Robin Mueller
dfb1e88f55
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92 lines
3.0 KiB
C++
92 lines
3.0 KiB
C++
#ifndef LINUX_DEVICES_ACSBOARDPOLLING_H_
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#define LINUX_DEVICES_ACSBOARDPOLLING_H_
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#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
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#include <fsfw/objectmanager/SystemObject.h>
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#include <fsfw/tasks/ExecutableObjectIF.h>
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#include <fsfw/tasks/SemaphoreIF.h>
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#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
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#include <fsfw_hal/linux/spi/SpiComIF.h>
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#include <mission/devices/devicedefinitions/acsPolling.h>
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#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>
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class AcsBoardPolling : public SystemObject,
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public ExecutableObjectIF,
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public DeviceCommunicationIF {
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public:
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AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF);
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ReturnValue_t performOperation(uint8_t operationCode) override;
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ReturnValue_t initialize() override;
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private:
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enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
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MutexIF* ipcLock;
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static constexpr MutexIF::TimeoutType LOCK_TYPE = MutexIF::TimeoutType::WAITING;
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static constexpr uint32_t LOCK_TIMEOUT = 20;
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static constexpr char LOCK_CTX[] = "AcsBoardPolling";
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SemaphoreIF* semaphore;
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std::array<uint8_t, 32> cmdBuf;
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struct DevBase {
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SpiCookie* cookie = nullptr;
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bool performStartup = false;
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acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
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ReturnValue_t replyResult = returnvalue::OK;
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};
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struct GyroAdis : public DevBase {
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adis1650x::Type type;
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Countdown countdown;
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acs::Adis1650XReply ownReply;
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acs::Adis1650XReply readerReply;
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};
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GyroAdis gyro0Adis{};
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GyroAdis gyro2Adis{};
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struct GyroL3g : public DevBase {
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uint8_t sensorCfg[5];
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acs::GyroL3gReply ownReply;
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acs::GyroL3gReply readerReply;
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};
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GyroL3g gyro1L3g{};
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GyroL3g gyro3L3g{};
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struct MgmRm3100 : public DevBase {
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uint8_t tmrcValue = mgmRm3100::TMRC_DEFAULT_37HZ_VALUE;
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acs::MgmRm3100Reply ownReply;
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acs::MgmRm3100Reply readerReply;
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};
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MgmRm3100 mgm1Rm3100;
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MgmRm3100 mgm3Rm3100;
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struct MgmLis3 : public DevBase {
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uint8_t cfg[5]{};
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acs::MgmLis3Reply ownReply;
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acs::MgmLis3Reply readerReply;
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};
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MgmLis3 mgm0Lis3;
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MgmLis3 mgm2Lis3;
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uint8_t* rawReply = nullptr;
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size_t dummy = 0;
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SpiComIF& spiComIF;
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GpioIF& gpioIF;
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ReturnValue_t initializeInterface(CookieIF* cookie) override;
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ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
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ReturnValue_t getSendSuccess(CookieIF* cookie) override;
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ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
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ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
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void gyroL3gHandler(GyroL3g& l3g);
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void gyroAdisHandler(GyroAdis& gyro);
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void mgmLis3Handler(MgmLis3& mgm);
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void mgmRm3100Handler(MgmRm3100& mgm);
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// Special readout: 16us stall time between small 2 byte transfers.
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ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
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};
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#endif /* LINUX_DEVICES_ACSBOARDPOLLING_H_ */
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