Robin Mueller
828b6adf77
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EIVE/eive-obsw/pipeline/head This commit looks good
516 lines
21 KiB
C++
516 lines
21 KiB
C++
#include "mission/devices/GyrAdis1650XHandler.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "mission/devices/devicedefinitions/acsPolling.h"
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GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, adis1650x::Type type)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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adisType(type),
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primaryDataset(this),
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configDataset(this),
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breakCountdown() {
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adisRequest.type = adisType;
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}
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void GyrAdis1650XHandler::doStartUp() {
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// Initial 310 ms start up time after power-up
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if (internalState == InternalState::STARTUP) {
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if (not commandExecuted) {
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warningSwitch = true;
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breakCountdown.setTimeout(adis1650x::START_UP_TIME);
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commandExecuted = true;
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}
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if (breakCountdown.hasTimedOut()) {
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updatePeriodicReply(true, adis1650x::REPLY);
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if (goToNormalMode) {
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setMode(MODE_NORMAL);
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} else {
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setMode(MODE_ON);
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}
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}
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}
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// // Read all configuration registers first
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// if (internalState == InternalState::CONFIG) {
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// if (commandExecuted) {
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// commandExecuted = false;
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// internalState = InternalState::IDLE;
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// }
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// }
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//
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// if (internalState == InternalState::IDLE) {
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// }
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}
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void GyrAdis1650XHandler::doShutDown() {
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if (internalState != InternalState::SHUTDOWN) {
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commandExecuted = false;
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primaryDataset.setValidity(false, true);
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internalState = InternalState::SHUTDOWN;
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}
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if (commandExecuted) {
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updatePeriodicReply(false, adis1650x::REPLY);
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setMode(_MODE_POWER_DOWN);
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}
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}
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ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = adis1650x::REQUEST;
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return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
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}
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ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch (internalState) {
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case (InternalState::STARTUP): {
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*id = adis1650x::REQUEST;
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return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
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}
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case (InternalState::SHUTDOWN): {
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*id = adis1650x::REQUEST;
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acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
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request->mode = acs::SimpleSensorMode::OFF;
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request->type = adisType;
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return returnvalue::OK;
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}
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default: {
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// Might be a configuration error
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sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
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"Unknown internal state!"
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<< std::endl;
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return returnvalue::OK;
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t GyrAdis1650XHandler::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 (adis1650x::READ_OUT_CONFIG): {
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// this->rawPacketLen = adis1650x::CONFIG_READOUT_SIZE;
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// uint8_t regList[6] = {};
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// regList[0] = adis1650x::DIAG_STAT_REG;
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// regList[1] = adis1650x::FILTER_CTRL_REG;
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// regList[2] = adis1650x::RANG_MDL_REG;
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// regList[3] = adis1650x::MSC_CTRL_REG;
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// regList[4] = adis1650x::DEC_RATE_REG;
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// regList[5] = adis1650x::PROD_ID_REG;
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// adis1650x::prepareReadCommand(regList, sizeof(regList), commandBuffer.data(),
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// commandBuffer.size());
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// this->rawPacket = commandBuffer.data();
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// break;
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// }
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// case (adis1650x::READ_SENSOR_DATA): {
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// if (breakCountdown.isBusy()) {
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// // A glob command is pending and sensor data can't be read currently
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// return NO_REPLY_EXPECTED;
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// }
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// std::memcpy(commandBuffer.data(), adis1650x::BURST_READ_ENABLE.data(),
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// adis1650x::BURST_READ_ENABLE.size());
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// std::memset(commandBuffer.data() + 2, 0, 10 * 2);
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// this->rawPacketLen = adis1650x::SENSOR_READOUT_SIZE;
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// this->rawPacket = commandBuffer.data();
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// break;
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// }
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// TODO: Convert to special request
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// case (adis1650x::SELF_TEST_SENSORS): {
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// if (breakCountdown.isBusy()) {
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// // Another glob command is pending
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// return HasActionsIF::IS_BUSY;
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// }
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// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SENSOR_SELF_TEST, 0x00);
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// breakCountdown.setTimeout(adis1650x::SELF_TEST_BREAK);
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// break;
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// }
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// case (adis1650x::SELF_TEST_MEMORY): {
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// if (breakCountdown.isBusy()) {
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// // Another glob command is pending
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// return HasActionsIF::IS_BUSY;
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// }
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// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_TEST, 0x00);
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// breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_TEST_BREAK);
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// break;
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// }
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// case (adis1650x::UPDATE_NV_CONFIGURATION): {
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// if (breakCountdown.isBusy()) {
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// // Another glob command is pending
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// return HasActionsIF::IS_BUSY;
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// }
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// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_UPDATE,
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// 0x00); breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_UPDATE_BREAK); break;
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// }
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// case (adis1650x::RESET_SENSOR_CONFIGURATION): {
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// if (breakCountdown.isBusy()) {
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// // Another glob command is pending
