809 lines
29 KiB
C++
809 lines
29 KiB
C++
#include "PayloadPcduHandler.h"
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#include <fsfw/src/fsfw/datapool/PoolReadGuard.h>
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#ifdef FSFW_OSAL_LINUX
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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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#include <sys/ioctl.h>
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#endif
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#include "devices/gpioIds.h"
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PayloadPcduHandler::PayloadPcduHandler(object_id_t objectId, object_id_t comIF, CookieIF* cookie,
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GpioIF* gpioIF, SdCardMountedIF* sdcMan,
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bool periodicPrintout)
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: DeviceHandlerBase(objectId, comIF, cookie),
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adcSet(this),
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periodicPrintout(periodicPrintout),
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gpioIF(gpioIF),
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sdcMan(sdcMan) {}
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void PayloadPcduHandler::doStartUp() {
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if ((state != States::PCDU_OFF) and (state != States::ON_TRANS_SSR)) {
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// Config error
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sif::error << "PayloadPcduHandler::doStartUp: Invalid state" << std::endl;
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}
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if (state == States::PCDU_OFF) {
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// Switch on relays here
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT0);
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_VBAT1);
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state = States::ON_TRANS_SSR;
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transitionOk = true;
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}
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if (state == States::ON_TRANS_SSR) {
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// If necessary, check whether a certain amount of time has elapsed
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if (transitionOk) {
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transitionOk = false;
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state = States::ON_TRANS_ADC_CLOSE_ZERO;
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// We are now in ON mode
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startTransition(MODE_NORMAL, 0);
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adcCountdown.setTimeout(50);
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adcCountdown.resetTimer();
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adcState = AdcStates::BOOT_DELAY;
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// The ADC can now be read. If the values are not close to zero, we should not allow
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// transition
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monMode = MonitoringMode::CLOSE_TO_ZERO;
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}
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}
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}
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void PayloadPcduHandler::stateMachineToNormal() {
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using namespace plpcdu;
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if (adcState == AdcStates::BOOT_DELAY) {
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if (adcCountdown.hasTimedOut()) {
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adcState = AdcStates::SEND_SETUP;
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adcCmdExecuted = false;
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}
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}
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if (adcState == AdcStates::SEND_SETUP) {
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if (adcCmdExecuted) {
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adcState = AdcStates::NORMAL;
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setMode(MODE_NORMAL, NORMAL_ADC_ONLY);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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adcCmdExecuted = false;
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}
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}
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if (submode == plpcdu::NORMAL_ALL_ON) {
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if (state == States::ON_TRANS_ADC_CLOSE_ZERO) {
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if (not commandExecuted) {
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float waitTime = DFT_SSR_TO_DRO_WAIT_TIME;
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params.getValue(PARAM_KEY_MAP[SSR_TO_DRO_WAIT_TIME], waitTime);
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countdown.setTimeout(std::round(waitTime * 1000));
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countdown.resetTimer();
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commandExecuted = true;
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// TODO: For now, skip ADC check
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transitionOk = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_DRO;
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// Now start monitoring for negative voltages instead
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monMode = MonitoringMode::NEGATIVE;
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_DRO) {
