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...

37 Commits

Author SHA1 Message Date
511d07c0c7 refactored MGM device code 2023-02-26 21:26:24 +01:00
cf735143fe update for SPI/gyro dev handler code 2023-02-26 14:54:35 +01:00
bdfe31dba4 Merge branch 'mueller/pus-15-tm-storage' into develop 2023-02-24 19:03:21 +01:00
216f603d62 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-24 16:56:32 +01:00
174a6aa862 Merge pull request 'use timeval instead of uptime for stopwatch' (#125) from stopwatch-fix into develop
Reviewed-on: #125
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2023-02-24 16:51:28 +01:00
c2d9370aa1 Merge branch 'develop' into stopwatch-fix 2023-02-24 16:51:08 +01:00
893b434728 allow dest handler to handle folder destinations 2023-02-24 16:49:23 +01:00
6eba84566d use timeval instead of uptime 2023-02-24 16:39:49 +01:00
f0415a97b1 some fixes and improvements 2023-02-24 15:49:05 +01:00
abcf1b29b2 execution complete 2023-02-24 14:50:36 +01:00
d373c45d36 Merge branch 'develop' into mueller/pus-15-tm-storage 2023-02-22 15:45:54 +01:00
206af00c8b Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-21 11:14:19 +01:00
2a0c244468 add pus 15 store ID 2023-02-20 16:10:21 +01:00
e1711f0345 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-20 15:04:13 +01:00
b45206ccd6 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-20 13:33:10 +01:00
c745c0c8b4 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-17 13:18:09 +01:00
dae5e988fd Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-17 11:52:23 +01:00
70b785984c Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-14 17:33:59 +01:00
7f907fb9d3 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-08 17:17:33 +01:00
a1567de9e8 Merge branch 'develop' into mueller/pus-15-tm-storage 2023-02-07 12:21:35 +01:00
06dca7608a time stamper empty ctor 2023-02-07 12:06:34 +01:00
6af5274b68 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-02-07 10:51:17 +01:00
0cc3231ceb Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-01-23 14:20:38 +01:00
041d1b8795 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2023-01-11 09:17:57 +01:00
2aa4af6974 make function public 2022-12-14 13:50:57 +01:00
75fc7a056d Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2022-12-12 09:02:04 +01:00
1b005d706a Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2022-12-01 16:40:39 +01:00
e68f54b9bd Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2022-11-28 11:37:15 +01:00
296bc56e2a Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2022-11-24 15:16:34 +01:00
2b6a33e718 afmt 2022-11-11 14:13:46 +01:00
61fd5d1b62 impl function to generate ASCII timestamp sec accuracy 2022-11-11 14:12:42 +01:00
046dbe1deb Merge branch 'develop' into mueller/pus-15-tm-storage 2022-11-11 11:38:32 +01:00
0303c1a885 remove file 2022-11-11 11:31:22 +01:00
4d2802a470 Merge remote-tracking branch 'origin/develop' into mueller/pus-15-tm-storage 2022-11-11 11:29:29 +01:00
819a2bfac4 add prototype for new ToAscii CCSDSTime function 2022-10-25 18:20:48 +02:00
096af44e39 needs some fixing 2022-10-24 10:56:01 +02:00
56e8e5a8b3 dont know if I am going to need this 2022-10-24 10:39:43 +02:00
32 changed files with 549 additions and 388 deletions

View File

@@ -178,16 +178,25 @@ ReturnValue_t cfdp::DestHandler::handleFileDataPdu(const cfdp::PacketInfo& info)
dp.user.fileSegmentRecvdIndication(segParams);
}
result = dp.user.vfs.writeToFile(fileOpParams, fileData);
if (offset.value() + fileSegmentLen > tp.progress) {
tp.progress = offset.value() + fileSegmentLen;
}
if (result != returnvalue::OK) {
// TODO: Proper Error handling
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::error << "File write error" << std::endl;
sif::error << "cfdp::DestHandler: VFS file write error with code 0x" << std::hex << std::setw(2)
<< result << std::endl;
#endif
tp.vfsErrorCount++;
if (tp.vfsErrorCount < 3) {
// TODO: Provide execution step as parameter
fp.eventReporter->forwardEvent(events::FILESTORE_ERROR, static_cast<uint8_t>(fsmRes.step),
result);
}
return result;
} else {
tp.deliveryStatus = FileDeliveryStatus::RETAINED_IN_FILESTORE;
tp.vfsErrorCount = 0;
}
if (offset.value() + fileSegmentLen > tp.progress) {
tp.progress = offset.value() + fileSegmentLen;
}
return result;
}
@@ -271,35 +280,55 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, Met
return OK;
}
ReturnValue_t result = OK;
fsmRes.step = TransactionStep::TRANSACTION_START;
if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
} else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
}
tp.checksumType = info.getChecksumType();
tp.closureRequested = info.isClosureRequested();
size_t sourceNameSize = 0;
const uint8_t* sourceNamePtr = info.getSourceFileName().getValue(&sourceNameSize);
if (sourceNameSize > tp.sourceName.size()) {
// TODO: Warning, event etc.
if (sourceNameSize + 1 > tp.sourceName.size()) {
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "source filename too large");
return FAILED;
}
std::memcpy(tp.sourceName.data(), sourceNamePtr, sourceNameSize);
tp.sourceName[sourceNameSize] = '\0';
size_t destNameSize = 0;
const uint8_t* destNamePtr = info.getDestFileName().getValue(&destNameSize);
if (destNameSize > tp.destName.size()) {
// TODO: Warning, event etc.
if (destNameSize + 1 > tp.destName.size()) {
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "dest filename too large");
return FAILED;
}
std::memcpy(tp.destName.data(), destNamePtr, destNameSize);
tp.destName[destNameSize] = '\0';
reader.fillConfig(tp.pduConf);
tp.pduConf.direction = Direction::TOWARDS_SENDER;
tp.transactionId.entityId = tp.pduConf.sourceId;
tp.transactionId.seqNum = tp.pduConf.seqNum;
if (not dp.remoteCfgTable.getRemoteCfg(tp.pduConf.sourceId, &tp.remoteCfg)) {
// If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
// so there is no need to create a file or truncate an existing file
if (destNameSize > 0 and sourceNameSize > 0) {
FilesystemParams fparams(tp.destName.data());
// handling to allow only specifying target directory. Example:
// Source path /test/hello.txt, dest path /tmp -> dest path /tmp/hello.txt
if (dp.user.vfs.isDirectory(tp.destName.data())) {
result = tryBuildingAbsoluteDestName(destNameSize);
if (result != OK) {
return result;
}
}
if (dp.user.vfs.fileExists(fparams)) {
result = dp.user.vfs.truncateFile(fparams);
if (result != returnvalue::OK) {
fileErrorHandler(events::FILESTORE_ERROR, result, "file truncation error");
return FAILED;
// TODO: Relevant for filestore rejection error?
}
} else {
result = dp.user.vfs.createFile(fparams);
if (result != OK) {
fileErrorHandler(events::FILESTORE_ERROR, result, "file creation error");
return FAILED;
// TODO: Relevant for filestore rejection error?
}
}
}
EntityId sourceId;
reader.getSourceId(sourceId);
if (not dp.remoteCfgTable.getRemoteCfg(sourceId, &tp.remoteCfg)) {
// TODO: Warning, event etc.
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "cfdp::DestHandler" << __func__
@@ -308,22 +337,18 @@ ReturnValue_t cfdp::DestHandler::startTransaction(MetadataPduReader& reader, Met
#endif
return FAILED;
}
// If both dest name size and source name size are 0, we are dealing with a metadata only PDU,
// so there is no need to create a file or truncate an existing file
if (destNameSize > 0 and sourceNameSize > 0) {
FilesystemParams fparams(tp.destName.data());
// TODO: Filesystem errors?
if (dp.user.vfs.fileExists(fparams)) {
dp.user.vfs.truncateFile(fparams);
} else {
result = dp.user.vfs.createFile(fparams);
if (result != OK) {
// TODO: Handle FS error. This is probably a case for the filestore rejection mechanism of
// CFDP.
// In any case, it does not really make sense to continue here
}
}
fsmRes.step = TransactionStep::TRANSACTION_START;
if (reader.getTransmissionMode() == TransmissionMode::UNACKNOWLEDGED) {
fsmRes.state = CfdpStates::BUSY_CLASS_1_NACKED;
} else if (reader.getTransmissionMode() == TransmissionMode::ACKNOWLEDGED) {
fsmRes.state = CfdpStates::BUSY_CLASS_2_ACKED;
}
tp.checksumType = info.getChecksumType();
tp.closureRequested = info.isClosureRequested();
reader.fillConfig(tp.pduConf);
tp.pduConf.direction = Direction::TOWARDS_SENDER;
tp.transactionId.entityId = tp.pduConf.sourceId;
tp.transactionId.seqNum = tp.pduConf.seqNum;
fsmRes.step = TransactionStep::RECEIVING_FILE_DATA_PDUS;
MetadataRecvdParams params(tp.transactionId, tp.pduConf.sourceId);
params.fileSize = tp.fileSize.getSize();
@@ -362,6 +387,37 @@ ReturnValue_t cfdp::DestHandler::handleTransferCompletion() {
return OK;
}
ReturnValue_t cfdp::DestHandler::tryBuildingAbsoluteDestName(size_t destNameSize) {
char baseNameBuf[tp.destName.size()]{};
FilesystemParams fparamsSrc(tp.sourceName.data());
size_t baseNameLen = 0;
ReturnValue_t result =
dp.user.vfs.getBaseFilename(fparamsSrc, baseNameBuf, sizeof(baseNameBuf), baseNameLen);
if (result != returnvalue::OK or baseNameLen == 0) {
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0, "error retrieving source base name");
return FAILED;
}
// Destination name + slash + base name + null termination
if (destNameSize + 1 + baseNameLen + 1 > tp.destName.size()) {
fileErrorHandler(events::FILENAME_TOO_LARGE_ERROR, 0,
"dest filename too large after adding source base name");
return FAILED;
}
tp.destName[destNameSize++] = '/';
std::memcpy(tp.destName.data() + destNameSize, baseNameBuf, baseNameLen);
destNameSize += baseNameLen;
tp.destName[destNameSize++] = '\0';
return OK;
}
void cfdp::DestHandler::fileErrorHandler(Event event, ReturnValue_t result, const char* info) {
fp.eventReporter->forwardEvent(events::FILENAME_TOO_LARGE_ERROR,
static_cast<uint8_t>(fsmRes.step), result);
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "cfdp::DestHandler: " << info << std::endl;
#endif
}
void cfdp::DestHandler::finish() {
tp.reset();
dp.packetListRef.clear();

