200 lines
7.3 KiB
C++
200 lines
7.3 KiB
C++
#include <fsfw/datapool/PoolReadGuard.h>
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#include <mission/devices/SusHandler.h>
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#include <OBSWConfig.h>
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SusHandler::SusHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
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LinuxLibgpioIF* gpioComIF, gpioId_t chipSelectId) :
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DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), chipSelectId(
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chipSelectId), dataset(this) {
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if (comCookie == NULL) {
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sif::error << "SusHandler: Invalid com cookie" << std::endl;
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}
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if (gpioComIF == NULL) {
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sif::error << "SusHandler: Invalid GpioComIF" << std::endl;
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}
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}
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SusHandler::~SusHandler() {
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}
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void SusHandler::doStartUp(){
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#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
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setMode(MODE_NORMAL);
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#else
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setMode(_MODE_TO_ON);
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#endif
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}
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void SusHandler::doShutDown(){
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setMode(_MODE_POWER_DOWN);
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}
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ReturnValue_t SusHandler::buildNormalDeviceCommand(
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DeviceCommandId_t * id) {
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if (communicationStep == CommunicationStep::WRITE_SETUP) {
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*id = SUS::WRITE_SETUP;
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communicationStep = CommunicationStep::REQUEST_TEMPERATURE;
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}
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else if (communicationStep == CommunicationStep::REQUEST_TEMPERATURE) {
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*id = SUS::REQUEST_TEMPERATURE;
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communicationStep = CommunicationStep::READ_TEMPERATURE;
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}
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else if (communicationStep == CommunicationStep::READ_TEMPERATURE) {
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*id = SUS::READ_TEMPERATURE;
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communicationStep = CommunicationStep::READ_CHANNELS;
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}
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else if (communicationStep == CommunicationStep::READ_CHANNELS) {
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*id = SUS::READ_CHANNELS;
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communicationStep = CommunicationStep::WRITE_SETUP;
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}
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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ReturnValue_t SusHandler::buildTransitionDeviceCommand(
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DeviceCommandId_t * id){
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SusHandler::buildCommandFromCommand(
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DeviceCommandId_t deviceCommand, const uint8_t * commandData,
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size_t commandDataLen) {
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switch(deviceCommand) {
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case(SUS::WRITE_SETUP): {
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/**
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* The sun sensor ADC is shutdown when CS is pulled high, so each time requesting a
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* measurement the setup has to be rewritten. There must also be a little delay between
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* the transmission of the setup byte and the first conversion. Thus the conversion
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* will be performed in an extra step.
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*/
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//TODO: Protect spi bus with mutex
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gpioComIF->pullLow(chipSelectId);
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cmdBuffer[0] = SUS::SETUP_DEFINITION;
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rawPacket = cmdBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(SUS::READ_CHANNELS): {
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std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
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cmdBuffer[0] = SUS::CONVERT_DIFF_CHANNEL_0;
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cmdBuffer[1] = SUS::DUMMY_BYTE;
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cmdBuffer[2] = SUS::CONVERT_DIFF_CHANNEL_1;
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cmdBuffer[3] = SUS::DUMMY_BYTE;
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cmdBuffer[4] = SUS::CONVERT_DIFF_CHANNEL_2;
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cmdBuffer[5] = SUS::DUMMY_BYTE;
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cmdBuffer[6] = SUS::CONVERT_DIFF_CHANNEL_3;
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cmdBuffer[7] = SUS::DUMMY_BYTE;
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cmdBuffer[8] = SUS::CONVERT_DIFF_CHANNEL_4;
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cmdBuffer[9] = SUS::DUMMY_BYTE;
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cmdBuffer[10] = SUS::CONVERT_DIFF_CHANNEL_5;
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cmdBuffer[11] = SUS::DUMMY_BYTE;
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cmdBuffer[12] = SUS::DUMMY_BYTE;
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rawPacket = cmdBuffer;
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rawPacketLen = SUS::SIZE_READ_CHANNELS;
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return RETURN_OK;
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}
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case(SUS::REQUEST_TEMPERATURE): {
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std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
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cmdBuffer[0] = SUS::CONVERT_TEMPERATURE;