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if (not commandExecuted) {
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float waitTime = DFT_DRO_TO_X8_WAIT_TIME;
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params.getValue(PARAM_KEY_MAP[DRO_TO_X8_WAIT_TIME], waitTime);
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countdown.setTimeout(std::round(waitTime * 1000));
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countdown.resetTimer();
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU DRO module" << std::endl;
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#endif
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// Switch on DRO and start monitoring for negative voltages
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_DRO);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_X8;
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_X8) {
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if (not commandExecuted) {
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float waitTime = DFT_X8_TO_TX_WAIT_TIME;
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params.getValue(PARAM_KEY_MAP[X8_TO_TX_WAIT_TIME], waitTime);
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countdown.setTimeout(std::round(waitTime * 1000));
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countdown.resetTimer();
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU X8 module" << std::endl;
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#endif
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// Switch on X8
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_X8);
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_TX;
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_TX) {
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if (not commandExecuted) {
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float waitTime = DFT_TX_TO_MPA_WAIT_TIME;
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params.getValue(PARAM_KEY_MAP[TX_TO_MPA_WAIT_TIME], waitTime);
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countdown.setTimeout(std::round(waitTime * 1000));
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countdown.resetTimer();
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU TX module" << std::endl;
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#endif
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// Switch on TX
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_TX);
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// Wait for 100 ms before checking ADC values
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_MPA;
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_MPA) {
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if (not commandExecuted) {
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float waitTime = DFT_MPA_TO_HPA_WAIT_TIME;
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params.getValue(PARAM_KEY_MAP[MPA_TO_HPA_WAIT_TIME], waitTime);
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countdown.setTimeout(std::round(waitTime * 1000));
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countdown.resetTimer();
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU MPA module" << std::endl;
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#endif
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// Switch on MPA
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_MPA);
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// Wait for 100 ms before checking ADC values
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adcCountdown.setTimeout(100);
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adcCountdown.resetTimer();
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::ON_TRANS_HPA;
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commandExecuted = false;
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transitionOk = false;
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}
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}
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if (state == States::ON_TRANS_HPA) {
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if (not commandExecuted) {
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// Switch on HPA
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gpioIF->pullHigh(gpioIds::PLPCDU_ENB_HPA);
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#if OBSW_VERBOSE_LEVEL >= 1
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sif::info << "Enabling PL PCDU HPA module" << std::endl;
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#endif
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commandExecuted = true;
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}
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// ADC values are ok, 5 seconds have elapsed
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if (transitionOk and countdown.hasTimedOut()) {
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state = States::PCDU_ON;
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setMode(MODE_NORMAL, plpcdu::NORMAL_ALL_ON);
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countdown.resetTimer();
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commandExecuted = false;
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transitionOk = false;
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}
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}
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}
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}
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void PayloadPcduHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
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if (mode == _MODE_TO_NORMAL) {
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stateMachineToNormal();
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}
