meggert
6a2d5b8161
All checks were successful
EIVE/eive-obsw/pipeline/pr-v3.0.0-dev This commit looks good
223 lines
8.7 KiB
C++
223 lines
8.7 KiB
C++
#include "GyrAdis1650XHandler.h"
|
|
|
|
#include "fsfw/action/HasActionsIF.h"
|
|
#include "fsfw/datapool/PoolReadGuard.h"
|
|
#include "mission/acs/acsBoardPolling.h"
|
|
|
|
GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
|
|
CookieIF *comCookie, adis1650x::Type type)
|
|
: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
|
|
adisType(type),
|
|
primaryDataset(this),
|
|
configDataset(this),
|
|
breakCountdown() {
|
|
adisRequest.type = adisType;
|
|
}
|
|
|
|
void GyrAdis1650XHandler::doStartUp() {
|
|
if (internalState != InternalState::STARTUP) {
|
|
internalState = InternalState::STARTUP;
|
|
commandExecuted = false;
|
|
}
|
|
// Initial 310 ms start up time after power-up
|
|
if (internalState == InternalState::STARTUP) {
|
|
if (not commandExecuted) {
|
|
warningSwitch = true;
|
|
breakCountdown.setTimeout(adis1650x::START_UP_TIME);
|
|
commandExecuted = true;
|
|
}
|
|
}
|
|
if (internalState == InternalState::STARTUP_DONE) {
|
|
updatePeriodicReply(true, adis1650x::REPLY);
|
|
setMode(MODE_ON);
|
|
internalState = InternalState::NONE;
|
|
}
|
|
}
|
|
|
|
void GyrAdis1650XHandler::doShutDown() {
|
|
if (internalState != InternalState::SHUTDOWN) {
|
|
commandExecuted = false;
|
|
PoolReadGuard pg(&primaryDataset);
|
|
primaryDataset.setValidity(false, true);
|
|
internalState = InternalState::SHUTDOWN;
|
|
}
|
|
if (internalState == InternalState::SHUTDOWN and commandExecuted) {
|
|
updatePeriodicReply(false, adis1650x::REPLY);
|
|
internalState = InternalState::NONE;
|
|
commandExecuted = false;
|
|
setMode(MODE_OFF);
|
|
}
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
|
|
*id = adis1650x::REQUEST;
|
|
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
|
|
switch (internalState) {
|
|
case (InternalState::STARTUP): {
|
|
if (breakCountdown.isBusy()) {
|
|
return NOTHING_TO_SEND;
|
|
}
|
|
*id = adis1650x::REQUEST;
|
|
adisRequest.cfg.decRateReg = adis1650x::DEC_RATE;
|
|
internalState = InternalState::STARTUP_DONE;
|
|
return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
|
|
}
|
|
case (InternalState::SHUTDOWN): {
|
|
*id = adis1650x::REQUEST;
|
|
return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
|
|
}
|
|
default: {
|
|
return NOTHING_TO_SEND;
|
|
}
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
|
|
const uint8_t *commandData,
|
|
size_t commandDataLen) {
|
|
return NOTHING_TO_SEND;
|
|
}
|
|
|
|
void GyrAdis1650XHandler::fillCommandAndReplyMap() {
|
|
insertInCommandMap(adis1650x::REQUEST);
|
|
insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
|
|
DeviceCommandId_t *foundId, size_t *foundLen) {
|
|
if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or
|
|
getMode() == _MODE_POWER_DOWN) {
|
|
return IGNORE_FULL_PACKET;
|
|
}
|
|
*foundLen = remainingSize;
|
|
if (remainingSize != sizeof(acs::Adis1650XReply)) {
|
|
return returnvalue::FAILED;
|
|
}
|
|
*foundId = adis1650x::REPLY;
|
|
if (internalState == InternalState::SHUTDOWN) {
|
|
commandExecuted = true;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
|
|
const uint8_t *packet) {
|
|
using namespace adis1650x;
|
|
const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
|
|
if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
|
|
switch (adisType) {
|
|
case (adis1650x::Type::ADIS16507): {
|
|
if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
|
|
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
|
|
<< reply->cfg.prodId << "for ADIS type 16507" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
break;
|
|
}
|
|
case (adis1650x::Type::ADIS16505): {
|
|
if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
|
|
sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
|
|
<< reply->cfg.prodId << "for ADIS type 16505" << std::endl;
|
|
return returnvalue::FAILED;
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
PoolReadGuard rg(&configDataset);
|
|
configDataset.setValidity(true, true);
|
|
configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
|
|
configDataset.rangMdl = reply->cfg.rangMdl;
|
|
configDataset.diagStatReg = reply->cfg.diagStat;
|
|
configDataset.filterSetting = reply->cfg.filterSetting;
|
|
configDataset.decRateReg = reply->cfg.decRateReg;
|
|
commandExecuted = true;
|
|
}
|
|
if (reply->dataWasSet) {
|
|
{
|
|
PoolReadGuard rg(&configDataset);
|
|
configDataset.diagStatReg = reply->cfg.diagStat;
|
|
}
|
|
auto sensitivity = reply->data.sensitivity;
|
|
auto accelSensitivity = reply->data.accelScaling;
|
|
PoolReadGuard pg(&primaryDataset);
|
|
primaryDataset.setValidity(true, true);
|
|
primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
|
|
primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
|
|
primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
|
|
// TODO: Check whether we need to divide by INT16_MAX
|
|
primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
|
|
primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
|
|
primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
|
|
primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
|
|
}
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
|
|
if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
|
|
return &primaryDataset;
|
|
} else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
|
|
return &configDataset;
|
|
}
|
|
return nullptr;
|
|
}
|
|
|
|
uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
|
|
|
|
void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
|
|
uint8_t valueTwo) {
|
|
uint8_t secondReg = startReg + 1;
|
|
startReg |= adis1650x::WRITE_MASK;
|
|
secondReg |= adis1650x::WRITE_MASK;
|
|
cmdBuf[0] = startReg;
|
|
cmdBuf[1] = valueOne;
|
|
cmdBuf[2] = secondReg;
|
|
cmdBuf[3] = valueTwo;
|
|
this->rawPacketLen = 4;
|
|
this->rawPacket = cmdBuf.data();
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
|
|
LocalDataPoolManager &poolManager) {
|
|
localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
|
|
localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
|
|
|
|
localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
|
|
localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
|
|
localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
|
|
localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
|
|
localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
|
|
poolManager.subscribeForRegularPeriodicPacket(
|
|
subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
|
|
return returnvalue::OK;
|
|
}
|
|
|
|
adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
|
|
using namespace adis1650x;
|
|
configDataset.mscCtrlReg.read();
|
|
uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
|
|
configDataset.mscCtrlReg.commit();
|
|
return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
|
|
}
|
|
|
|
void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
|
|
periodicPrintout = enable;
|
|
debugDivider.setDivider(divider);
|
|
}
|
|
|
|
ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
|
|
adisRequest.mode = mode;
|
|
rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
|
|
rawPacketLen = sizeof(acs::Adis1650XRequest);
|
|
return returnvalue::OK;
|
|
}
|