#include <fsfw/datapool/PoolReadGuard.h>
#include <mission/devices/SusHandler.h>
#include <OBSWConfig.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), chipSelectId(
chipSelectId), dataset(this) {
if (comCookie == NULL) {
sif::error << "SusHandler: Invalid com cookie" << std::endl;
}
if (gpioComIF == NULL) {
sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
}
}
SusHandler::~SusHandler() {
}
ReturnValue_t SusHandler::performOperation(uint8_t counter) {
if (counter != FIRST_WRITE) {
DeviceHandlerBase::performOperation(counter);
return RETURN_OK;
}
if (mode != MODE_NORMAL) {
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
/* If device is in normale mode the communication sequence is initiated here */
if (communicationStep == CommunicationStep::IDLE) {
communicationStep = CommunicationStep::WRITE_SETUP;
}
DeviceHandlerBase::performOperation(DeviceHandlerIF::SEND_WRITE);
return RETURN_OK;
}
ReturnValue_t SusHandler::initialize() {
ReturnValue_t result = RETURN_OK;
result = DeviceHandlerBase::initialize();
if (result != RETURN_OK) {
return result;
}
auto spiComIF = dynamic_cast<SpiComIF*>(communicationInterface);
if (spiComIF == nullptr) {
sif::debug << "SusHandler::initialize: Invalid communication interface" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
spiMutex = spiComIF->getMutex();
if (spiMutex == nullptr) {
sif::debug << "SusHandler::initialize: Failed to get spi mutex" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
return RETURN_OK;
}
void SusHandler::doStartUp(){
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
setMode(MODE_NORMAL);
#else
setMode(_MODE_TO_ON);
#endif
}
void SusHandler::doShutDown(){
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t SusHandler::buildNormalDeviceCommand(
DeviceCommandId_t * id) {
if (communicationStep == CommunicationStep::IDLE) {
return NOTHING_TO_SEND;
}
if (communicationStep == CommunicationStep::WRITE_SETUP) {
*id = SUS::WRITE_SETUP;
communicationStep = CommunicationStep::START_CONVERSIONS;
}
else if (communicationStep == CommunicationStep::START_CONVERSIONS) {
*id = SUS::START_CONVERSIONS;
communicationStep = CommunicationStep::READ_CONVERSIONS;
}
else if (communicationStep == CommunicationStep::READ_CONVERSIONS) {
*id = SUS::READ_CONVERSIONS;
communicationStep = CommunicationStep::IDLE;
}
return buildCommandFromCommand(*id, nullptr, 0);
}
ReturnValue_t SusHandler::buildTransitionDeviceCommand(
DeviceCommandId_t * id){
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::buildCommandFromCommand(
DeviceCommandId_t deviceCommand, const uint8_t * commandData,
size_t commandDataLen) {
switch(deviceCommand) {
case(SUS::WRITE_SETUP): {
/**
* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
* measurement the setup has to be rewritten. There must also be a little delay between
* the transmission of the setup byte and the first conversion. Thus the conversion
* will be performed in an extra step.
* Because the chip select is driven manually by the SusHandler the SPI bus must be
* protected with a mutex here.
*/
ReturnValue_t result = spiMutex->lockMutex(timeoutType, timeoutMs);
if(result == MutexIF::MUTEX_TIMEOUT) {
sif::error << "SusHandler::buildCommandFromCommand: Mutex timeout" << std::endl;
return ERROR_LOCK_MUTEX;
}
else if(result != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SusHandler::buildCommandFromCommand: Failed to lock spi mutex"
<< std::endl;
return ERROR_LOCK_MUTEX;
}
gpioComIF->pullLow(chipSelectId);
cmdBuffer[0] = SUS::SETUP;
rawPacket = cmdBuffer;
rawPacketLen = 1;
return RETURN_OK;
}
case(SUS::START_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
cmdBuffer[0] = SUS::CONVERSION;
rawPacket = cmdBuffer;
rawPacketLen = 2;
return RETURN_OK;
}
case(SUS::READ_CONVERSIONS): {
std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
rawPacket = cmdBuffer;
rawPacketLen = SUS::SIZE_READ_CONVERSIONS;
return RETURN_OK;
}
default:
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
return HasReturnvaluesIF::RETURN_FAILED;
}
void SusHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(SUS::WRITE_SETUP);
this->insertInCommandMap(SUS::START_CONVERSIONS);
this->insertInCommandAndReplyMap(SUS::READ_CONVERSIONS, 1, &dataset, SUS::SIZE_READ_CONVERSIONS);
}
ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
*foundId = this->getPendingCommand();
*foundLen = remainingSize;
return HasReturnvaluesIF::RETURN_OK;
}
ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
switch (id) {
case SUS::READ_CONVERSIONS: {
PoolReadGuard readSet(&dataset);
dataset.temperatureCelcius = (*(packet) << 8 | *(packet + 1)) * 0.125;
dataset.ain0 = (*(packet + 2) << 8 | *(packet + 3));
dataset.ain1 = (*(packet + 4) << 8 | *(packet + 5));
dataset.ain2 = (*(packet + 6) << 8 | *(packet + 7));
dataset.ain3 = (*(packet + 8) << 8 | *(packet + 9));
dataset.ain4 = (*(packet + 10) << 8 | *(packet + 11));
dataset.ain5 = (*(packet + 12) << 8 | *(packet + 13));
#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", Temperature: "
<< dataset.temperatureCelcius << " °C" << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: "
<< std::dec << dataset.ain0 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: "
<< std::dec << dataset.ain1 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: "
<< std::dec << dataset.ain2 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: "
<< std::dec << dataset.ain3 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: "
<< std::dec << dataset.ain4 << std::endl;
sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: "
<< std::dec << dataset.ain5 << std::endl;
#endif
/** SUS can now be shutdown and thus the SPI bus released again */
gpioComIF->pullHigh(chipSelectId);
ReturnValue_t result = spiMutex->unlockMutex();
if (result != RETURN_OK) {
sif::error << "SusHandler::interpretDeviceReply: Failed to unlock spi mutex"
<< std::endl;
return ERROR_UNLOCK_MUTEX;
}
break;
}
default: {
sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
}
}
return HasReturnvaluesIF::RETURN_OK;
}
void SusHandler::setNormalDatapoolEntriesInvalid(){
}
uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
return 1000;
}
ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) {
localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>( { 0 }));
localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>( { 0 }));
return HasReturnvaluesIF::RETURN_OK;
}