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}
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void PayloadPcduHandler::doShutDown() { transitionBackToOff(false); }
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ReturnValue_t PayloadPcduHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
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switch (adcState) {
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case (AdcStates::SEND_SETUP): {
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*id = plpcdu::SETUP_CMD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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case (AdcStates::NORMAL): {
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*id = plpcdu::READ_WITH_TEMP_EXT;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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default: {
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break;
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}
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}
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return NOTHING_TO_SEND;
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}
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ReturnValue_t PayloadPcduHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
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if (adcState == AdcStates::SEND_SETUP) {
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*id = plpcdu::SETUP_CMD;
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return buildCommandFromCommand(*id, nullptr, 0);
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}
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if (mode == _MODE_TO_NORMAL) {
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return buildNormalDeviceCommand(id);
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}
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return NOTHING_TO_SEND;
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}
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void PayloadPcduHandler::fillCommandAndReplyMap() {
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insertInCommandAndReplyMap(plpcdu::READ_CMD, 2, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_TEMP_EXT, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::READ_WITH_TEMP_EXT, 1, &adcSet);
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insertInCommandAndReplyMap(plpcdu::SETUP_CMD, 1);
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}
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ReturnValue_t PayloadPcduHandler::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 (plpcdu::SETUP_CMD): {
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cmdBuf[0] = plpcdu::SETUP_BYTE;
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rawPacket = cmdBuf.data();
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rawPacketLen = 1;
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break;
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}
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case (plpcdu::READ_CMD): {
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case (plpcdu::READ_TEMP_EXT): {
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data(), rawPacketLen);
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rawPacket = cmdBuf.data();
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break;
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}
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case (plpcdu::READ_WITH_TEMP_EXT): {
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size_t sz = 0;
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max1227::prepareExternallyClockedRead0ToN(cmdBuf.data(), plpcdu::CHANNEL_N, sz);
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max1227::prepareExternallyClockedTemperatureRead(cmdBuf.data() + sz, sz);
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rawPacketLen = sz;
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rawPacket = cmdBuf.data();
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break;
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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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}
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return RETURN_OK;
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}
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ReturnValue_t PayloadPcduHandler::scanForReply(const uint8_t* start, size_t remainingSize,
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DeviceCommandId_t* foundId, size_t* foundLen) {
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// SPI is full duplex
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*foundId = 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 PayloadPcduHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t* packet) {
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using namespace plpcdu;
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switch (id) {
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case (SETUP_CMD): {
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if (mode == _MODE_TO_NORMAL) {
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adcCmdExecuted = true;
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}
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break;
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}
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case (READ_TEMP_EXT): {
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uint8_t tempStartIdx = TEMP_REPLY_SIZE - 2;
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adcSet.tempC.value =
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max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
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break;
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}
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case (READ_CMD): {