View File

@@ -84,7 +84,7 @@ enum class CallStatus { DONE, CALL_AFTER_DELAY, CALL_AGAIN };
class DestHandler {
public:
enum class TransactionStep {
enum class TransactionStep : uint8_t {
IDLE = 0,
TRANSACTION_START = 1,
RECEIVING_FILE_DATA_PDUS = 2,
@@ -157,11 +157,13 @@ class DestHandler {
progress = 0;
remoteCfg = nullptr;
closureRequested = false;
vfsErrorCount = 0;
checksumType = ChecksumType::NULL_CHECKSUM;
}
ChecksumType checksumType = ChecksumType::NULL_CHECKSUM;
bool closureRequested = false;
uint16_t vfsErrorCount = 0;
std::vector<char> sourceName;
std::vector<char> destName;
cfdp::FileSize fileSize;
@@ -189,9 +191,11 @@ class DestHandler {
ReturnValue_t handleMetadataParseError(ReturnValue_t result, const uint8_t* rawData,
size_t maxSize);
ReturnValue_t handleTransferCompletion();
ReturnValue_t tryBuildingAbsoluteDestName(size_t destNameSize);
ReturnValue_t sendFinishedPdu();
ReturnValue_t noticeOfCompletion();
ReturnValue_t checksumVerification();
void fileErrorHandler(Event event, ReturnValue_t result, const char* info);
const FsmResult& updateFsmRes(uint8_t errors);
void checkAndHandleError(ReturnValue_t result, uint8_t& errorIdx);
void finish();

View File

@@ -12,6 +12,9 @@ namespace events {
static constexpr Event STORE_ERROR = event::makeEvent(SSID, 0, severity::LOW);
static constexpr Event MSG_QUEUE_ERROR = event::makeEvent(SSID, 1, severity::LOW);
static constexpr Event SERIALIZATION_ERROR = event::makeEvent(SSID, 2, severity::LOW);
static constexpr Event FILESTORE_ERROR = event::makeEvent(SSID, 3, severity::LOW);
//! [EXPORT] : [COMMENT] P1: Transaction step ID, P2: 0 for source file name, 1 for dest file name
static constexpr Event FILENAME_TOO_LARGE_ERROR = event::makeEvent(SSID, 4, severity::LOW);
} // namespace events

View File

@@ -74,6 +74,12 @@ class HasFileSystemIF {
return MessageQueueIF::NO_QUEUE;
}
// Get the base filename without the full directory path
virtual ReturnValue_t getBaseFilename(FilesystemParams params, char* nameBuf, size_t maxLen,
size_t& baseNameLen) = 0;
virtual bool isDirectory(const char* path) = 0;
virtual bool fileExists(FilesystemParams params) = 0;
/**

View File

@@ -15,6 +15,7 @@ enum framework_objects : object_id_t {
PUS_SERVICE_8_FUNCTION_MGMT = 0x53000008,
PUS_SERVICE_9_TIME_MGMT = 0x53000009,
PUS_SERVICE_11_TC_SCHEDULER = 0x53000011,
PUS_SERVICE_15_TM_STORAGE = 0x53000015,
PUS_SERVICE_17_TEST = 0x53000017,
PUS_SERVICE_20_PARAMETERS = 0x53000020,
PUS_SERVICE_200_MODE_MGMT = 0x53000200,

View File

@@ -79,7 +79,7 @@ ReturnValue_t CServiceHealthCommanding::prepareCommand(CommandMessage *message,
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH): {
HealthMessage::setHealthMessage(message, HealthMessage::HEALTH_ANNOUNCE);
break;
return CommandingServiceBase::EXECUTION_COMPLETE;
}
case (Subservice::COMMAND_ANNOUNCE_HEALTH_ALL): {
ReturnValue_t result = iterateHealthTable(true);

View File

@@ -246,6 +246,20 @@ ReturnValue_t CCSDSTime::convertFromASCII(Clock::TimeOfDay_t* to, const uint8_t*
return UNSUPPORTED_TIME_FORMAT;
}
ReturnValue_t CCSDSTime::convertToAsciiWithSecs(int8_t* to, const Clock::TimeOfDay_t* from,
uint8_t length) {
if (from == nullptr or to == nullptr) {
return returnvalue::FAILED;
}
int count = snprintf(reinterpret_cast<char*>(to), length,
"%4" SCNu32 "-%2" SCNu32 "-%2" SCNu32 "T%2" SCNu32 ":%2" SCNu32 ":%2" SCNu32,
from->year, from->month, from->day, from->hour, from->minute, from->second);
if (count >= length) {
return returnvalue::FAILED;
}
return returnvalue::OK;
}
ReturnValue_t CCSDSTime::checkCcs(const uint8_t* time, uint8_t length) {
const Ccs_mseconds* time_struct = reinterpret_cast<const Ccs_mseconds*>(time);

View File

@@ -207,7 +207,8 @@ class CCSDSTime {
static ReturnValue_t convertFromASCII(Clock::TimeOfDay_t *to, uint8_t const *from,
uint8_t length);
static ReturnValue_t convertToAsciiWithSecs(int8_t *to, const Clock::TimeOfDay_t *from,
uint8_t length);
static uint32_t subsecondsToMicroseconds(uint16_t subseconds);
private:

View File

@@ -9,7 +9,7 @@
Stopwatch::Stopwatch(bool displayOnDestruction, StopwatchDisplayMode displayMode)
: displayOnDestruction(displayOnDestruction), displayMode(displayMode) {
// Measures start time on initialization.
Clock::getUptime(&startTime);
Clock::getClock_timeval(&startTime);
}
void Stopwatch::start() { Clock::getUptime(&startTime); }
@@ -63,6 +63,6 @@ StopwatchDisplayMode Stopwatch::getDisplayMode() const { return displayMode; }
void Stopwatch::stopInternal() {
timeval endTime;
Clock::getUptime(&endTime);
Clock::getClock_timeval(&endTime);
elapsedTime = endTime - startTime;
}

