eive-obsw/linux/devices/AcsBoardPolling.h
Robin Mueller 11f476878d
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rework SUS polling
2023-02-28 19:14:15 +01:00

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C++

#ifndef LINUX_DEVICES_ACSBOARDPOLLING_H_
#define LINUX_DEVICES_ACSBOARDPOLLING_H_
#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
class AcsBoardPolling : public SystemObject,
public ExecutableObjectIF,
public DeviceCommunicationIF {
public:
AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF);
ReturnValue_t performOperation(uint8_t operationCode) override;
ReturnValue_t initialize() override;
private:
enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
MutexIF* ipcLock;
SemaphoreIF* semaphore;
std::array<uint8_t, 32> cmdBuf;
struct DevBase {
SpiCookie* cookie = nullptr;
bool performStartup = false;
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
ReturnValue_t replyResult = returnvalue::OK;
};
struct GyroAdis : public DevBase {
adis1650x::Type type;
Countdown countdown;
acs::Adis1650XReply ownReply;
acs::Adis1650XReply readerReply;
};
GyroAdis gyro0Adis{};
GyroAdis gyro2Adis{};
struct GyroL3g : public DevBase {
uint8_t sensorCfg[5];
acs::GyroL3gReply ownReply;
acs::GyroL3gReply readerReply;
};
GyroL3g gyro1L3g{};
GyroL3g gyro3L3g{};
struct MgmRm3100 : public DevBase {
uint8_t tmrcValue = mgmRm3100::TMRC_DEFAULT_37HZ_VALUE;
acs::MgmRm3100Reply ownReply;
acs::MgmRm3100Reply readerReply;
};
MgmRm3100 mgm1Rm3100;
MgmRm3100 mgm3Rm3100;
struct MgmLis3 : public DevBase {
uint8_t cfg[5]{};
acs::MgmLis3Reply ownReply;
acs::MgmLis3Reply readerReply;
};
MgmLis3 mgm0Lis3;
MgmLis3 mgm2Lis3;
uint8_t* rawReply = nullptr;
size_t dummy = 0;
SpiComIF& spiComIF;
GpioIF& gpioIF;
ReturnValue_t initializeInterface(CookieIF* cookie) override;
ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
ReturnValue_t getSendSuccess(CookieIF* cookie) override;
ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
void gyroL3gHandler(GyroL3g& l3g);
void gyroAdisHandler(GyroAdis& gyro);
void mgmLis3Handler(MgmLis3& mgm);
void mgmRm3100Handler(MgmRm3100& mgm);
// Special readout: 16us stall time between small 2 byte transfers.
ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};
#endif /* LINUX_DEVICES_ACSBOARDPOLLING_H_ */