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PoolReadGuard pg(&adcSet);
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if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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return pg.getReadResult();
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}
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handleExtConvRead(packet);
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checkAdcValues();
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adcSet.setValidity(true, true);
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handlePrintout();
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break;
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}
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case (READ_WITH_TEMP_EXT): {
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PoolReadGuard pg(&adcSet);
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if (pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
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return pg.getReadResult();
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}
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handleExtConvRead(packet);
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uint8_t tempStartIdx = ADC_REPLY_SIZE + TEMP_REPLY_SIZE - 2;
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adcSet.tempC.value =
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max1227::getTemperature(packet[tempStartIdx] << 8 | packet[tempStartIdx + 1]);
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checkAdcValues();
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adcSet.setValidity(true, true);
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handlePrintout();
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break;
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}
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default: {
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break;
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}
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}
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return HasReturnvaluesIF::RETURN_OK;
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}
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uint32_t PayloadPcduHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
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// 20 minutes transition delay is allowed
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return 20 * 60 * 60;
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}
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ReturnValue_t PayloadPcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
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LocalDataPoolManager& poolManager) {
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::CHANNEL_VEC, &channelValues);
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::PROCESSED_VEC, &processedValues);
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localDataPoolMap.emplace(plpcdu::PlPcduPoolIds::TEMP, &tempC);
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poolManager.subscribeForPeriodicPacket(adcSet.getSid(), false, 0.1, true);
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return HasReturnvaluesIF::RETURN_OK;
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}
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void PayloadPcduHandler::setToGoToNormalModeImmediately(bool enable) {
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this->goToNormalMode = enable;
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}
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void PayloadPcduHandler::handleExtConvRead(const uint8_t* bufStart) {
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for (uint8_t idx = 0; idx < 12; idx++) {
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adcSet.channels[idx] = bufStart[idx * 2 + 1] << 8 | bufStart[idx * 2 + 2];
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}
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}
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void PayloadPcduHandler::handlePrintout() {
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using namespace plpcdu;
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if (periodicPrintout) {
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if (opDivider.checkAndIncrement()) {
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sif::info << "PL PCDU ADC hex [" << std::setfill('0') << std::hex;
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for (uint8_t idx = 0; idx < 12; idx++) {
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sif::info << std::setw(3) << adcSet.channels[idx];
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if (idx < 11) {
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sif::info << ",";
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}
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}
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sif::info << "] | T[C] " << std::dec << adcSet.tempC.value << std::endl;
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sif::info << "Neg V: " << adcSet.processed[U_NEG_V_FB] << std::endl;
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sif::info << "I HPA [mA]: " << adcSet.processed[I_HPA] << std::endl;
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sif::info << "U HPA [V]: " << adcSet.processed[U_HPA_DIV_6] << std::endl;
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sif::info << "I MPA [mA]: " << adcSet.processed[I_MPA] << std::endl;
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sif::info << "U MPA [V]: " << adcSet.processed[U_MPA_DIV_6] << std::endl;
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sif::info << "I TX [mA]: " << adcSet.processed[I_TX] << std::endl;
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sif::info << "U TX [V]: " << adcSet.processed[U_TX_DIV_6] << std::endl;