View File

@@ -6,47 +6,12 @@
#include "fsfw/returnvalues/returnvalue.h"
#include "tmStorageConf.h"
class TmPacketMinimal;
class SpacePacketBase;
class PusTmReader;
class SpacePacketReader;
class TmStoreBackendIF;
class TmStoreFrontendIF {
public:
virtual TmStoreBackendIF* getBackend() const = 0;
/**
* What do I need to implement here?
* This is propably used by PUS Service 15 so we should propably check for messages..
* Provide base implementation?
* @param opCode
* @return
*/
virtual ReturnValue_t performOperation(uint8_t opCode) = 0;
/**
* Callback from the back-end to indicate a certain packet was received.
* front-end takes care of discarding/downloading the packet.
* @param packet Pointer to the newly received Space Packet.
* @param address Start address of the packet found
* @param isLastPacket Indicates if no more packets can be fetched.
* @return If more packets shall be fetched, returnvalue::OK must be returned.
* Any other code stops fetching packets.
*/
virtual ReturnValue_t packetRetrieved(TmPacketMinimal* packet, uint32_t address) = 0;
virtual void noMorePacketsInStore() = 0;
virtual void handleRetrievalFailed(ReturnValue_t errorCode, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) = 0;
/**
* To get the queue where commands shall be sent.
* @return Id of command queue.
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
virtual ReturnValue_t fetchPackets(ApidSsc start, ApidSsc end) = 0;
virtual ReturnValue_t deletePackets(ApidSsc upTo) = 0;
virtual ReturnValue_t checkPacket(SpacePacketBase* tmPacket) = 0;
virtual bool isEnabled() const = 0;
virtual void setEnabled(bool enabled) = 0;
virtual void resetDownlinkedPacketCount() = 0;
virtual ReturnValue_t setDumpTarget(object_id_t dumpTarget) = 0;
static const uint8_t INTERFACE_ID = CLASS_ID::TM_STORE_FRONTEND_IF;
static const ReturnValue_t BUSY = MAKE_RETURN_CODE(1);
static const ReturnValue_t LAST_PACKET_FOUND = MAKE_RETURN_CODE(2);
@@ -57,7 +22,38 @@ class TmStoreFrontendIF {
static const ReturnValue_t ALL_DELETED = MAKE_RETURN_CODE(7);
static const ReturnValue_t INVALID_DATA = MAKE_RETURN_CODE(8);
static const ReturnValue_t NOT_READY = MAKE_RETURN_CODE(9);
virtual ~TmStoreFrontendIF() {}
virtual ~TmStoreFrontendIF() = default;
/**
* To get the queue where commands shall be sent.
* @return Id of command queue.
*/
virtual MessageQueueId_t getCommandQueue() const = 0;
virtual TmStoreBackendIF* getBackend() const = 0;
/**
* Callback from the back-end to indicate a certain packet was received.
* front-end takes care of discarding/downloading the packet.
* @param packet Pointer to the newly received Space Packet.
* @param address Start address of the packet found
* @param isLastPacket Indicates if no more packets can be fetched.
* @return If more packets shall be fetched, returnvalue::OK must be returned.
* Any other code stops fetching packets.
*/
virtual ReturnValue_t packetRetrieved(PusTmReader* packet, uint32_t address) = 0;
virtual void noMorePacketsInStore() = 0;
virtual void handleRetrievalFailed(ReturnValue_t errorCode, uint32_t parameter1 = 0,
uint32_t parameter2 = 0) = 0;
virtual ReturnValue_t fetchPackets(ApidSsc start, ApidSsc end) = 0;
virtual ReturnValue_t deletePackets(ApidSsc upTo) = 0;
virtual ReturnValue_t checkPacket(SpacePacketReader* tmPacket) = 0;
virtual bool isEnabled() const = 0;
virtual void setEnabled(bool enabled) = 0;
virtual void resetDownlinkedPacketCount() = 0;
virtual ReturnValue_t setDumpTarget(object_id_t dumpTarget) = 0;
};
#endif /* FSFW_TMTCSERVICES_TMSTOREFRONTENDIF_H_ */

View File

@@ -0,0 +1,15 @@
#ifndef FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_
#define FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_
#include <fsfw/ipc/messageQueueDefinitions.h>
class TmStoreFrontendSimpleIF {
public:
virtual ~TmStoreFrontendSimpleIF() = default;
virtual MessageQueueId_t getCommandQueue() const = 0;
private:
};
#endif /* FSFW_SRC_FSFW_TMSTORAGE_TMSTOREBACKENDSIMPLEIF_H_ */

View File

@@ -1,6 +1,10 @@
#ifndef FSFW_TMSTORAGE_TMSTOREPACKETS_H_
#define FSFW_TMSTORAGE_TMSTOREPACKETS_H_
#include <fsfw/tmtcpacket/pus/tm/PusTmReader.h>
#include <vector>
#include "fsfw/globalfunctions/timevalOperations.h"
#include "fsfw/serialize/SerialBufferAdapter.h"
#include "fsfw/serialize/SerialFixedArrayListAdapter.h"
@@ -24,7 +28,7 @@ class ServiceSubservice : public SerialLinkedListAdapter<SerializeIF> {
class ApidSsc : public SerializeIF {
public:
ApidSsc() : apid(SpacePacketBase::LIMIT_APID), ssc(0) {}
ApidSsc() : apid(ccsds::LIMIT_APID), ssc(0) {}
ApidSsc(uint16_t apid, uint16_t ssc) : apid(apid), ssc(ssc) {}
uint16_t apid;
uint16_t ssc;
@@ -62,51 +66,59 @@ class ChangeSelectionDefinition : public SerialLinkedListAdapter<SerializeIF> {
class TmPacketInformation : public SerializeIF {
public:
TmPacketInformation(TmPacketMinimal* packet) { setContent(packet); }
TmPacketInformation()
: apid(SpacePacketBase::LIMIT_APID),
TmPacketInformation(PusTmReader* packet, size_t timestampLen) : rawTimestamp(timestampLen) {
setContent(packet);
}
TmPacketInformation(size_t timestampLen)
: apid(ccsds::LIMIT_APID),
sourceSequenceCount(0),
serviceType(0),
serviceSubtype(0),
subCounter(0) {}
subCounter(0),
rawTimestamp(timestampLen) {}
void reset() {
apid = SpacePacketBase::LIMIT_APID;
apid = ccsds::LIMIT_APID;
sourceSequenceCount = 0;
serviceType = 0;
serviceSubtype = 0;
subCounter = 0;
memset(rawTimestamp, 0, sizeof(rawTimestamp));
memset(rawTimestamp.data(), 0, rawTimestamp.size());
}
void setContent(TmPacketMinimal* packet) {
apid = packet->getAPID();
sourceSequenceCount = packet->getPacketSequenceCount();
void setContent(PusTmReader* packet) {
apid = packet->getApid();
sourceSequenceCount = packet->getSequenceCount();
serviceType = packet->getService();
serviceSubtype = packet->getSubService();
subCounter = packet->getPacketSubcounter();
memset(rawTimestamp, 0, sizeof(rawTimestamp));
const uint8_t* pField = NULL;
uint32_t size = 0;
ReturnValue_t result = packet->getPacketTimeRaw(&pField, &size);
if (result != returnvalue::OK) {
return;
}
if (*pField == CCSDSTime::P_FIELD_CDS_SHORT && size <= TimeStamperIF::MISSION_TIMESTAMP_SIZE) {
// Shortcut to avoid converting CDS back and forth.
memcpy(rawTimestamp, pField, size);
return;
}
timeval time = {0, 0};
result = packet->getPacketTime(&time);
if (result != returnvalue::OK) {
return;
}
CCSDSTime::CDS_short cdsFormat;
result = CCSDSTime::convertToCcsds(&cdsFormat, &time);
if (result != returnvalue::OK) {
return;
}
memcpy(rawTimestamp, &cdsFormat, sizeof(cdsFormat));
subCounter = packet->getMessageTypeCounter();
memset(rawTimestamp.data(), 0, rawTimestamp.size());
// TODO: Fix all of this
// const uint8_t* pField = NULL;
// uint32_t size = 0;
// auto* timeReader = packet->getTimeReader();
// ReturnValue_t result = packet->getPacketTimeRaw(&pField, &size);
// if (result != returnvalue::OK) {
// return;
//}
// if (*pField == CCSDSTime::P_FIELD_CDS_SHORT && size <= TimeStamperIF::MISSION_TIMESTAMP_SIZE)
// {
// Shortcut to avoid converting CDS back and forth.
// TODO: Fix
// memcpy(rawTimestamp, pField, size);
// return;
// }
// timeval time = {0, 0};
// result = packet->getPacketTime(&time);
// if (result != returnvalue::OK) {
// return;
// }
//
// CCSDSTime::CDS_short cdsFormat;
// result = CCSDSTime::convertToCcsds(&cdsFormat, &time);
// if (result != returnvalue::OK) {
// return;
// }
// TODO: Fix
// memcpy(rawTimestamp, &cdsFormat, sizeof(cdsFormat));
}
void setContent(TmPacketInformation* content) {
apid = content->apid;
@@ -114,9 +126,10 @@ class TmPacketInformation : public SerializeIF {
serviceType = content->serviceType;
serviceSubtype = content->serviceSubtype;
subCounter = content->subCounter;
memcpy(rawTimestamp, content->rawTimestamp, sizeof(rawTimestamp));
// TODO: Fix
// memcpy(rawTimestamp, content->rawTimestamp, sizeof(rawTimestamp));
}
bool isValid() const { return (apid < SpacePacketBase::LIMIT_APID) ? true : false; }
bool isValid() const { return (apid < ccsds::LIMIT_APID) ? true : false; }
static void reset(TmPacketInformation* packet) { packet->reset(); }
static bool isOlderThan(const TmPacketInformation* packet, const timeval* cmpTime) {
@@ -216,7 +229,7 @@ class TmPacketInformation : public SerializeIF {
if (result != returnvalue::OK) {
return result;
}
SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
return adapter.serialize(buffer, size, maxSize, streamEndianness);
}
@@ -227,7 +240,7 @@ class TmPacketInformation : public SerializeIF {
size += SerializeAdapter::getSerializedSize(&serviceType);
size += SerializeAdapter::getSerializedSize(&serviceSubtype);
size += SerializeAdapter::getSerializedSize(&subCounter);
SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
size += adapter.getSerializedSize();
return size;
};
@@ -253,7 +266,7 @@ class TmPacketInformation : public SerializeIF {
if (result != returnvalue::OK) {
return result;
}
SerialBufferAdapter<uint8_t> adapter(rawTimestamp, sizeof(rawTimestamp));
SerialBufferAdapter<uint8_t> adapter(rawTimestamp.data(), rawTimestamp.size());
return adapter.deSerialize(buffer, size, streamEndianness);
}
@@ -263,6 +276,6 @@ class TmPacketInformation : public SerializeIF {
uint8_t serviceType;
uint8_t serviceSubtype;
uint8_t subCounter;
uint8_t rawTimestamp[TimeStamperIF::MISSION_TIMESTAMP_SIZE];
std::vector<uint8_t> rawTimestamp;
};
#endif /* FSFW_TMSTORAGE_TMSTOREPACKETS_H_ */