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// return HasActionsIF::IS_BUSY;
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// }
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// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FACTORY_CALIBRATION,
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// 0x00); breakCountdown.setTimeout(adis1650x::FACTORY_CALIBRATION_BREAK); break;
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// }
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// case (adis1650x::SW_RESET): {
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// if (breakCountdown.isBusy()) {
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// // Another glob command is pending
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// return HasActionsIF::IS_BUSY;
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// }
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// prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SOFTWARE_RESET, 0x00);
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// breakCountdown.setTimeout(adis1650x::SW_RESET_BREAK);
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// break;
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// }
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// case (adis1650x::PRINT_CURRENT_CONFIGURATION): {
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//#if OBSW_VERBOSE_LEVEL >= 1
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// PoolReadGuard pg(&configDataset);
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// sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4)
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// << std::setfill('0') << "0x" << configDataset.diagStatReg.value << std::endl;
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// sif::info << "MSC_CTRL: " << std::hex << std::setw(4) << "0x"
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// << configDataset.mscCtrlReg.value << " | FILT_CTRL: 0x"
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// << configDataset.filterSetting.value << " | DEC_RATE: 0x"
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// << configDataset.decRateReg.value << std::setfill(' ') << std::endl;
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//#endif /* OBSW_VERBOSE_LEVEL >= 1 */
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//
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//}
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//}
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// return returnvalue::OK;
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return NOTHING_TO_SEND;
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}
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void GyrAdis1650XHandler::fillCommandAndReplyMap() {
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insertInCommandMap(adis1650x::REQUEST);
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insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
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// insertInCommandAndReplyMap(adis1650x::READ_SENSOR_DATA, 1, &primaryDataset);
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// insertInCommandAndReplyMap(adis1650x::READ_OUT_CONFIG, 1, &configDataset);
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// insertInCommandAndReplyMap(adis1650x::SELF_TEST_SENSORS, 1);
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// insertInCommandAndReplyMap(adis1650x::SELF_TEST_MEMORY, 1);
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// insertInCommandAndReplyMap(adis1650x::UPDATE_NV_CONFIGURATION, 1);
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// insertInCommandAndReplyMap(adis1650x::RESET_SENSOR_CONFIGURATION, 1);
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// insertInCommandAndReplyMap(adis1650x::SW_RESET, 1);
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// insertInCommandAndReplyMap(adis1650x::PRINT_CURRENT_CONFIGURATION, 1);
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}
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ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
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return IGNORE_FULL_PACKET;
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}
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if (remainingSize != sizeof(acs::Adis1650XReply)) {
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*foundLen = remainingSize;
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return returnvalue::FAILED;
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}
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*foundId = adis1650x::REPLY;
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*foundLen = remainingSize;
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return returnvalue::OK;
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}
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ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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using namespace adis1650x;
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const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
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if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
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switch (adisType) {
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case (adis1650x::Type::ADIS16507): {
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if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
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sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
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<< reply->cfg.prodId << "for ADIS type 16507" << std::endl;
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return returnvalue::FAILED;
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}
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break;
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}
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case (adis1650x::Type::ADIS16505): {
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if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
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sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
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<< reply->cfg.prodId << "for ADIS type 16505" << std::endl;
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return returnvalue::FAILED;
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}
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break;
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}
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}
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PoolReadGuard rg(&configDataset);
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configDataset.setValidity(true, true);
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configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
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configDataset.rangMdl = reply->cfg.rangMdl;
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configDataset.diagStatReg = reply->cfg.diagStat;
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configDataset.filterSetting = reply->cfg.filterSetting;
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configDataset.decRateReg = reply->cfg.decRateReg;
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commandExecuted = true;
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}
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if (reply->dataWasSet) {
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{
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PoolReadGuard rg(&configDataset);
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configDataset.diagStatReg = reply->cfg.diagStat;
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}
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auto sensitivity = reply->data.sensitivity;
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auto accelSensitivity = reply->data.accelScaling;
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PoolReadGuard pg(&primaryDataset);
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primaryDataset.setValidity(true, true);
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primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
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primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
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primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
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// TODO: Check whether we need to divide by INT16_MAX
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primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
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primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
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primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
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primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
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}
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return returnvalue::OK;
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}
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LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
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if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
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return &primaryDataset;
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} else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
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return &configDataset;
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}
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return nullptr;
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}
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// ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
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// using namespace adis1650x;
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// BurstModes burstMode = getBurstMode();
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// switch (burstMode) {
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// case (BurstModes::BURST_16_BURST_SEL_1):
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// case (BurstModes::BURST_32_BURST_SEL_1): {
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// sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
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// " not implemented!"