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rawPacket = cmdBuffer;
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rawPacketLen = 1;
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return RETURN_OK;
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}
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case(SUS::READ_TEMPERATURE): {
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std::memset(cmdBuffer, 0, sizeof(cmdBuffer));
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rawPacket = cmdBuffer;
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rawPacketLen = 24;
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return RETURN_OK;
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}
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default:
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return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
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}
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return HasReturnvaluesIF::RETURN_FAILED;
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}
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void SusHandler::fillCommandAndReplyMap() {
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this->insertInCommandMap(SUS::WRITE_SETUP);
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this->insertInCommandMap(SUS::REQUEST_TEMPERATURE);
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this->insertInCommandAndReplyMap(SUS::READ_CHANNELS, 1, &dataset, SUS::SIZE_READ_CHANNELS);
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this->insertInCommandAndReplyMap(SUS::READ_TEMPERATURE, 1, nullptr,
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SUS::SIZE_READ_TEMPERATURE);
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}
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ReturnValue_t SusHandler::scanForReply(const uint8_t *start,
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size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {
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*foundId = this->getPendingCommand();
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*foundLen = remainingSize;
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return HasReturnvaluesIF::RETURN_OK;
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}
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ReturnValue_t SusHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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switch (id) {
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case SUS::READ_CHANNELS: {
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PoolReadGuard readSet(&dataset);
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dataset.ain0 = (*(packet + 1) << 8 | *(packet + 2));
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dataset.ain1 = (*(packet + 3) << 8 | *(packet + 4));
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dataset.ain2 = (*(packet + 5) << 8 | *(packet + 6));
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dataset.ain3 = (*(packet + 7) << 8 | *(packet + 8));
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dataset.ain4 = (*(packet + 9) << 8 | *(packet + 10));
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dataset.ain5 = (*(packet + 11) << 8 | *(packet + 12));
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#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN0: "
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<< std::dec << dataset.ain0 << std::endl;
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN1: "
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<< std::dec << dataset.ain1 << std::endl;
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN2: "
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<< std::dec << dataset.ain2 << std::endl;
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN3: "
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<< std::dec << dataset.ain3 << std::endl;
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN4: "
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<< std::dec << dataset.ain4 << std::endl;
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", AIN5: "
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<< std::dec << dataset.ain5 << std::endl;
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#endif
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/**
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* Reading the channel conversion results is the last communication step in one SUS
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* sequence. SPI bus can now be released again.
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*/
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gpioComIF->pullHigh(chipSelectId);
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break;
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}
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case SUS::READ_TEMPERATURE: {
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PoolReadGuard readSet(&dataset);
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dataset.temperatureCelcius = (*(packet + 22) << 8 | *(packet + 23)) * 0.125;
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#if OBSW_VERBOSE_LEVEL >= 1 && DEBUG_SUS
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sif::info << "SUS object id 0x" << std::hex << this->getObjectId() << ", temperature: "
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<< dataset.temperatureCelcius << " °C" << std::endl;
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#endif
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break;
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}
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default: {
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sif::debug << "SusHandler::interpretDeviceReply: Unknown reply id" << std::endl;
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return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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void SusHandler::setNormalDatapoolEntriesInvalid(){
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}
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uint32_t SusHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
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return 1000;
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}
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ReturnValue_t SusHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(SUS::TEMPERATURE_C, new PoolEntry<float>( { 0.0 }));
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localDataPoolMap.emplace(SUS::AIN0, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(SUS::AIN1, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(SUS::AIN2, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(SUS::AIN3, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(SUS::AIN4, new PoolEntry<uint16_t>( { 0 }));
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localDataPoolMap.emplace(SUS::AIN5, new PoolEntry<uint16_t>( { 0 }));
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return HasReturnvaluesIF::RETURN_OK;
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}
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