View File

@@ -1,3 +1,5 @@
target_sources(
${LIB_FSFW_NAME} PRIVATE GyroL3GD20Handler.cpp MgmRM3100Handler.cpp
MgmLIS3MDLHandler.cpp)
add_subdirectory(devicedefinitions)

View File

@@ -46,17 +46,17 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
return NOTHING_TO_SEND;
}
case (InternalState::CONFIGURE): {
*id = L3GD20H::CONFIGURE_CTRL_REGS;
*id = l3gd20h::CONFIGURE_CTRL_REGS;
uint8_t command[5];
command[0] = L3GD20H::CTRL_REG_1_VAL;
command[1] = L3GD20H::CTRL_REG_2_VAL;
command[2] = L3GD20H::CTRL_REG_3_VAL;
command[3] = L3GD20H::CTRL_REG_4_VAL;
command[4] = L3GD20H::CTRL_REG_5_VAL;
command[0] = l3gd20h::CTRL_REG_1_VAL;
command[1] = l3gd20h::CTRL_REG_2_VAL;
command[2] = l3gd20h::CTRL_REG_3_VAL;
command[3] = l3gd20h::CTRL_REG_4_VAL;
command[4] = l3gd20h::CTRL_REG_5_VAL;
return buildCommandFromCommand(*id, command, 5);
}
case (InternalState::CHECK_REGS): {
*id = L3GD20H::READ_REGS;
*id = l3gd20h::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
default:
@@ -76,7 +76,7 @@ ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t
}
ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = L3GD20H::READ_REGS;
*id = l3gd20h::READ_REGS;
return buildCommandFromCommand(*id, nullptr, 0);
}
@@ -84,15 +84,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (L3GD20H::READ_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
case (l3gd20h::READ_REGS): {
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(commandBuffer + 1, 0, l3gd20h::READ_LEN);
rawPacket = commandBuffer;
rawPacketLen = L3GD20H::READ_LEN + 1;
rawPacketLen = l3gd20h::READ_LEN + 1;
break;
}
case (L3GD20H::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
case (l3gd20h::CONFIGURE_CTRL_REGS): {
commandBuffer[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK;
if (commandData == nullptr or commandDataLen != 5) {
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
@@ -103,15 +103,15 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
ctrlReg4Value = commandData[3];
ctrlReg5Value = commandData[4];
bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;
bool fsH = ctrlReg4Value & l3gd20h::SET_FS_1;
bool fsL = ctrlReg4Value & l3gd20h::SET_FS_0;
if (not fsH and not fsL) {
sensitivity = L3GD20H::SENSITIVITY_00;
sensitivity = l3gd20h::SENSITIVITY_00;
} else if (not fsH and fsL) {
sensitivity = L3GD20H::SENSITIVITY_01;
sensitivity = l3gd20h::SENSITIVITY_01;
} else {
sensitivity = L3GD20H::SENSITIVITY_11;
sensitivity = l3gd20h::SENSITIVITY_11;
}
commandBuffer[1] = ctrlReg1Value;
@@ -124,8 +124,8 @@ ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(DeviceCommandId_t devi
rawPacketLen = 6;
break;
}
case (L3GD20H::READ_CTRL_REGS): {
commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
case (l3gd20h::READ_CTRL_REGS): {
commandBuffer[0] = l3gd20h::READ_START | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
std::memset(commandBuffer + 1, 0, 5);
rawPacket = commandBuffer;
@@ -151,11 +151,11 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
const uint8_t *packet) {
ReturnValue_t result = returnvalue::OK;
switch (id) {
case (L3GD20H::CONFIGURE_CTRL_REGS): {
case (l3gd20h::CONFIGURE_CTRL_REGS): {
commandExecuted = true;
break;
}
case (L3GD20H::READ_CTRL_REGS): {
case (l3gd20h::READ_CTRL_REGS): {
if (packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
packet[5] == ctrlReg5Value) {
@@ -167,7 +167,7 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
}
break;
}
case (L3GD20H::READ_REGS): {
case (l3gd20h::READ_REGS): {
if (packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
packet[5] != ctrlReg5Value) {
@@ -178,16 +178,16 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
}
}
statusReg = packet[L3GD20H::STATUS_IDX];
statusReg = packet[l3gd20h::STATUS_IDX];
int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
int16_t angVelocXRaw = packet[l3gd20h::OUT_X_H] << 8 | packet[l3gd20h::OUT_X_L];
int16_t angVelocYRaw = packet[l3gd20h::OUT_Y_H] << 8 | packet[l3gd20h::OUT_Y_L];
int16_t angVelocZRaw = packet[l3gd20h::OUT_Z_H] << 8 | packet[l3gd20h::OUT_Z_L];
float angVelocX = angVelocXRaw * sensitivity;
float angVelocY = angVelocYRaw * sensitivity;
float angVelocZ = angVelocZRaw * sensitivity;
int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
int8_t temperaturOffset = (-1) * packet[l3gd20h::TEMPERATURE_IDX];
float temperature = 25.0 + temperaturOffset;
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
@@ -248,19 +248,19 @@ void GyroHandlerL3GD20H::setToGoToNormalMode(bool enable) { this->goNormalModeIm
ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(L3GD20H::TEMPERATURE, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_X, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Y, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::ANG_VELOC_Z, new PoolEntry<float>({0.0}));
localDataPoolMap.emplace(l3gd20h::TEMPERATURE, new PoolEntry<float>({0.0}));
poolManager.subscribeForRegularPeriodicPacket(
subdp::RegularHkPeriodicParams(dataset.getSid(), false, 10.0));
return returnvalue::OK;
}
void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
insertInCommandAndReplyMap(l3gd20h::READ_REGS, 1, &dataset);
insertInCommandAndReplyMap(l3gd20h::CONFIGURE_CTRL_REGS, 1);
insertInCommandAndReplyMap(l3gd20h::READ_CTRL_REGS, 1);
}
void GyroHandlerL3GD20H::modeChanged() { internalState = InternalState::NONE; }