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// << std::endl;
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// return returnvalue::OK;
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// }
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// case (adis1650x::BurstModes::BURST_16_BURST_SEL_0): {
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// uint16_t checksum = packet[20] << 8 | packet[21];
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// // Now verify the read checksum with the expected checksum according to datasheet p. 20
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// uint16_t calcChecksum = 0;
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// for (size_t idx = 2; idx < 20; idx++) {
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// calcChecksum += packet[idx];
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// }
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// if (checksum != calcChecksum) {
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//#if OBSW_VERBOSE_LEVEL >= 1
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// sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
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// "Invalid checksum detected!"
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// << std::endl;
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//#endif
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// return returnvalue::FAILED;
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// }
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//
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// ReturnValue_t result = configDataset.diagStatReg.read();
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// if (result == returnvalue::OK) {
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// configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
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// configDataset.diagStatReg.setValid(true);
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// }
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// configDataset.diagStatReg.commit();
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//
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// {
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// PoolReadGuard pg(&primaryDataset);
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// int16_t angVelocXRaw = packet[4] << 8 | packet[5];
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// primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) * sensitivity;
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// int16_t angVelocYRaw = packet[6] << 8 | packet[7];
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// primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) * sensitivity;
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// int16_t angVelocZRaw = packet[8] << 8 | packet[9];
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// primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) * sensitivity;
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//
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// float accelScaling = 0;
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// if (adisType == adis1650x::Type::ADIS16507) {
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// accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
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// } else if (adisType == adis1650x::Type::ADIS16505) {
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// accelScaling = adis1650x::ACCELEROMETER_RANGE_16505;
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// } else {
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// sif::warning << "GyroADIS1650XHandler::handleSensorData: "
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// "Unknown ADIS type"
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// << std::endl;
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// }
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// int16_t accelXRaw = packet[10] << 8 | packet[11];
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// primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX * accelScaling;
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// int16_t accelYRaw = packet[12] << 8 | packet[13];
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// primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX * accelScaling;
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// int16_t accelZRaw = packet[14] << 8 | packet[15];
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// primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX * accelScaling;
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//
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// int16_t temperatureRaw = packet[16] << 8 | packet[17];
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// primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
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// // Ignore data counter for now
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// primaryDataset.setValidity(true, true);
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// }
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//
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// if (periodicPrintout) {
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// if (debugDivider.checkAndIncrement()) {
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// sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
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// sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
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// sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
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// sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
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// sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
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// sif::info << "X: " << primaryDataset.accelX.value << std::endl;
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// sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
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// sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
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// }
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// }
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//
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// break;
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// }
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// case (BurstModes::BURST_32_BURST_SEL_0): {
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// break;
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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 GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
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void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
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uint8_t valueTwo) {
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uint8_t secondReg = startReg + 1;
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startReg |= adis1650x::WRITE_MASK;
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secondReg |= adis1650x::WRITE_MASK;
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cmdBuf[0] = startReg;
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cmdBuf[1] = valueOne;
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cmdBuf[2] = secondReg;
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cmdBuf[3] = valueTwo;
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this->rawPacketLen = 4;
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this->rawPacket = cmdBuf.data();
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}
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ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
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localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
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return returnvalue::OK;
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}
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adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
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using namespace adis1650x;
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configDataset.mscCtrlReg.read();
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uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
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configDataset.mscCtrlReg.commit();
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return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
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}
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//#ifdef FSFW_OSAL_LINUX