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sif::info << "I X8 [mA]: " << adcSet.processed[I_X8] << std::endl;
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sif::info << "U X8 [V]: " << adcSet.processed[U_X8_DIV_6] << std::endl;
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sif::info << "I DRO [mA]: " << adcSet.processed[I_DRO] << std::endl;
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sif::info << "U DRO [V]: " << adcSet.processed[U_DRO_DIV_6] << std::endl;
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}
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}
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}
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void PayloadPcduHandler::enablePeriodicPrintout(bool enable, uint8_t divider) {
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this->periodicPrintout = enable;
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opDivider.setDivider(divider);
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}
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void PayloadPcduHandler::transitionBackToOff(bool notifyFdir) {
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States currentState = state;
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_HPA);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_MPA);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_X8);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_DRO);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_TX);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT0);
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gpioIF->pullLow(gpioIds::PLPCDU_ENB_VBAT1);
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state = States::PCDU_OFF;
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adcState = AdcStates::OFF;
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setMode(MODE_OFF);
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if (notifyFdir) {
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triggerEvent(TRANSITION_BACK_TO_OFF, static_cast<uint32_t>(currentState));
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}
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}
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void PayloadPcduHandler::checkAdcValues() {
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using namespace plpcdu;
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checkJsonFileInit();
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adcSet.processed[U_BAT_DIV_6] =
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static_cast<float>(adcSet.channels[0]) * VOLTAGE_DIV / MAX122X_BIT * MAX122X_VREF;
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adcSet.processed[U_NEG_V_FB] =
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V_POS - VOLTAGE_DIV_U_NEG *
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(V_POS - static_cast<float>(adcSet.channels[1]) / MAX122X_BIT * MAX122X_VREF);
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adcSet.processed[I_HPA] = static_cast<float>(adcSet.channels[2]) * SCALE_CURRENT_HPA * 1000.0;
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adcSet.processed[U_HPA_DIV_6] = static_cast<float>(adcSet.channels[3]) * SCALE_VOLTAGE;
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adcSet.processed[I_MPA] = static_cast<float>(adcSet.channels[4]) * SCALE_CURRENT_MPA * 1000.0;
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adcSet.processed[U_MPA_DIV_6] = static_cast<float>(adcSet.channels[5]) * SCALE_VOLTAGE;
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adcSet.processed[I_TX] = static_cast<float>(adcSet.channels[6]) * SCALE_CURRENT_TX * 1000.0;
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adcSet.processed[U_TX_DIV_6] = static_cast<float>(adcSet.channels[7]) * SCALE_VOLTAGE;
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adcSet.processed[I_X8] = static_cast<float>(adcSet.channels[8]) * SCALE_CURRENT_X8 * 1000.0;
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adcSet.processed[U_X8_DIV_6] = static_cast<float>(adcSet.channels[9]) * SCALE_VOLTAGE;
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adcSet.processed[I_DRO] = static_cast<float>(adcSet.channels[10]) * SCALE_CURRENT_DRO * 1000.0;
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adcSet.processed[U_DRO_DIV_6] = static_cast<float>(adcSet.channels[11]) * SCALE_VOLTAGE;
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float lowerBound = 0.0;
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float upperBound = 0.0;
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bool adcTransition = false;
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adcTransition = state == States::ON_TRANS_DRO and adcCountdown.isBusy();
|
|
// Now check against voltage and current limits, depending on state
|
|
if (state >= States::ON_TRANS_DRO and not adcTransition) {
|
|
if (ssrToDroInjectionRequested) {
|
|
handleFailureInjection("SSR to DRO", NEG_V_OUT_OF_BOUNDS);
|
|
ssrToDroInjectionRequested = false;
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[NEG_V_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[NEG_V_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_NEG_V_FB], lowerBound, upperBound,
|
|
NEG_V_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[DRO_U_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[DRO_U_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_DRO_DIV_6], lowerBound, upperBound,
|
|
U_DRO_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[DRO_I_UPPER_BOUND], upperBound);
|
|
if (not checkCurrent(adcSet.processed[I_DRO], upperBound, I_DRO_OUT_OF_BOUNDS)) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::warning << "Detected out of bounds current for DRO: " << adcSet.processed[I_DRO]
|
|
<< ", Raw: " << adcSet.channels[I_DRO] << std::endl;
|
|
#endif
|
|
return;
|
|
}
|
|
}
|
|
adcTransition = state == States::ON_TRANS_X8 and adcCountdown.isBusy();
|
|