View File

@@ -3,8 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw/globalfunctions/PeriodicOperationDivider.h>
#include "devicedefinitions/GyroL3GD20Definitions.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
/**
* @brief Device Handler for the L3GD20H gyroscope sensor
@@ -59,9 +58,9 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint32_t transitionDelayMs = 0;
GyroPrimaryDataset dataset;
float absLimitX = L3GD20H::RANGE_DPS_00;
float absLimitY = L3GD20H::RANGE_DPS_00;
float absLimitZ = L3GD20H::RANGE_DPS_00;
float absLimitX = l3gd20h::RANGE_DPS_00;
float absLimitY = l3gd20h::RANGE_DPS_00;
float absLimitZ = l3gd20h::RANGE_DPS_00;
enum class InternalState { NONE, CONFIGURE, CHECK_REGS, NORMAL };
InternalState internalState = InternalState::NONE;
@@ -70,16 +69,16 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase {
uint8_t statusReg = 0;
bool goNormalModeImmediately = false;
uint8_t ctrlReg1Value = L3GD20H::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = L3GD20H::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = L3GD20H::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = L3GD20H::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = L3GD20H::CTRL_REG_5_VAL;
uint8_t ctrlReg1Value = l3gd20h::CTRL_REG_1_VAL;
uint8_t ctrlReg2Value = l3gd20h::CTRL_REG_2_VAL;
uint8_t ctrlReg3Value = l3gd20h::CTRL_REG_3_VAL;
uint8_t ctrlReg4Value = l3gd20h::CTRL_REG_4_VAL;
uint8_t ctrlReg5Value = l3gd20h::CTRL_REG_5_VAL;
uint8_t commandBuffer[L3GD20H::READ_LEN + 1];
uint8_t commandBuffer[l3gd20h::READ_LEN + 1];
// Set default value
float sensitivity = L3GD20H::SENSITIVITY_00;
float sensitivity = l3gd20h::SENSITIVITY_00;
bool periodicPrintout = false;
PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3);

View File

@@ -10,11 +10,11 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom
dataset(this),
transitionDelay(transitionDelay) {
// Set to default values right away
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
}
MgmLIS3MDLHandler::~MgmLIS3MDLHandler() {}
@@ -63,15 +63,15 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return DeviceHandlerBase::NOTHING_TO_SEND;
}
case (InternalState::STATE_FIRST_CONTACT): {
*id = MGMLIS3MDL::IDENTIFY_DEVICE;
*id = mgmLis3::IDENTIFY_DEVICE;
break;
}
case (InternalState::STATE_SETUP): {
*id = MGMLIS3MDL::SETUP_MGM;
*id = mgmLis3::SETUP_MGM;
break;
}
case (InternalState::STATE_CHECK_REGISTERS): {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = mgmLis3::READ_CONFIG_AND_DATA;
break;
}
default: {
@@ -88,28 +88,12 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(DeviceCommandId_t
return buildCommandFromCommand(*id, NULL, 0);
}
uint8_t MgmLIS3MDLHandler::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
uint8_t MgmLIS3MDLHandler::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << MGMLIS3MDL::RW_BIT);
if (continuousCom == true) {
command |= (1 << MGMLIS3MDL::MS_BIT);
}
return command;
}
void MgmLIS3MDLHandler::setupMgm() {
registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;
registers[0] = mgmLis3::CTRL_REG1_DEFAULT;
registers[1] = mgmLis3::CTRL_REG2_DEFAULT;
registers[2] = mgmLis3::CTRL_REG3_DEFAULT;
registers[3] = mgmLis3::CTRL_REG4_DEFAULT;
registers[4] = mgmLis3::CTRL_REG5_DEFAULT;
prepareCtrlRegisterWrite();
}
@@ -117,11 +101,11 @@ void MgmLIS3MDLHandler::setupMgm() {
ReturnValue_t MgmLIS3MDLHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
// Data/config register will be read in an alternating manner.
if (communicationStep == CommunicationStep::DATA) {
*id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*id = mgmLis3::READ_CONFIG_AND_DATA;
communicationStep = CommunicationStep::TEMPERATURE;
return buildCommandFromCommand(*id, NULL, 0);
} else {
*id = MGMLIS3MDL::READ_TEMPERATURE;
*id = mgmLis3::READ_TEMPERATURE;
communicationStep = CommunicationStep::DATA;
return buildCommandFromCommand(*id, NULL, 0);
}
@@ -131,33 +115,33 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (MGMLIS3MDL::READ_CONFIG_AND_DATA): {
case (mgmLis3::READ_CONFIG_AND_DATA): {
std::memset(commandBuffer, 0, sizeof(commandBuffer));
commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
rawPacketLen = mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1;
return returnvalue::OK;
}
case (MGMLIS3MDL::READ_TEMPERATURE): {
case (mgmLis3::READ_TEMPERATURE): {
std::memset(commandBuffer, 0, 3);
commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::TEMP_LOWBYTE, true);
rawPacket = commandBuffer;
rawPacketLen = 3;
return returnvalue::OK;
}
case (MGMLIS3MDL::IDENTIFY_DEVICE): {
case (mgmLis3::IDENTIFY_DEVICE): {
return identifyDevice();
}
case (MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
case (mgmLis3::TEMP_SENSOR_ENABLE): {
return enableTemperatureSensor(commandData, commandDataLen);
}
case (MGMLIS3MDL::SETUP_MGM): {
case (mgmLis3::SETUP_MGM): {
setupMgm();
return returnvalue::OK;
}
case (MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
case (mgmLis3::ACCURACY_OP_MODE_SET): {
return setOperatingMode(commandData, commandDataLen);
}
default:
@@ -168,7 +152,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildCommandFromCommand(DeviceCommandId_t devic
ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
uint32_t size = 2;
commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[0] = mgmLis3::readCommand(mgmLis3::IDENTIFY_DEVICE_REG_ADDR);
commandBuffer[1] = 0x00;
rawPacket = commandBuffer;
@@ -180,9 +164,9 @@ ReturnValue_t MgmLIS3MDLHandler::identifyDevice() {
ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
DeviceCommandId_t *foundId, size_t *foundLen) {
*foundLen = len;
if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
if (len == mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
*foundId = mgmLis3::READ_CONFIG_AND_DATA;
// Check validity by checking config registers
if (start[1] != registers[0] or start[2] != registers[1] or start[3] != registers[2] or
start[4] != registers[3] or start[5] != registers[4]) {
@@ -199,17 +183,17 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
commandExecuted = true;
}
} else if (len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
} else if (len == mgmLis3::TEMPERATURE_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::READ_TEMPERATURE;
} else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
*foundId = mgmLis3::READ_TEMPERATURE;
} else if (len == mgmLis3::SETUP_REPLY_LEN) {
*foundLen = len;
*foundId = MGMLIS3MDL::SETUP_MGM;
*foundId = mgmLis3::SETUP_MGM;
} else if (len == SINGLE_COMMAND_ANSWER_LEN) {
*foundLen = len;
*foundId = getPendingCommand();
if (*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
if (start[1] != MGMLIS3MDL::DEVICE_ID) {
if (*foundId == mgmLis3::IDENTIFY_DEVICE) {
if (start[1] != mgmLis3::DEVICE_ID) {
#if FSFW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
sif::warning << "MGMHandlerLIS3MDL::scanForReply: "
@@ -241,30 +225,31 @@ ReturnValue_t MgmLIS3MDLHandler::scanForReply(const uint8_t *start, size_t len,
}
ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
switch (id) {
case MGMLIS3MDL::IDENTIFY_DEVICE: {
case mgmLis3::IDENTIFY_DEVICE: {
break;
}
case MGMLIS3MDL::SETUP_MGM: {
case mgmLis3::SETUP_MGM: {
break;
}
case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
case mgmLis3::READ_CONFIG_AND_DATA: {
using namespace mgmLis3;
// TODO: Store configuration in new local datasets.
float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));
int16_t mgmMeasurementRawX =
packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::X_LOWBYTE_IDX];
packet[mgmLis3::X_HIGHBYTE_IDX] << 8 | packet[mgmLis3::X_LOWBYTE_IDX];
int16_t mgmMeasurementRawY =
packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Y_LOWBYTE_IDX];
packet[mgmLis3::Y_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Y_LOWBYTE_IDX];
int16_t mgmMeasurementRawZ =
packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX];
packet[mgmLis3::Z_HIGHBYTE_IDX] << 8 | packet[mgmLis3::Z_LOWBYTE_IDX];
// Target value in microtesla
float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor *
MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
mgmLis3::GAUSS_TO_MICROTESLA_FACTOR;
if (periodicPrintout) {
if (debugDivider.checkAndIncrement()) {
@@ -306,7 +291,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
break;
}
case MGMLIS3MDL::READ_TEMPERATURE: {
case mgmLis3::READ_TEMPERATURE: {
int16_t tempValueRaw = packet[2] << 8 | packet[1];
float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
if (periodicPrintout) {
@@ -334,41 +319,6 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons
return returnvalue::OK;
}
MGMLIS3MDL::Sensitivies MgmLIS3MDLHandler::getSensitivity(uint8_t ctrlRegister2) {
bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO); // Checks if FS0 bit is set
bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1); // Checks if FS1 bit is set
if (fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_16;
else if (!fs0Set && fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_12;
else if (fs0Set && !fs1Set)
return MGMLIS3MDL::Sensitivies::GAUSS_8;
else
return MGMLIS3MDL::Sensitivies::GAUSS_4;
}
float MgmLIS3MDLHandler::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
switch (sens) {
case (MGMLIS3MDL::GAUSS_4): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
case (MGMLIS3MDL::GAUSS_8): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
}
case (MGMLIS3MDL::GAUSS_12): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
}
case (MGMLIS3MDL::GAUSS_16): {
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
// Should never happen
return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
}
}
}
ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandData,
size_t commandDataLen) {
if (commandData == nullptr) {
@@ -376,16 +326,16 @@ ReturnValue_t MgmLIS3MDLHandler::enableTemperatureSensor(const uint8_t *commandD
}
triggerEvent(CHANGE_OF_SETUP_PARAMETER);
uint32_t size = 2;
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1);
if (commandDataLen > 1) {
return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
}
switch (commandData[0]) {
case (MGMLIS3MDL::ON): {
case (mgmLis3::ON): {
commandBuffer[1] = registers[0] | (1 << 7);
break;
}
case (MGMLIS3MDL::OFF): {
case (mgmLis3::OFF): {
commandBuffer[1] = registers[0] & ~(1 << 7);
break;
}
@@ -408,23 +358,23 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
}
switch (commandData[0]) {
case MGMLIS3MDL::LOW:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
case mgmLis3::LOW:
registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) & (~(1 << mgmLis3::OM0));
registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) & (~(1 << mgmLis3::OMZ0));
break;
case MGMLIS3MDL::MEDIUM:
registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
case mgmLis3::MEDIUM:
registers[0] = (registers[0] & (~(1 << mgmLis3::OM1))) | (1 << mgmLis3::OM0);
registers[3] = (registers[3] & (~(1 << mgmLis3::OMZ1))) | (1 << mgmLis3::OMZ0);
break;
case MGMLIS3MDL::HIGH:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
case mgmLis3::HIGH:
registers[0] = (registers[0] | (1 << mgmLis3::OM1)) & (~(1 << mgmLis3::OM0));
registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) & (~(1 << mgmLis3::OMZ0));
break;
case MGMLIS3MDL::ULTRA:
registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
case mgmLis3::ULTRA:
registers[0] = (registers[0] | (1 << mgmLis3::OM1)) | (1 << mgmLis3::OM0);
registers[3] = (registers[3] | (1 << mgmLis3::OMZ1)) | (1 << mgmLis3::OMZ0);
break;
default:
break;
@@ -434,24 +384,24 @@ ReturnValue_t MgmLIS3MDLHandler::setOperatingMode(const uint8_t *commandData,
}
void MgmLIS3MDLHandler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
insertInCommandAndReplyMap(mgmLis3::READ_CONFIG_AND_DATA, 1, &dataset);
insertInCommandAndReplyMap(mgmLis3::READ_TEMPERATURE, 1);
insertInCommandAndReplyMap(mgmLis3::SETUP_MGM, 1);
insertInCommandAndReplyMap(mgmLis3::IDENTIFY_DEVICE, 1);
insertInCommandAndReplyMap(mgmLis3::TEMP_SENSOR_ENABLE, 1);
insertInCommandAndReplyMap(mgmLis3::ACCURACY_OP_MODE_SET, 1);
}
void MgmLIS3MDLHandler::setToGoToNormalMode(bool enable) { this->goToNormalMode = enable; }
ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() {
commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);
commandBuffer[0] = mgmLis3::writeCommand(mgmLis3::CTRL_REG1, true);
for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
for (size_t i = 0; i < mgmLis3::NR_OF_CTRL_REGISTERS; i++) {
commandBuffer[i + 1] = registers[i];
}
rawPacket = commandBuffer;
rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;
rawPacketLen = mgmLis3::NR_OF_CTRL_REGISTERS + 1;
// We dont have to check if this is working because we just did i
return returnvalue::OK;
@@ -467,8 +417,8 @@ void MgmLIS3MDLHandler::modeChanged(void) { internalState = InternalState::STATE
ReturnValue_t MgmLIS3MDLHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS, &temperature);
localDataPoolMap.emplace(mgmLis3::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmLis3::TEMPERATURE_CELCIUS, &temperature);
poolManager.subscribeForRegularPeriodicPacket({dataset.getSid(), false, 10.0});
return returnvalue::OK;
}

