static constexpr uint16_t RANGE = 800;
static constexpr DeviceCommandId_t READ_DATA = 0;
static constexpr DeviceCommandId_t CONFIGURE_CMM = 1;
static constexpr DeviceCommandId_t READ_CMM = 2;
static constexpr DeviceCommandId_t CONFIGURE_TMRC = 3;
static constexpr DeviceCommandId_t READ_TMRC = 4;
static constexpr DeviceCommandId_t CONFIGURE_CYCLE_COUNT = 5;
static constexpr DeviceCommandId_t READ_CYCLE_COUNT = 6;
class CycleCountCommand: public SerialLinkedListAdapter<SerializeIF> {
public:
CycleCountCommand(bool oneCycleCount = true): oneCycleCount(oneCycleCount) {
setLinks(oneCycleCount);
}
ReturnValue_t deSerialize(const uint8_t** buffer, size_t* size,
Endianness streamEndianness) override {
ReturnValue_t result = SerialLinkedListAdapter::deSerialize(buffer,
size, streamEndianness);
if(oneCycleCount) {
cycleCountY = cycleCountX;
cycleCountZ = cycleCountX;
}
return result;
}
SerializeElement<uint16_t> cycleCountX;
SerializeElement<uint16_t> cycleCountY;
SerializeElement<uint16_t> cycleCountZ;
private:
void setLinks(bool oneCycleCount) {
setStart(&cycleCountX);
if(not oneCycleCount) {
cycleCountX.setNext(&cycleCountY);
cycleCountY.setNext(&cycleCountZ);
}
}
bool oneCycleCount;
};
static constexpr uint32_t MGM_DATASET_ID = READ_DATA;
enum MgmPoolIds: lp_id_t {
FIELD_STRENGTH_X,
FIELD_STRENGTH_Y,
FIELD_STRENGTH_Z,
};
class Rm3100PrimaryDataset: public StaticLocalDataSet<3 * sizeof(float)> {
public:
Rm3100PrimaryDataset(HasLocalDataPoolIF* hkOwner):
StaticLocalDataSet(hkOwner, MGM_DATASET_ID) {}
Rm3100PrimaryDataset(object_id_t mgmId):
StaticLocalDataSet(sid_t(mgmId, MGM_DATASET_ID)) {}
// Field strengths in micro Tesla.
lp_var_t<float> fieldStrengthX = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_X, this);
lp_var_t<float> fieldStrengthY = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Y, this);
lp_var_t<float> fieldStrengthZ = lp_var_t<float>(sid.objectId,
FIELD_STRENGTH_Z, this);
};
}

2
tmtc

@ -1 +1 @@
Subproject commit e0c896e62d25286d00599ca57b71d0a3495ed95f
Subproject commit 9be8713fa0cc6128e9469da2e635365b03146de3