if (state >= States::ON_TRANS_X8 and not adcTransition) {
|
|
if (droToX8InjectionRequested) {
|
|
handleFailureInjection("X8 to TX", U_X8_OUT_OF_BOUNDS);
|
|
droToX8InjectionRequested = false;
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[X8_U_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[X8_U_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_X8_DIV_6], lowerBound, upperBound,
|
|
U_X8_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[X8_I_UPPER_BOUND], upperBound);
|
|
if (not checkCurrent(adcSet.processed[I_X8], upperBound, I_X8_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
}
|
|
adcTransition = state == States::ON_TRANS_TX and adcCountdown.isBusy();
|
|
if (state >= States::ON_TRANS_TX and not adcTransition) {
|
|
if (txToMpaInjectionRequested) {
|
|
handleFailureInjection("TX to MPA", U_TX_OUT_OF_BOUNDS);
|
|
txToMpaInjectionRequested = false;
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[TX_U_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[TX_U_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_TX_DIV_6], lowerBound, upperBound,
|
|
U_TX_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[TX_I_UPPER_BOUND], upperBound);
|
|
if (not checkCurrent(adcSet.processed[I_TX], upperBound, I_TX_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
}
|
|
adcTransition = state == States::ON_TRANS_MPA and adcCountdown.isBusy();
|
|
if (state >= States::ON_TRANS_MPA and not adcTransition) {
|
|
if (mpaToHpaInjectionRequested) {
|
|
handleFailureInjection("MPA to HPA", U_HPA_OUT_OF_BOUNDS);
|
|
mpaToHpaInjectionRequested = false;
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[MPA_U_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[MPA_U_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_MPA_DIV_6], lowerBound, upperBound,
|
|
U_MPA_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[MPA_I_UPPER_BOUND], upperBound);
|
|
if (not checkCurrent(adcSet.processed[I_MPA], upperBound, I_MPA_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
}
|
|
adcTransition = state == States::ON_TRANS_HPA and adcCountdown.isBusy();
|
|
if (state >= States::ON_TRANS_HPA and not adcTransition) {
|
|
if (allOnInjectRequested) {
|
|
handleFailureInjection("All On", U_HPA_OUT_OF_BOUNDS);
|
|
allOnInjectRequested = false;
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[HPA_U_LOWER_BOUND], lowerBound);
|
|
params.getValue(PARAM_KEY_MAP[HPA_U_UPPER_BOUND], upperBound);
|
|
if (not checkVoltage(adcSet.processed[U_HPA_DIV_6], lowerBound, upperBound,
|
|
U_HPA_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
params.getValue(PARAM_KEY_MAP[HPA_I_UPPER_BOUND], upperBound);
|
|
if (not checkCurrent(adcSet.processed[I_HPA], upperBound, I_HPA_OUT_OF_BOUNDS)) {
|
|
return;
|
|
}
|
|
}
|
|
transitionOk = true;
|
|
}
|
|
|
|
void PayloadPcduHandler::checkJsonFileInit() {
|
|
if (not jsonFileInitComplete) {
|
|
sd::SdCard prefSd;
|
|
sdcMan->getPreferredSdCard(prefSd);
|
|
if (sdcMan->isSdCardMounted(prefSd)) {
|
|
params.initialize(sdcMan->getCurrentMountPrefix(prefSd));
|
|
jsonFileInitComplete = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool PayloadPcduHandler::checkVoltage(float val, float lowerBound, float upperBound, Event event) {
|
|
bool tooLarge = false;
|
|
if (val < lowerBound or val > upperBound) {
|
|
if (val > upperBound) {
|
|
tooLarge = true;
|
|
} else {
|
|
tooLarge = false;
|
|
}
|
|
uint32_t p2 = 0;
|
|
serializeFloat(p2, val);
|
|
triggerEvent(event, tooLarge, p2);
|
|
transitionOk = false;
|
|
transitionBackToOff(true);
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
bool PayloadPcduHandler::checkCurrent(float val, float upperBound, Event event) {
|
|
if (val > upperBound) {
|
|
uint32_t p2 = 0;
|
|
serializeFloat(p2, val);
|
|
triggerEvent(event, true, p2);
|
|
transitionOk = false;
|
|
transitionBackToOff(true);
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
ReturnValue_t PayloadPcduHandler::isModeCombinationValid(Mode_t mode, Submode_t submode) {
|
|
if (mode == MODE_NORMAL and submode <= 1) {
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
return DeviceHandlerBase::isModeCombinationValid(mode, submode);
|
|
}
|
|
|
|
ReturnValue_t PayloadPcduHandler::serializeFloat(uint32_t& param, float val) {
|
|
size_t dummy = 0;
|
|
return SerializeAdapter::serialize(&val, reinterpret_cast<uint8_t*>(¶m), &dummy, 4,
|
|
SerializeIF::Endianness::NETWORK);
|
|
}
|
|
|
|
ReturnValue_t PayloadPcduHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
|
|
ParameterWrapper* parameterWrapper,
|
|
const ParameterWrapper* newValues,
|
|
uint16_t startAtIndex) {
|
|
using namespace plpcdu;
|
|
switch (uniqueId) {
|
|
case (PlPcduParamIds::NEG_V_LOWER_BOUND):
|
|
case (PlPcduParamIds::NEG_V_UPPER_BOUND):
|
|
case (PlPcduParamIds::DRO_U_LOWER_BOUND):
|
|
case (PlPcduParamIds::DRO_U_UPPER_BOUND):
|
|
case (PlPcduParamIds::DRO_I_UPPER_BOUND):
|
|
case (PlPcduParamIds::X8_U_LOWER_BOUND):
|
|
case (PlPcduParamIds::X8_U_UPPER_BOUND):
|
|
case (PlPcduParamIds::X8_I_UPPER_BOUND):
|
|
case (PlPcduParamIds::TX_U_LOWER_BOUND):
|
|
case (PlPcduParamIds::TX_U_UPPER_BOUND):
|
|
case (PlPcduParamIds::TX_I_UPPER_BOUND):
|
|
case (PlPcduParamIds::MPA_U_LOWER_BOUND):
|
|
case (PlPcduParamIds::MPA_U_UPPER_BOUND):
|
|
case (PlPcduParamIds::MPA_I_UPPER_BOUND):
|
|
case (PlPcduParamIds::HPA_U_LOWER_BOUND):
|
|
case (PlPcduParamIds::HPA_U_UPPER_BOUND):
|
|
case (PlPcduParamIds::HPA_I_UPPER_BOUND):
|
|
case (PlPcduParamIds::SSR_TO_DRO_WAIT_TIME):
|
|
case (PlPcduParamIds::DRO_TO_X8_WAIT_TIME):
|
|
case (PlPcduParamIds::X8_TO_TX_WAIT_TIME):
|
|
case (PlPcduParamIds::TX_TO_MPA_WAIT_TIME):
|
|
case (PlPcduParamIds::MPA_TO_HPA_WAIT_TIME): {
|
|
handleDoubleParamUpdate(PARAM_KEY_MAP[static_cast<PlPcduParamIds>(uniqueId)],
|
|
parameterWrapper, newValues);
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_SSR_TO_DRO_FAILURE): {
|
|
ssrToDroInjectionRequested = true;
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_DRO_TO_X8_FAILURE): {
|
|