View File

@@ -1,7 +1,8 @@
#ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_
#include "devicedefinitions/MgmLIS3HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmLis3Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
@@ -66,7 +67,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
LocalDataPoolManager &poolManager) override;
private:
MGMLIS3MDL::MgmPrimaryDataset dataset;
mgmLis3::MgmPrimaryDataset dataset;
// Length a single command SPI answer
static const uint8_t SINGLE_COMMAND_ANSWER_LEN = 2;
@@ -74,7 +75,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
// Single SPI command has 2 bytes, first for adress, second for content
size_t singleComandSize = 2;
// Has the size for all adresses of the lis3mdl + the continous write bit
uint8_t commandBuffer[MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1];
uint8_t commandBuffer[mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS + 1];
float absLimitX = 100;
float absLimitY = 100;
@@ -85,7 +86,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
* registers when we want to change something.
* --> everytime we change set a register we have to save it
*/
uint8_t registers[MGMLIS3MDL::NR_OF_CTRL_REGISTERS];
uint8_t registers[mgmLis3::NR_OF_CTRL_REGISTERS];
uint8_t statusRegister = 0;
bool goToNormalMode = false;
@@ -107,35 +108,6 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase {
/*------------------------------------------------------------------------*/
/* Device specific commands and variables */
/*------------------------------------------------------------------------*/
/**
* Sets the read bit for the command
* @param single command to set the read-bit at
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/**
* Sets the write bit for the command
* @param single command to set the write-bit at
* @param boolean to select a continuous write bit, default = false
*/
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
/**
* This Method gets the full scale for the measurement range
* e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value
*/
MGMLIS3MDL::Sensitivies getSensitivity(uint8_t ctrlReg2);
/**
* The 16 bit value needs to be multiplied with a sensitivity factor
* which depends on the sensitivity configuration
*
* @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(MGMLIS3MDL::Sensitivies sens);
/**
* This Command detects the device ID

