283 lines
9.3 KiB
C++
283 lines
9.3 KiB
C++
#include "BpxBatteryHandler.h"
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "OBSWConfig.h"
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BpxBatteryHandler::BpxBatteryHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie)
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: DeviceHandlerBase(objectId, comIF, comCookie), hkSet(this), cfgSet(this) {}
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BpxBatteryHandler::~BpxBatteryHandler() {}
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void BpxBatteryHandler::doStartUp() {
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if (state == States::CHECK_COM) {
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if (commandExecuted) {
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state = States::IDLE;
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commandExecuted = false;
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if (goToNormalModeImmediately) {
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setMode(MODE_NORMAL);
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} else {
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setMode(_MODE_TO_ON);
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}
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}
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}
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}
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void BpxBatteryHandler::doShutDown() {
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// Perform a COM check on reboot
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state = States::CHECK_COM;
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}
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ReturnValue_t BpxBatteryHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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*id = BpxBattery::GET_HK;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t BpxBatteryHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if (state == States::CHECK_COM) {
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*id = BpxBattery::PING;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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return returnvalue::OK;
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}
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void BpxBatteryHandler::fillCommandAndReplyMap() {
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using namespace BpxBattery;
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insertInCommandAndReplyMap(GET_HK, 1, &hkSet, GET_HK_REPLY_LEN);
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insertInCommandAndReplyMap(BpxBattery::PING, 1, nullptr, PING_REPLY_LEN);
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insertInCommandAndReplyMap(BpxBattery::REBOOT, 1, nullptr, 0);
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insertInCommandAndReplyMap(BpxBattery::RESET_COUNTERS, 1, nullptr, EMPTY_REPLY_LEN);
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insertInCommandAndReplyMap(BpxBattery::CONFIG_CMD, 1, nullptr, EMPTY_REPLY_LEN);
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insertInCommandAndReplyMap(BpxBattery::CONFIG_GET, 1, &cfgSet, CONFIG_GET_REPLY_LEN);
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}
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ReturnValue_t BpxBatteryHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t* commandData,
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size_t commandDataLen) {
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switch (deviceCommand) {
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case (BpxBattery::GET_HK): {
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cmdBuf[0] = BpxBattery::PORT_GET_HK;
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this->rawPacketLen = 1;
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break;
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}
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case (BpxBattery::PING): {
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if (commandDataLen == 1 and commandData != nullptr) {
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sentPingByte = commandData[0];
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} else {
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sentPingByte = BpxBattery::DEFAULT_PING_SENT_BYTE;
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}
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cmdBuf[0] = BpxBattery::PORT_PING;
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cmdBuf[1] = sentPingByte;
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this->rawPacketLen = 2;
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break;
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}
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case (BpxBattery::REBOOT): {
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cmdBuf[0] = BpxBattery::PORT_REBOOT;
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cmdBuf[1] = 0x80;
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cmdBuf[2] = 0x07;
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cmdBuf[3] = 0x80;
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cmdBuf[4] = 0x07;
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this->rawPacketLen = 5;
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// This instructs the FDIR to set the device mode off and on again
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// to ensure the I2C communication is also verified
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triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT);
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break;
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}
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case (BpxBattery::RESET_COUNTERS): {
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cmdBuf[0] = BpxBattery::PORT_RESET_COUNTERS;
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cmdBuf[1] = BpxBattery::RESET_COUNTERS_MAGIC_VALUE;
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this->rawPacketLen = 2;
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break;
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}
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case (BpxBattery::CONFIG_CMD): {
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cmdBuf[0] = BpxBattery::PORT_CONFIG_CMD;
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// Needs to be set to 0x01 according to datasheet
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cmdBuf[1] = 0x01;
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this->rawPacketLen = 2;
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break;
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}
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case (BpxBattery::CONFIG_GET): {
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cmdBuf[0] = BpxBattery::PORT_CONFIG_GET;
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this->rawPacketLen = 1;
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break;
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}
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case (BpxBattery::CONFIG_SET): {
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cmdBuf[0] = BpxBattery::PORT_CONFIG_SET;
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if (commandDataLen != 3) {
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return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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for (uint8_t idx = 0; idx < 3; idx++) {
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cmdBuf[idx + 1] = commandData[idx];
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}
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this->rawPacketLen = 4;
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break;
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}
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case (BpxBattery::MAN_HEAT_ON): {
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cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_ON;
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if (commandDataLen != 2) {
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return DeviceHandlerIF::INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
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}
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for (uint8_t idx = 0; idx < 2; idx++) {
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cmdBuf[idx + 1] = commandData[idx];
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}
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this->rawPacketLen = 3;
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break;
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}
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case (BpxBattery::MAN_HEAT_OFF): {
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cmdBuf[0] = BpxBattery::PORT_MAN_HEAT_OFF;
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this->rawPacketLen = 1;
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break;
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}
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default: {
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return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
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}
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}
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this->rawPacket = cmdBuf.data();
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lastCmd = deviceCommand;
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return returnvalue::OK;
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}
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ReturnValue_t BpxBatteryHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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using namespace BpxBattery;
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switch (lastCmd) {
