#include #include #include 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; } } SusHandler::~SusHandler() { } void SusHandler::doStartUp(){ if (internalState == InternalState::CONFIGURED) { #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::PERFORM_CONVERSIONS) { *id = SUS::PERFORM_CONVERSIONS; communicationStep = CommunicationStep::REQUEST_TEMP; // communicationStep = CommunicationStep::PERFORM_CONVERSIONS; } else if (communicationStep == CommunicationStep::REQUEST_TEMP) { *id = SUS::RQUEST_TEMP; communicationStep = CommunicationStep::PERFORM_CONVERSIONS; } else if (communicationStep == CommunicationStep::READ_TEMP) { *id = SUS::READ_TEMP; communicationStep = CommunicationStep::PERFORM_CONVERSIONS; } return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t SusHandler::buildTransitionDeviceCommand( DeviceCommandId_t * id){ if (internalState == InternalState::SETUP) { *id = SUS::WRITE_SETUP; } else { return HasReturnvaluesIF::RETURN_OK; } return buildCommandFromCommand(*id, nullptr, 0); } ReturnValue_t SusHandler::buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t * commandData, size_t commandDataLen) { switch(deviceCommand) { case(SUS::WRITE_SETUP): { cmdBuffer[0] = SUS::SETUP_DEFINITION; rawPacket = cmdBuffer; rawPacketLen = 0; internalState = InternalState::CONFIGURED; return RETURN_OK; } case(SUS::PERFORM_CONVERSIONS): { // gpioComIF->pullLow(chipSelectId); std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); /** * The sun sensor ADC is shutdown when CS is pulled high so each time requesting a * measurement the setup has to be rewritten */ cmdBuffer[0] = SUS::RESET_FIFO; cmdBuffer[1] = SUS::SETUP_DEFINITION; // wirte one dummy byte here // cmdBuffer[2] = SUS::CONVERT_TEMPERATURE; cmdBuffer[2] = SUS::CONVERT_DIFF_CHANNEL_2; // cmdBuffer[0] = SUS::SETUP_DEFINITION; // cmdBuffer[1] = SUS::UNIPOLAR_CONFIG; // cmdBuffer[2] = SUS::CONVERT_TEMPERATURE; // cmdBuffer[26] = SUS::CONVERT_DIFF_CHANNEL_0_1; // cmdBuffer[28] = SUS::CONVERT_DIFF_CHANNEL_2_3; // cmdBuffer[30] = SUS::CONVERT_DIFF_CHANNEL_4_5; rawPacket = cmdBuffer; // rawPacketLen = SUS::SIZE_PERFORM_CONVERSIONS; rawPacketLen = 5; return RETURN_OK; } case(SUS::RQUEST_TEMP): { // gpioComIF->pullLow(chipSelectId); std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); // cmdBuffer[0] = SUS::RESET_FIFO; // cmdBuffer[1] = SUS::SETUP_DEFINITION; cmdBuffer[0] = SUS::CONVERT_TEMPERATURE; rawPacket = cmdBuffer; rawPacketLen = 25; return RETURN_OK; } case(SUS::READ_TEMP): { std::memset(cmdBuffer, 0, sizeof(cmdBuffer)); rawPacket = cmdBuffer; rawPacketLen = 0; return RETURN_OK; } default: return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; } return HasReturnvaluesIF::RETURN_FAILED; } void SusHandler::fillCommandAndReplyMap() { this->insertInCommandMap(SUS::WRITE_SETUP); // this->insertInCommandAndReplyMap(SUS::READ_TEMP, 1, &dataset, SUS::SIZE_PERFORM_CONVERSIONS); this->insertInCommandAndReplyMap(SUS::PERFORM_CONVERSIONS, 1, &dataset, SUS::SIZE_PERFORM_CONVERSIONS); this->insertInCommandAndReplyMap(SUS::READ_TEMP, 1, nullptr, SUS::SIZE_PERFORM_CONVERSIONS); // this->insertInCommandAndReplyMap(SUS::PERFORM_CONVERSIONS, 1, &dataset, // SUS::SIZE_PERFORM_CONVERSIONS); this->insertInCommandMap(SUS::RQUEST_TEMP); } 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::PERFORM_CONVERSIONS: { // gpioComIF->pullHigh(chipSelectId); PoolReadGuard readSet(&dataset); dataset.temperatureCelcius = (*(packet + 25) << 8 | *(packet + 26)) * 0.125; dataset.diffScanChannel0_1 = (*(packet + 29) << 8 | *(packet + 30)); dataset.diffScanChannel2_3 = (*(packet + 31) << 8 | *(packet + 32)); dataset.diffScanChannel4_5 = (*(packet + 33) << 8 | *(packet + 34)); #if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", temperature: " << dataset.temperatureCelcius << " °C" << std::endl; sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 0/1: " << dataset.diffScanChannel0_1 << std::endl; sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 2/3: " << dataset.diffScanChannel2_3 << std::endl; sif::info << "SUS with object id " << std::hex << this->getObjectId() << ", channel 4/5: " << dataset.diffScanChannel4_5 << std::endl; #endif break; } case SUS::READ_TEMP: { // gpioComIF->pullHigh(chipSelectId); 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 5000; } ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager) { localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry( { 0.0 })); localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_0_1, new PoolEntry( { 0 })); localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_2_3, new PoolEntry( { 0 })); localDataPoolMap.emplace(SUS::DIFF_SCAN_CHANNEL_4_5, new PoolEntry( { 0 })); return HasReturnvaluesIF::RETURN_OK; }