View File

@@ -63,21 +63,21 @@ ReturnValue_t MgmRM3100Handler::buildTransitionDeviceCommand(DeviceCommandId_t *
return NOTHING_TO_SEND;
}
case (InternalState::CONFIGURE_CMM): {
*id = RM3100::CONFIGURE_CMM;
*id = mgmRm3100::CONFIGURE_CMM;
break;
}
case (InternalState::READ_CMM): {
*id = RM3100::READ_CMM;
*id = mgmRm3100::READ_CMM;
break;
}
case (InternalState::STATE_CONFIGURE_TMRC): {
commandBuffer[0] = RM3100::TMRC_DEFAULT_VALUE;
commandBuffer[0] = mgmRm3100::TMRC_DEFAULT_VALUE;
commandLen = 1;
*id = RM3100::CONFIGURE_TMRC;
*id = mgmRm3100::CONFIGURE_TMRC;
break;
}
case (InternalState::STATE_READ_TMRC): {
*id = RM3100::READ_TMRC;
*id = mgmRm3100::READ_TMRC;
break;
}
default:
@@ -103,42 +103,42 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
const uint8_t *commandData,
size_t commandDataLen) {
switch (deviceCommand) {
case (RM3100::CONFIGURE_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER;
commandBuffer[1] = RM3100::CMM_VALUE;
case (mgmRm3100::CONFIGURE_CMM): {
commandBuffer[0] = mgmRm3100::CMM_REGISTER;
commandBuffer[1] = mgmRm3100::CMM_VALUE;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::READ_CMM): {
commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_CMM): {
commandBuffer[0] = mgmRm3100::CMM_REGISTER | mgmRm3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::CONFIGURE_TMRC): {
case (mgmRm3100::CONFIGURE_TMRC): {
return handleTmrcConfigCommand(deviceCommand, commandData, commandDataLen);
}
case (RM3100::READ_TMRC): {
commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_TMRC): {
commandBuffer[0] = mgmRm3100::TMRC_REGISTER | mgmRm3100::READ_MASK;
commandBuffer[1] = 0;
rawPacket = commandBuffer;
rawPacketLen = 2;
break;
}
case (RM3100::CONFIGURE_CYCLE_COUNT): {
case (mgmRm3100::CONFIGURE_CYCLE_COUNT): {
return handleCycleCountConfigCommand(deviceCommand, commandData, commandDataLen);
}
case (RM3100::READ_CYCLE_COUNT): {
commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER | RM3100::READ_MASK;
case (mgmRm3100::READ_CYCLE_COUNT): {
commandBuffer[0] = mgmRm3100::CYCLE_COUNT_START_REGISTER | mgmRm3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 6);
rawPacket = commandBuffer;
rawPacketLen = 7;
break;
}
case (RM3100::READ_DATA): {
commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
case (mgmRm3100::READ_DATA): {
commandBuffer[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
std::memset(commandBuffer + 1, 0, 9);
rawPacketLen = 10;
break;
@@ -150,7 +150,7 @@ ReturnValue_t MgmRM3100Handler::buildCommandFromCommand(DeviceCommandId_t device
}
ReturnValue_t MgmRM3100Handler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
*id = RM3100::READ_DATA;
*id = mgmRm3100::READ_DATA;
return buildCommandFromCommand(*id, nullptr, 0);
}
@@ -165,16 +165,16 @@ ReturnValue_t MgmRM3100Handler::scanForReply(const uint8_t *start, size_t len,
ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) {
ReturnValue_t result = returnvalue::OK;
switch (id) {
case (RM3100::CONFIGURE_CMM):
case (RM3100::CONFIGURE_CYCLE_COUNT):
case (RM3100::CONFIGURE_TMRC): {
case (mgmRm3100::CONFIGURE_CMM):
case (mgmRm3100::CONFIGURE_CYCLE_COUNT):
case (mgmRm3100::CONFIGURE_TMRC): {
// We can only check whether write was successful with read operation
if (getMode() == _MODE_START_UP) {
commandExecuted = true;
}
break;
}
case (RM3100::READ_CMM): {
case (mgmRm3100::READ_CMM): {
uint8_t cmmValue = packet[1];
// We clear the seventh bit in any case
// because this one is zero sometimes for some reason
@@ -188,7 +188,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_TMRC): {
case (mgmRm3100::READ_TMRC): {
if (packet[1] == tmrcRegValue) {
commandExecuted = true;
// Reading TMRC was commanded. Trigger event to inform ground
@@ -202,7 +202,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_CYCLE_COUNT): {
case (mgmRm3100::READ_CYCLE_COUNT): {
uint16_t cycleCountX = packet[1] << 8 | packet[2];
uint16_t cycleCountY = packet[3] << 8 | packet[4];
uint16_t cycleCountZ = packet[5] << 8 | packet[6];
@@ -217,7 +217,7 @@ ReturnValue_t MgmRM3100Handler::interpretDeviceReply(DeviceCommandId_t id, const
}
break;
}
case (RM3100::READ_DATA): {
case (mgmRm3100::READ_DATA): {
result = handleDataReadout(packet);
break;
}
@@ -244,7 +244,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
commandBuffer[0] = mgmRm3100::CYCLE_COUNT_VALUE;
std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
@@ -255,7 +255,7 @@ ReturnValue_t MgmRM3100Handler::handleCycleCountConfigCommand(DeviceCommandId_t
ReturnValue_t MgmRM3100Handler::handleCycleCommand(bool oneCycleValue, const uint8_t *commandData,
size_t commandDataLen) {
RM3100::CycleCountCommand command(oneCycleValue);
mgmRm3100::CycleCountCommand command(oneCycleValue);
ReturnValue_t result =
command.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::BIG);
if (result != returnvalue::OK) {
@@ -284,7 +284,7 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
commandBuffer[0] = RM3100::TMRC_REGISTER;
commandBuffer[0] = mgmRm3100::TMRC_REGISTER;
commandBuffer[1] = commandData[0];
tmrcRegValue = commandData[0];
rawPacketLen = 2;
@@ -293,23 +293,23 @@ ReturnValue_t MgmRM3100Handler::handleTmrcConfigCommand(DeviceCommandId_t device
}
void MgmRM3100Handler::fillCommandAndReplyMap() {
insertInCommandAndReplyMap(RM3100::CONFIGURE_CMM, 3);
insertInCommandAndReplyMap(RM3100::READ_CMM, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CMM, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_CMM, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_TMRC, 3);
insertInCommandAndReplyMap(RM3100::READ_TMRC, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_TMRC, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_TMRC, 3);
insertInCommandAndReplyMap(RM3100::CONFIGURE_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(mgmRm3100::CONFIGURE_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(mgmRm3100::READ_CYCLE_COUNT, 3);
insertInCommandAndReplyMap(RM3100::READ_DATA, 3, &primaryDataset);
insertInCommandAndReplyMap(mgmRm3100::READ_DATA, 3, &primaryDataset);
}
void MgmRM3100Handler::modeChanged() { internalState = InternalState::NONE; }
ReturnValue_t MgmRM3100Handler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
LocalDataPoolManager &poolManager) {
localDataPoolMap.emplace(RM3100::FIELD_STRENGTHS, &mgmXYZ);
localDataPoolMap.emplace(mgmRm3100::FIELD_STRENGTHS, &mgmXYZ);
poolManager.subscribeForRegularPeriodicPacket({primaryDataset.getSid(), false, 10.0});
return returnvalue::OK;
}

View File

@@ -1,7 +1,8 @@
#ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_
#define MISSION_DEVICES_MGMRM3100HANDLER_H_
#include "devicedefinitions/MgmRM3100HandlerDefs.h"
#include <fsfw_hal/devicehandlers/devicedefinitions/mgmRm3100Helpers.h>
#include "fsfw/devicehandlers/DeviceHandlerBase.h"
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
@@ -69,19 +70,19 @@ class MgmRM3100Handler : public DeviceHandlerBase {
};
InternalState internalState = InternalState::NONE;
bool commandExecuted = false;
RM3100::Rm3100PrimaryDataset primaryDataset;
mgmRm3100::Rm3100PrimaryDataset primaryDataset;
uint8_t commandBuffer[10];
uint8_t commandBufferLen = 0;
uint8_t cmmRegValue = RM3100::CMM_VALUE;
uint8_t tmrcRegValue = RM3100::TMRC_DEFAULT_VALUE;
uint16_t cycleCountRegValueX = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueY = RM3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueZ = RM3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / RM3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / RM3100::DEFAULT_GAIN;
uint8_t cmmRegValue = mgmRm3100::CMM_VALUE;
uint8_t tmrcRegValue = mgmRm3100::TMRC_DEFAULT_VALUE;
uint16_t cycleCountRegValueX = mgmRm3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueY = mgmRm3100::CYCLE_COUNT_VALUE;
uint16_t cycleCountRegValueZ = mgmRm3100::CYCLE_COUNT_VALUE;
float scaleFactorX = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorY = 1.0 / mgmRm3100::DEFAULT_GAIN;
float scaleFactorZ = 1.0 / mgmRm3100::DEFAULT_GAIN;
bool goToNormalModeAtStartup = false;
uint32_t transitionDelay;

View File

@@ -0,0 +1 @@
target_sources(${LIB_FSFW_NAME} PRIVATE gyroL3gHelpers.cpp mgmLis3Helpers.cpp)

View File

@@ -0,0 +1,14 @@
#include <fsfw_hal/devicehandlers/devicedefinitions/gyroL3gHelpers.h>
float l3gd20h::ctrlReg4ToSensitivity(uint8_t reg) {
bool fsH = reg & l3gd20h::SET_FS_1;
bool fsL = reg & l3gd20h::SET_FS_0;
if (not fsH and not fsL) {
return l3gd20h::SENSITIVITY_00;
} else if (not fsH and fsL) {
return l3gd20h::SENSITIVITY_01;
} else {
return l3gd20h::SENSITIVITY_11;
}
}