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case (BpxBattery::GET_HK): {
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if (remainingSize != GET_HK_REPLY_LEN) {
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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break;
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}
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case (BpxBattery::PING):
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case (BpxBattery::MAN_HEAT_ON):
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case (BpxBattery::MAN_HEAT_OFF): {
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if (remainingSize != PING_REPLY_LEN) {
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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break;
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}
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case (BpxBattery::REBOOT): {
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// Ignore
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break;
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}
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case (BpxBattery::RESET_COUNTERS):
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case (BpxBattery::CONFIG_CMD):
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case (BpxBattery::CONFIG_SET): {
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if (remainingSize != EMPTY_REPLY_LEN) {
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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break;
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}
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case (BpxBattery::CONFIG_GET): {
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if (remainingSize != CONFIG_GET_REPLY_LEN) {
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return DeviceHandlerIF::LENGTH_MISSMATCH;
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}
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break;
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}
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default: {
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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*foundLen = remainingSize;
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*foundId = lastCmd;
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return returnvalue::OK;
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}
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ReturnValue_t BpxBatteryHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
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if (id != BpxBattery::REBOOT and packet[1] != 0) {
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return DeviceHandlerIF::DEVICE_REPORTED_ERROR;
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}
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switch (id) {
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case (BpxBattery::GET_HK): {
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PoolReadGuard rg(&hkSet);
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ReturnValue_t result = hkSet.parseRawHk(packet + 2, 21);
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hkSet.setValidity(true, true);
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if (result != returnvalue::OK) {
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return result;
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}
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if (debugMode) {
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sif::info << "BPX Battery HK output:" << std::endl;
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sif::info << "Charge current [mA]: " << hkSet.chargeCurrent << std::endl;
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sif::info << "Discharge current [mA]: " << hkSet.dischargeCurrent << std::endl;
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sif::info << "Heater current [mA]: " << hkSet.heaterCurrent << std::endl;
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sif::info << "Battery voltage [mV]: " << hkSet.battVoltage << std::endl;
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sif::info << "Battery Temperature 1 [C]: " << hkSet.battTemp1 << std::endl;
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sif::info << "Battery Temperature 2 [C]: " << hkSet.battTemp2 << std::endl;
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sif::info << "Battery Temperature 3 [C]: " << hkSet.battTemp3 << std::endl;
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sif::info << "Battery Temperature 4 [C]: " << hkSet.battTemp4 << std::endl;
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sif::info << "Battery Reboot Counter: " << hkSet.rebootCounter << std::endl;
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sif::info << "Battery Boot Cause: " << static_cast<int>(hkSet.bootcause.value) << std::endl;
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}
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break;
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}
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case (BpxBattery::PING): {
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if (packet[2] != sentPingByte) {
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return DeviceHandlerIF::INVALID_DATA;
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}
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if (mode == _MODE_START_UP) {
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commandExecuted = true;
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}
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break;
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}
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case (BpxBattery::RESET_COUNTERS):
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case (BpxBattery::CONFIG_CMD):
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case (BpxBattery::CONFIG_SET): {
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break;
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}
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case (BpxBattery::MAN_HEAT_ON):
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case (BpxBattery::MAN_HEAT_OFF): {
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if (packet[2] != 0x01) {
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return DeviceHandlerIF::DEVICE_DID_NOT_EXECUTE;
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}
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break;
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}
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case (BpxBattery::CONFIG_GET): {
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PoolReadGuard rg(&cfgSet);
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ReturnValue_t result = cfgSet.parseRawHk(packet + 2, 3);
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if (result != returnvalue::OK) {
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return result;
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}
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cfgSet.setValidity(true, true);
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break;
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}
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case (BpxBattery::REBOOT): {
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break;
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}
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default: {
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return returnvalue::OK;
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}
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uint32_t BpxBatteryHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 10000; }
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ReturnValue_t BpxBatteryHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(BpxBattery::BATT_TEMP_1, &battTemp1);
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localDataPoolMap.emplace(BpxBattery::BATT_TEMP_2, &battTemp2);
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localDataPoolMap.emplace(BpxBattery::BATT_TEMP_3, &battTemp3);
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localDataPoolMap.emplace(BpxBattery::BATT_TEMP_4, &battTemp4);
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localDataPoolMap.emplace(BpxBattery::CHARGE_CURRENT, &chargeCurrent);
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localDataPoolMap.emplace(BpxBattery::DISCHARGE_CURRENT, &dischargeCurrent);
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localDataPoolMap.emplace(BpxBattery::HEATER_CURRENT, &heaterCurrent);
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localDataPoolMap.emplace(BpxBattery::BATT_VOLTAGE, &battVolt);
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localDataPoolMap.emplace(BpxBattery::REBOOT_COUNTER, &rebootCounter);
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localDataPoolMap.emplace(BpxBattery::BOOTCAUSE, &bootCause);
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localDataPoolMap.emplace(BpxBattery::BATTERY_HEATER_MODE, &battheatMode);
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localDataPoolMap.emplace(BpxBattery::BATTHEAT_LOW_LIMIT, &battheatLow);
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localDataPoolMap.emplace(BpxBattery::BATTHEAT_HIGH_LIMIT, &battheatHigh);
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 30.0));
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return returnvalue::OK;
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}
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void BpxBatteryHandler::setToGoToNormalMode(bool enable) {
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this->goToNormalModeImmediately = enable;
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}
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void BpxBatteryHandler::setDebugMode(bool enable) { this->debugMode = enable; }
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