droToX8InjectionRequested = true;
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_X8_TO_TX_FAILURE): {
|
|
x8ToTxInjectionRequested = true;
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_TX_TO_MPA_FAILURE): {
|
|
txToMpaInjectionRequested = true;
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_MPA_TO_HPA_FAILURE): {
|
|
mpaToHpaInjectionRequested = true;
|
|
break;
|
|
}
|
|
case (PlPcduParamIds::INJECT_ALL_ON_FAILURE): {
|
|
allOnInjectRequested = true;
|
|
break;
|
|
}
|
|
default: {
|
|
return DeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
|
|
startAtIndex);
|
|
}
|
|
}
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
void PayloadPcduHandler::handleFailureInjection(std::string output, Event event) {
|
|
sif::info << "PayloadPcduHandler::checkAdcValues: " << output
|
|
<< " failure injection. "
|
|
"Transitioning back to off"
|
|
<< std::endl;
|
|
triggerEvent(event, 0, 0);
|
|
transitionOk = false;
|
|
transitionBackToOff();
|
|
droToX8InjectionRequested = false;
|
|
}
|
|
|
|
ReturnValue_t PayloadPcduHandler::handleDoubleParamUpdate(std::string key,
|
|
ParameterWrapper* parameterWrapper,
|
|
const ParameterWrapper* newValues) {
|
|
double newValue = 0.0;
|
|
ReturnValue_t result = newValues->getElement<double>(&newValue, 0, 0);
|
|
if (result != HasReturnvaluesIF::RETURN_OK) {
|
|
return result;
|
|
}
|
|
params.setValue(key, newValue);
|
|
// Do this so the dumping and loading with the framework works as well
|
|
doubleDummy = newValue;
|
|
parameterWrapper->set(doubleDummy);
|
|
return params.writeJsonFile();
|
|
}
|
|
|
|
#ifdef FSFW_OSAL_LINUX
|
|
ReturnValue_t PayloadPcduHandler::extConvAsTwoCallback(SpiComIF* comIf, SpiCookie* cookie,
|
|
const uint8_t* sendData, size_t sendLen,
|
|
void* args) {
|
|
auto handler = reinterpret_cast<PayloadPcduHandler*>(args);
|
|
if (handler == nullptr) {
|
|
sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
|
|
<< std::endl;
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
}
|
|
DeviceCommandId_t currentCommand = handler->getPendingCommand();
|
|
switch (currentCommand) {
|
|
case (plpcdu::READ_WITH_TEMP_EXT): {
|
|
return transferAsTwo(comIf, cookie, sendData, sendLen, false);
|
|
}
|
|
case (plpcdu::READ_TEMP_EXT): {
|
|
return transferAsTwo(comIf, cookie, sendData, sendLen, true);
|
|
}
|
|
default: {
|
|
return comIf->performRegularSendOperation(cookie, sendData, sendLen);
|
|
}
|
|
}
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cookie,
|
|
const uint8_t* sendData, size_t sendLen,
|
|
bool tempOnly) {
|
|
ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
|
|
int retval = 0;
|
|
// Prepare transfer
|
|
int fileDescriptor = 0;
|
|
std::string device = cookie->getSpiDevice();
|
|
UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
|
|
if (fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) {
|
|
return SpiComIF::OPENING_FILE_FAILED;
|
|
}
|
|
spi::SpiModes spiMode = spi::SpiModes::MODE_0;
|
|
uint32_t spiSpeed = 0;
|
|
cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
|
|
comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
|
|
cookie->assignWriteBuffer(sendData);
|
|
size_t transferLen = plpcdu::TEMP_REPLY_SIZE;
|
|
if (not tempOnly) {
|
|
transferLen += plpcdu::ADC_REPLY_SIZE;
|
|
}
|
|
cookie->setTransferSize(transferLen);
|
|
|
|
gpioId_t gpioId = cookie->getChipSelectPin();
|
|
GpioIF* gpioIF = comIf->getGpioInterface();
|
|
MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
|
|
uint32_t timeoutMs = 0;
|
|
MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs);
|
|
if (mutex == nullptr or gpioIF == nullptr) {
|
|
#if OBSW_VERBOSE_LEVEL >= 1
|
|
sif::warning << "GyroADIS16507Handler::spiSendCallback: "
|
|
"Mutex or GPIO interface invalid"
|
|
<< std::endl;
|
|
return HasReturnvaluesIF::RETURN_FAILED;
|
|
#endif
|
|
}
|
|
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
result = mutex->lockMutex(timeoutType, timeoutMs);
|
|
if (result != RETURN_OK) {
|
|
#if FSFW_CPP_OSTREAM_ENABLED == 1
|
|
sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
|
|
#endif
|
|
return result;
|
|
}
|
|
}
|
|
spi_ioc_transfer* transferStruct = cookie->getTransferStructHandle();
|
|
uint64_t origTx = transferStruct->tx_buf;
|
|
uint64_t origRx = transferStruct->rx_buf;
|
|
if (tempOnly) {
|
|
transferLen = 1;
|
|
} else {
|
|
transferLen = plpcdu::ADC_REPLY_SIZE + 1;
|
|
}
|
|
transferStruct->len = transferLen;
|
|
// Pull SPI CS low. For now, no support for active high given
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
gpioIF->pullLow(gpioId);
|
|
}
|
|
|
|
// Execute transfer
|
|
// Initiate a full duplex SPI transfer.
|
|
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
|
|
if (retval < 0) {
|
|
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
|
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
|
|
}
|
|
#if FSFW_HAL_SPI_WIRETAPPING == 1
|
|
comIf->performSpiWiretapping(cookie);
|
|
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
|
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
gpioIF->pullHigh(gpioId);
|
|
}
|
|
|
|
transferStruct->tx_buf += transferLen;
|
|
transferStruct->rx_buf += transferLen;
|
|
transferStruct->len = plpcdu::TEMP_REPLY_SIZE - 1;
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
gpioIF->pullLow(gpioId);
|
|
}
|
|
|
|
// Execute transfer
|
|
// Initiate a full duplex SPI transfer.
|
|
retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
|
|
if (retval < 0) {
|
|
utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
|
|
result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
|
|
}
|
|
#if FSFW_HAL_SPI_WIRETAPPING == 1
|
|
comIf->performSpiWiretapping(cookie);
|
|
#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
|
|
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
gpioIF->pullHigh(gpioId);
|
|
}
|
|
|
|
transferStruct->tx_buf = origTx;
|
|
transferStruct->rx_buf = origRx;
|
|
if (gpioId != gpio::NO_GPIO) {
|
|
mutex->unlockMutex();
|
|
}
|
|
return HasReturnvaluesIF::RETURN_OK;
|
|
}
|
|
|
|
#endif
|