View File

@@ -6,7 +6,9 @@
#include <cstdint>
namespace L3GD20H {
namespace l3gd20h {
float ctrlReg4ToSensitivity(uint8_t reg);
/* Actual size is 15 but we round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@@ -103,31 +105,33 @@ static constexpr DeviceCommandId_t READ_REGS = 0;
static constexpr DeviceCommandId_t CONFIGURE_CTRL_REGS = 1;
static constexpr DeviceCommandId_t READ_CTRL_REGS = 2;
static constexpr DeviceCommandId_t REQUEST = 0x70;
static constexpr DeviceCommandId_t REPLY = 0x77;
static constexpr uint32_t GYRO_DATASET_ID = READ_REGS;
enum GyroPoolIds : lp_id_t { ANG_VELOC_X, ANG_VELOC_Y, ANG_VELOC_Z, TEMPERATURE };
} // namespace L3GD20H
} // namespace l3gd20h
class GyroPrimaryDataset : public StaticLocalDataSet<5> {
public:
/** Constructor for data users like controllers */
GyroPrimaryDataset(object_id_t mgmId)
: StaticLocalDataSet(sid_t(mgmId, L3GD20H::GYRO_DATASET_ID)) {
: StaticLocalDataSet(sid_t(mgmId, l3gd20h::GYRO_DATASET_ID)) {
setAllVariablesReadOnly();
}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, L3GD20H::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, L3GD20H::TEMPERATURE, this);
private:
friend class GyroHandlerL3GD20H;
/** Constructor for the data creator */
GyroPrimaryDataset(HasLocalDataPoolIF* hkOwner)
: StaticLocalDataSet(hkOwner, L3GD20H::GYRO_DATASET_ID) {}
: StaticLocalDataSet(hkOwner, l3gd20h::GYRO_DATASET_ID) {}
/* Angular velocities in degrees per second (DPS) */
lp_var_t<float> angVelocX = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_X, this);
lp_var_t<float> angVelocY = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Y, this);
lp_var_t<float> angVelocZ = lp_var_t<float>(sid.objectId, l3gd20h::ANG_VELOC_Z, this);
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, l3gd20h::TEMPERATURE, this);
private:
};
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GYROL3GD20DEFINITIONS_H_ */

View File

@@ -0,0 +1,52 @@
#include "mgmLis3Helpers.h"
uint8_t mgmLis3::readCommand(uint8_t command, bool continuousCom) {
command |= (1 << mgmLis3::RW_BIT);
if (continuousCom == true) {
command |= (1 << mgmLis3::MS_BIT);
}
return command;
}
uint8_t mgmLis3::writeCommand(uint8_t command, bool continuousCom) {
command &= ~(1 << mgmLis3::RW_BIT);
if (continuousCom == true) {
command |= (1 << mgmLis3::MS_BIT);
}
return command;
}
mgmLis3::Sensitivies mgmLis3::getSensitivity(uint8_t ctrlRegister2) {
bool fs0Set = ctrlRegister2 & (1 << mgmLis3::FSO); // Checks if FS0 bit is set
bool fs1Set = ctrlRegister2 & (1 << mgmLis3::FS1); // Checks if FS1 bit is set
if (fs0Set && fs1Set)
return mgmLis3::Sensitivies::GAUSS_16;
else if (!fs0Set && fs1Set)
return mgmLis3::Sensitivies::GAUSS_12;
else if (fs0Set && !fs1Set)
return mgmLis3::Sensitivies::GAUSS_8;
else
return mgmLis3::Sensitivies::GAUSS_4;
}
float mgmLis3::getSensitivityFactor(mgmLis3::Sensitivies sens) {
switch (sens) {
case (mgmLis3::GAUSS_4): {
return mgmLis3::FIELD_LSB_PER_GAUSS_4_SENS;
}
case (mgmLis3::GAUSS_8): {
return mgmLis3::FIELD_LSB_PER_GAUSS_8_SENS;
}
case (mgmLis3::GAUSS_12): {
return mgmLis3::FIELD_LSB_PER_GAUSS_12_SENS;
}
case (mgmLis3::GAUSS_16): {
return mgmLis3::FIELD_LSB_PER_GAUSS_16_SENS;
}
default: {
// Should never happen
return mgmLis3::FIELD_LSB_PER_GAUSS_4_SENS;
}
}
}

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@@ -7,13 +7,43 @@
#include <cstdint>
namespace MGMLIS3MDL {
namespace mgmLis3 {
enum Set { ON, OFF };
enum OpMode { LOW, MEDIUM, HIGH, ULTRA };
enum Sensitivies : uint8_t { GAUSS_4 = 4, GAUSS_8 = 8, GAUSS_12 = 12, GAUSS_16 = 16 };
/**
* Sets the read bit for the command
* @param single command to set the read-bit at
* @param boolean to select a continuous read bit, default = false
*/
uint8_t readCommand(uint8_t command, bool continuousCom = false);
/**
* Sets the write bit for the command
* @param single command to set the write-bit at
* @param boolean to select a continuous write bit, default = false
*/
uint8_t writeCommand(uint8_t command, bool continuousCom = false);
/**
* This Method gets the full scale for the measurement range
* e.g.: +- 4 gauss. See p.25 datasheet.
* @return The ReturnValue does not contain the sign of the value
*/
mgmLis3::Sensitivies getSensitivity(uint8_t ctrlReg2);
/**
* The 16 bit value needs to be multiplied with a sensitivity factor
* which depends on the sensitivity configuration
*
* @param sens Configured sensitivity of the LIS3 device
* @return Multiplication factor to get the sensor value from raw data.
*/
float getSensitivityFactor(mgmLis3::Sensitivies sens);
/* Actually 15, we just round up a bit */
static constexpr size_t MAX_BUFFER_SIZE = 16;
@@ -154,6 +184,6 @@ class MgmPrimaryDataset : public StaticLocalDataSet<4> {
lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, TEMPERATURE_CELCIUS, this);
};
} // namespace MGMLIS3MDL
} // namespace mgmLis3
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMLIS3HANDLERDEFS_H_ */

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@@ -8,7 +8,7 @@
#include <cstdint>
namespace RM3100 {
namespace mgmRm3100 {
/* Actually 10, we round up a little bit */
static constexpr size_t MAX_BUFFER_SIZE = 12;
@@ -115,6 +115,6 @@ class Rm3100PrimaryDataset : public StaticLocalDataSet<3> {
lp_vec_t<float, 3> fieldStrengths = lp_vec_t<float, 3>(sid.objectId, FIELD_STRENGTHS, this);
};
} // namespace RM3100
} // namespace mgmRm3100
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MGMHANDLERRM3100DEFINITIONS_H_ */

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@@ -160,3 +160,18 @@ ReturnValue_t HostFilesystem::truncateFile(FilesystemParams params) {
ofstream of(path);
return returnvalue::OK;
}
bool HostFilesystem::isDirectory(const char *path) { return filesystem::is_directory(path); }
ReturnValue_t HostFilesystem::getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
size_t &baseNameLen) {
std::string path(params.path);
std::string baseName = path.substr(path.find_last_of("/\\") + 1);
if (baseName.size() + 1 > maxLen) {
return returnvalue::FAILED;
}
std::memcpy(nameBuf, baseName.c_str(), baseName.size());
nameBuf[baseName.size()] = '\0';
baseNameLen = baseName.size();
return returnvalue::OK;
}

View File

@@ -9,6 +9,9 @@ class HostFilesystem : public HasFileSystemIF {
public:
HostFilesystem();
ReturnValue_t getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
size_t &baseNameLen) override;
bool isDirectory(const char *path) override;
bool fileExists(FilesystemParams params) override;
ReturnValue_t truncateFile(FilesystemParams params) override;
ReturnValue_t writeToFile(FileOpParams params, const uint8_t *data) override;

View File

@@ -2,7 +2,6 @@
#include <errno.h>
#include <fcntl.h>
#include <fsfw_hal/linux/serial/SerialComIF.h>
#include <termios.h>
#include <unistd.h>

View File

@@ -1,6 +1,7 @@
#pragma once
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include "fsfw/ipc/MutexIF.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw_hal/common/gpio/GpioIF.h"

View File

@@ -90,8 +90,6 @@ class SpiComIF : public DeviceCommunicationIF, public SystemObject {
* pulled high
*/
MutexIF* csMutex = nullptr;
// MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
// uint32_t timeoutMs = DEFAULT_MUTEX_TIMEOUT;
spi_ioc_transfer clockUpdateTransfer = {};
using SpiDeviceMap = std::unordered_map<address_t, SpiInstance>;

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@@ -138,3 +138,10 @@ ReturnValue_t FilesystemMock::truncateFile(FilesystemParams params) {
truncateCalledOnFile = params.path;
return returnvalue::OK;
}
ReturnValue_t FilesystemMock::getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
size_t &baseNameLen) {
return returnvalue::OK;
}
bool FilesystemMock::isDirectory(const char *path) { return false; }

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@@ -56,6 +56,10 @@ class FilesystemMock : public HasFileSystemIF {
std::string truncateCalledOnFile;
ReturnValue_t feedFile(const std::string &filename, std::ifstream &file);
ReturnValue_t getBaseFilename(FilesystemParams params, char *nameBuf, size_t maxLen,
size_t &baseNameLen) override;
bool isDirectory(const char *path) override;
bool fileExists(FilesystemParams params) override;
ReturnValue_t truncateFile(FilesystemParams params) override;