523 lines
20 KiB
C++
523 lines
20 KiB
C++
#include "GyroADIS1650XHandler.h"
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#include <fsfw/action/HasActionsIF.h>
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#include <fsfw/datapool/PoolReadGuard.h>
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#include "fsfw/FSFW.h"
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#ifdef FSFW_OSAL_LINUX
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include "fsfw_hal/linux/UnixFileGuard.h"
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#include "fsfw_hal/linux/spi/SpiComIF.h"
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#include "fsfw_hal/linux/spi/SpiCookie.h"
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#include "fsfw_hal/linux/utility.h"
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#endif
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GyroADIS1650XHandler::GyroADIS1650XHandler(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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#ifdef FSFW_OSAL_LINUX
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SpiCookie *cookie = dynamic_cast<SpiCookie *>(comCookie);
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if (cookie != nullptr) {
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cookie->setCallbackMode(&spiSendCallback, this);
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}
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#endif
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}
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void GyroADIS1650XHandler::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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internalState = InternalState::CONFIG;
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commandExecuted = false;
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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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if (internalState == InternalState::IDLE) {
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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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void GyroADIS1650XHandler::doShutDown() {
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commandExecuted = false;
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t GyroADIS1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = ADIS1650X::READ_SENSOR_DATA;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t GyroADIS1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch (internalState) {
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case (InternalState::CONFIG): {
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*id = ADIS1650X::READ_OUT_CONFIG;
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buildCommandFromCommand(*id, nullptr, 0);
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break;
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}
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case (InternalState::STARTUP): {
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return NOTHING_TO_SEND;
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break;
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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 GyroADIS1650XHandler::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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prepareReadCommand(regList, sizeof(regList));
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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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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, 0x00);
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breakCountdown.setTimeout(ADIS1650X::FLASH_MEMORY_UPDATE_BREAK);
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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, 0x00);
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breakCountdown.setTimeout(ADIS1650X::FACTORY_CALIBRATION_BREAK);
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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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return returnvalue::OK;
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}
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void GyroADIS1650XHandler::fillCommandAndReplyMap() {
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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 GyroADIS1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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// For SPI, the ID will always be the one of the last sent command
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*foundId = this->getPendingCommand();
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*foundLen = this->rawPacketLen;
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return returnvalue::OK;
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}
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ReturnValue_t GyroADIS1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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using namespace ADIS1650X;
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switch (id) {
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case (ADIS1650X::READ_OUT_CONFIG): {
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uint16_t readProdId = packet[10] << 8 | packet[11];
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if (((adisType == ADIS1650X::Type::ADIS16507) and (readProdId != ADIS1650X::PROD_ID_16507)) or
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((adisType == ADIS1650X::Type::ADIS16505) and (readProdId != ADIS1650X::PROD_ID_16505))) {
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#if OBSW_VERBOSE_LEVEL >= 1
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if (warningSwitch) {
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sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
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<< readProdId << std::endl;
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}
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warningSwitch = false;
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#endif
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return returnvalue::FAILED;
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}
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PoolReadGuard rg(&configDataset);
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configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
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configDataset.filterSetting.value = packet[4] << 8 | packet[5];
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uint16_t rangMdlRaw = packet[6] << 8 | packet[7];
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ADIS1650X::RangMdlBitfield bitfield =
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static_cast<ADIS1650X::RangMdlBitfield>((rangMdlRaw >> 2) & 0b11);
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switch (bitfield) {
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case (ADIS1650X::RangMdlBitfield::RANGE_125_1BMLZ): {
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range = GyroRange::MODEL_1BMLZ;
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break;
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}
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case (ADIS1650X::RangMdlBitfield::RANGE_500_2BMLZ): {
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range = GyroRange::MODEL_2BMLZ;
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break;
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}
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case (ADIS1650X::RangMdlBitfield::RANGE_2000_3BMLZ): {
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range = GyroRange::MODEL_3BMLZ;
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break;
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}
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case (RangMdlBitfield::RESERVED): {
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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sif::error << "ADIS1650X: Unexpected value for RANG_MDL register" << std::endl;
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#endif
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break;
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}
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}
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configDataset.rangMdl.value = rangMdlRaw;
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configDataset.mscCtrlReg.value = packet[8] << 8 | packet[9];
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configDataset.decRateReg.value = packet[10] << 8 | packet[11];
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configDataset.setValidity(true, true);
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if (internalState == InternalState::CONFIG) {
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commandExecuted = true;
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}
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break;
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}
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case (ADIS1650X::READ_SENSOR_DATA): {
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return handleSensorData(packet);
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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 GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
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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 (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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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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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) / INT16_MAX * range;
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int16_t angVelocYRaw = packet[6] << 8 | packet[7];
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primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) / INT16_MAX * range;
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int16_t angVelocZRaw = packet[8] << 8 | packet[9];
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primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) / INT16_MAX * range;
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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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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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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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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 GyroADIS1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
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void GyroADIS1650XHandler::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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commandBuffer[0] = startReg;
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commandBuffer[1] = valueOne;
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commandBuffer[2] = secondReg;
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commandBuffer[3] = valueTwo;
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this->rawPacketLen = 4;
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this->rawPacket = commandBuffer.data();
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}
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void GyroADIS1650XHandler::prepareReadCommand(uint8_t *regList, size_t len) {
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for (size_t idx = 0; idx < len; idx++) {
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commandBuffer[idx * 2] = regList[idx];
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commandBuffer[idx * 2 + 1] = 0x00;
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}
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commandBuffer[len * 2] = 0x00;
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commandBuffer[len * 2 + 1] = 0x00;
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}
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ReturnValue_t GyroADIS1650XHandler::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::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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GyroADIS1650XHandler::BurstModes GyroADIS1650XHandler::getBurstMode() {
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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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if ((currentCtrlReg & ADIS1650X::BURST_32_BIT) == ADIS1650X::BURST_32_BIT) {
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if ((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
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return BurstModes::BURST_32_BURST_SEL_1;
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} else {
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return BurstModes::BURST_32_BURST_SEL_0;
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}
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} else {
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if ((currentCtrlReg & ADIS1650X::BURST_SEL_BIT) == ADIS1650X::BURST_SEL_BIT) {
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return BurstModes::BURST_16_BURST_SEL_1;
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} else {
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return BurstModes::BURST_16_BURST_SEL_0;
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}
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}
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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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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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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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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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// 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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if (gpioId != gpio::NO_GPIO) {
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gpioIF.pullHigh(gpioId);
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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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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 GyroADIS1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
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void GyroADIS1650XHandler::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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#endif /* OBSW_ADIS1650X_LINUX_COM_IF == 1 */
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