eive/eive-obsw
eive/eive-obsw
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ACS board now working #98

Merged
meierj merged 8 commits from mueller/acs-board-working into develop 2021-09-23 16:03:11 +02:00
Conversation 0 Commits 8 Files Changed 11 +29 -26
7 changed files with 29 additions and 26 deletions
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Showing only changes of commit 0b50d9aedf - Show all commits

4
bsp_linux_board/ObjectFactory.cpp
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@ -144,7 +144,7 @@ void ObjectFactory::produce(void* args){
#endif
spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
auto adisHandler = new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler->setStartUpImmediately();
@ -158,7 +158,7 @@ void ObjectFactory::produce(void* args){
#endif
spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
adisHandler = new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
spiCookie);
adisHandler->setStartUpImmediately();

2
fsfw

@ -1 +1 @@
Subproject commit d3b83f3cf9d702f76ddc5a00ac715dc3a9ef5343
Subproject commit c51d2df43dca317175a9448e662f7f469e5f8725

1
linux/fsfwconfig/FSFWConfig.h.in
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@ -78,5 +78,6 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
#define FSFW_HAL_L3GD20_GYRO_DEBUG 0
#define FSFW_HAL_RM3100_MGM_DEBUG 0
#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0
#define FSFW_HAL_ADIS16507_GYRO_DEBUG 0
#endif /* CONFIG_FSFWCONFIG_H_ */

32
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
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@ -454,28 +454,28 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
// thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85,
// DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
// DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
// DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.75,
// DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
// thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85,
// DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.3,
DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85,
DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
// DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.35,

7
mission/devices/GyroADIS16507Handler.cpp
View File

@ -1,8 +1,7 @@
#include "GyroADIS16507Handler.h"
#include <fsfw/action/HasActionsIF.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include "GyroADIS16507Handler.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
#include "fsfw_hal/linux/utility.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
@ -16,7 +15,7 @@ GyroADIS16507Handler::GyroADIS16507Handler(object_id_t objectId,
object_id_t deviceCommunication, CookieIF * comCookie):
DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this),
configDataset(this), breakCountdown() {
#if OBSW_DEBUG_ADIS16507 == 1
#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
debugDivider = new PeriodicOperationDivider(5);
#endif
@ -285,7 +284,7 @@ ReturnValue_t GyroADIS16507Handler::handleSensorData(const uint8_t *packet) {
primaryDataset.setValidity(true, true);
}
#if OBSW_DEBUG_ADIS16507 == 1
#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
if(debugDivider->checkAndIncrement()) {
sif::info << "GyroADIS16507Handler: Angular velocities in deg / s" << std::endl;
sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;

8
mission/devices/GyroADIS16507Handler.h
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@ -1,11 +1,13 @@
#ifndef MISSION_DEVICES_GYROADIS16507HANDLER_H_
#define MISSION_DEVICES_GYROADIS16507HANDLER_H_
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "OBSWConfig.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "FSFWConfig.h"
#include "devicedefinitions/GyroADIS16507Definitions.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#if OBSW_ADIS16507_LINUX_COM_IF == 1
class SpiComIF;
class SpiCookie;
@ -69,7 +71,7 @@ private:
const uint8_t *sendData, size_t sendLen, void* args);
#endif
#if OBSW_DEBUG_ADIS16507 == 1
#if FSFW_HAL_ADIS16507_GYRO_DEBUG == 1
PeriodicOperationDivider* debugDivider;
#endif
Countdown breakCountdown;

1
mission/devices/devicedefinitions/GyroADIS16507Definitions.h
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@ -1,6 +1,7 @@
#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_GYROADIS16507DEFINITIONS_H_
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/datapoollocal/StaticLocalDataSet.h"
#include <cstddef>