224 lines
8.7 KiB
C++
224 lines
8.7 KiB
C++
#include "mission/devices/GyrAdis1650XHandler.h"
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#include "fsfw/action/HasActionsIF.h"
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#include "fsfw/datapool/PoolReadGuard.h"
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#include "mission/devices/devicedefinitions/acsPolling.h"
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GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
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CookieIF *comCookie, adis1650x::Type type)
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: DeviceHandlerBase(objectId, deviceCommunication, comCookie),
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adisType(type),
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primaryDataset(this),
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configDataset(this),
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breakCountdown() {
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adisRequest.type = adisType;
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}
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void GyrAdis1650XHandler::doStartUp() {
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if (internalState != InternalState::STARTUP) {
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internalState = InternalState::STARTUP;
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commandExecuted = false;
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}
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// Initial 310 ms start up time after power-up
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if (internalState == InternalState::STARTUP) {
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if (not commandExecuted) {
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warningSwitch = true;
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breakCountdown.setTimeout(adis1650x::START_UP_TIME);
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commandExecuted = true;
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}
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if (breakCountdown.hasTimedOut()) {
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updatePeriodicReply(true, adis1650x::REPLY);
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if (goToNormalMode) {
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setMode(MODE_NORMAL);
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} else {
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setMode(MODE_ON);
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}
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internalState = InternalState::NONE;
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}
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}
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}
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void GyrAdis1650XHandler::doShutDown() {
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if (internalState != InternalState::SHUTDOWN) {
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commandExecuted = false;
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primaryDataset.setValidity(false, true);
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internalState = InternalState::SHUTDOWN;
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}
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if (internalState == InternalState::SHUTDOWN and commandExecuted) {
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updatePeriodicReply(false, adis1650x::REPLY);
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internalState = InternalState::NONE;
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commandExecuted = false;
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setMode(MODE_OFF);
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}
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}
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ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
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*id = adis1650x::REQUEST;
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return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
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}
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ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
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switch (internalState) {
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case (InternalState::STARTUP): {
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*id = adis1650x::REQUEST;
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return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
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}
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case (InternalState::SHUTDOWN): {
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*id = adis1650x::REQUEST;
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return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
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}
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default: {
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return NOTHING_TO_SEND;
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}
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}
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return returnvalue::OK;
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}
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ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
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const uint8_t *commandData,
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size_t commandDataLen) {
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return NOTHING_TO_SEND;
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}
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void GyrAdis1650XHandler::fillCommandAndReplyMap() {
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insertInCommandMap(adis1650x::REQUEST);
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insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
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}
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ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
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DeviceCommandId_t *foundId, size_t *foundLen) {
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if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON or
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getMode() == _MODE_POWER_DOWN) {
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return IGNORE_FULL_PACKET;
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}
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if (remainingSize != sizeof(acs::Adis1650XReply)) {
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*foundLen = remainingSize;
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return returnvalue::FAILED;
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}
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*foundId = adis1650x::REPLY;
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*foundLen = remainingSize;
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if (internalState == InternalState::SHUTDOWN) {
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commandExecuted = true;
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}
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return returnvalue::OK;
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}
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ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
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const uint8_t *packet) {
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using namespace adis1650x;
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const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
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if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
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switch (adisType) {
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case (adis1650x::Type::ADIS16507): {
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if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
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sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
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<< reply->cfg.prodId << "for ADIS type 16507" << std::endl;
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return returnvalue::FAILED;
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}
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break;
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}
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case (adis1650x::Type::ADIS16505): {
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if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
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sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
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<< reply->cfg.prodId << "for ADIS type 16505" << std::endl;
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return returnvalue::FAILED;
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}
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break;
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}
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}
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PoolReadGuard rg(&configDataset);
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configDataset.setValidity(true, true);
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configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
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configDataset.rangMdl = reply->cfg.rangMdl;
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configDataset.diagStatReg = reply->cfg.diagStat;
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configDataset.filterSetting = reply->cfg.filterSetting;
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configDataset.decRateReg = reply->cfg.decRateReg;
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commandExecuted = true;
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}
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if (reply->dataWasSet) {
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{
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PoolReadGuard rg(&configDataset);
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configDataset.diagStatReg = reply->cfg.diagStat;
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}
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auto sensitivity = reply->data.sensitivity;
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auto accelSensitivity = reply->data.accelScaling;
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PoolReadGuard pg(&primaryDataset);
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primaryDataset.setValidity(true, true);
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primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
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primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
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primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
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// TODO: Check whether we need to divide by INT16_MAX
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primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
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primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
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primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
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primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
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}
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return returnvalue::OK;
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}
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LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
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if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
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return &primaryDataset;
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} else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
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return &configDataset;
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}
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return nullptr;
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}
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uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }
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void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
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uint8_t valueTwo) {
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uint8_t secondReg = startReg + 1;
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startReg |= adis1650x::WRITE_MASK;
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secondReg |= adis1650x::WRITE_MASK;
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cmdBuf[0] = startReg;
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cmdBuf[1] = valueOne;
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cmdBuf[2] = secondReg;
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cmdBuf[3] = valueTwo;
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this->rawPacketLen = 4;
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this->rawPacket = cmdBuf.data();
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}
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ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
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LocalDataPoolManager &poolManager) {
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
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localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));
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localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
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localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
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localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
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localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
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poolManager.subscribeForRegularPeriodicPacket(
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subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
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return returnvalue::OK;
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}
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adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
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using namespace adis1650x;
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configDataset.mscCtrlReg.read();
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uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
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configDataset.mscCtrlReg.commit();
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return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
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}
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void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }
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void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
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periodicPrintout = enable;
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debugDivider.setDivider(divider);
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}
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ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
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adisRequest.mode = mode;
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rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
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rawPacketLen = sizeof(acs::Adis1650XRequest);
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return returnvalue::OK;
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}
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