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// ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
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// const uint8_t *sendData, size_t sendLen,
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// void *args) {
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// GyroADIS1650XHandler *handler = reinterpret_cast<GyroADIS1650XHandler *>(args);
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// if (handler == nullptr) {
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// sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
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// << std::endl;
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// return returnvalue::FAILED;
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// }
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// DeviceCommandId_t currentCommand = handler->getPendingCommand();
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// switch (currentCommand) {
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// case (adis1650x::READ_SENSOR_DATA): {
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// return comIf->performRegularSendOperation(cookie, sendData, sendLen);
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// }
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// case (adis1650x::READ_OUT_CONFIG):
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// default: {
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// ReturnValue_t result = returnvalue::OK;
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// int retval = 0;
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// // Prepare transfer
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// int fileDescriptor = 0;
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// std::string device = comIf->getSpiDev();
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// UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
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// if (fileHelper.getOpenResult() != returnvalue::OK) {
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// return SpiComIF::OPENING_FILE_FAILED;
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// }
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// spi::SpiModes spiMode = spi::SpiModes::MODE_0;
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// uint32_t spiSpeed = 0;
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// cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
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// comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
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// cookie->assignWriteBuffer(sendData);
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// cookie->setTransferSize(2);
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//
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// gpioId_t gpioId = cookie->getChipSelectPin();
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// GpioIF &gpioIF = comIf->getGpioInterface();
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// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
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// uint32_t timeoutMs = 0;
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// MutexIF *mutex = comIf->getCsMutex();
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// cookie->getMutexParams(timeoutType, timeoutMs);
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// if (mutex == nullptr) {
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//#if OBSW_VERBOSE_LEVEL >= 1
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// sif::warning << "GyroADIS16507Handler::spiSendCallback: "
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// "Mutex or GPIO interface invalid"
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// << std::endl;
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// return returnvalue::FAILED;
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//#endif
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// }
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//
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// if (gpioId != gpio::NO_GPIO) {
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// result = mutex->lockMutex(timeoutType, timeoutMs);
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// if (result != returnvalue::OK) {
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//#if FSFW_CPP_OSTREAM_ENABLED == 1
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// sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
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//#endif
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// return result;
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// }
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// }
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//
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// size_t idx = 0;
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// spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
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// uint64_t origTx = transferStruct->tx_buf;
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// uint64_t origRx = transferStruct->rx_buf;
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// while (idx < sendLen) {
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// // Pull SPI CS low. For now, no support for active high given
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// if (gpioId != gpio::NO_GPIO) {
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// gpioIF.pullLow(gpioId);
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// }
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//
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// // Execute transfer
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// // Initiate a full duplex SPI transfer.
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// retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
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// if (retval < 0) {
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// utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
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// result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
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// }
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//#if FSFW_HAL_SPI_WIRETAPPING == 1
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// comIf->performSpiWiretapping(cookie);
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//#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
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//
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// if (gpioId != gpio::NO_GPIO) {
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// gpioIF.pullHigh(gpioId);
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// }
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//
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// idx += 2;
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// if (idx < sendLen) {
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// usleep(adis1650x::STALL_TIME_MICROSECONDS);
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// }
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//
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// transferStruct->tx_buf += 2;
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// transferStruct->rx_buf += 2;
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// }
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// transferStruct->tx_buf = origTx;
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// transferStruct->rx_buf = origRx;
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// if (gpioId != gpio::NO_GPIO) {
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// mutex->unlockMutex();
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// }
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// }
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// }
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// return returnvalue::OK;
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// }
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void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
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void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
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adisRequest.mode = mode;
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rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
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rawPacketLen = sizeof(acs::Adis1650XRequest);
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return returnvalue::OK;
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}
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