diff --git a/CHANGELOG.md b/CHANGELOG.md index 2337fbd7a..aa59651f7 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/). ## Changes +- HAL Devicehandlers: Periodic printout is run-time configurable now - `oneShotAction` flag in the `TestTask` class is not static anymore ## Removed diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp index be4c9aa97..94e1331c6 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.cpp @@ -8,11 +8,7 @@ GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceC CookieIF *comCookie, uint32_t transitionDelayMs) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), transitionDelayMs(transitionDelayMs), - dataset(this) { -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); -#endif -} + dataset(this) {} GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {} @@ -193,22 +189,22 @@ ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id, int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX]; float temperature = 25.0 + temperaturOffset; -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { - /* Set terminal to utf-8 if there is an issue with micro printout. */ + if (periodicPrintout) { + if (debugDivider.checkAndIncrement()) { + /* Set terminal to utf-8 if there is an issue with micro printout. */ #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; - sif::info << "X: " << angVelocX << std::endl; - sif::info << "Y: " << angVelocY << std::endl; - sif::info << "Z: " << angVelocZ << std::endl; + sif::info << "GyroHandlerL3GD20H: Angular velocities (deg/s):" << std::endl; + sif::info << "X: " << angVelocX << std::endl; + sif::info << "Y: " << angVelocY << std::endl; + sif::info << "Z: " << angVelocZ << std::endl; #else - sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); - sif::printInfo("X: %f\n", angVelocX); - sif::printInfo("Y: %f\n", angVelocY); - sif::printInfo("Z: %f\n", angVelocZ); + sif::printInfo("GyroHandlerL3GD20H: Angular velocities (deg/s):\n"); + sif::printInfo("X: %f\n", angVelocX); + sif::printInfo("Y: %f\n", angVelocY); + sif::printInfo("Z: %f\n", angVelocZ); #endif + } } -#endif PoolReadGuard readSet(&dataset); if (readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) { @@ -272,3 +268,8 @@ void GyroHandlerL3GD20H::setAbsoluteLimits(float limitX, float limitY, float lim this->absLimitY = limitY; this->absLimitZ = limitZ; } + +void GyroHandlerL3GD20H::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h index 784dcf4cd..7c1ebdac1 100644 --- a/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/GyroL3GD20Handler.h @@ -5,7 +5,6 @@ #include #include "devicedefinitions/GyroL3GD20Definitions.h" -#include "fsfw/FSFW.h" /** * @brief Device Handler for the L3GD20H gyroscope sensor @@ -22,6 +21,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { uint32_t transitionDelayMs); virtual ~GyroHandlerL3GD20H(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); + /** * Set the absolute limit for the values on the axis in degrees per second. * The dataset values will be marked as invalid if that limit is exceeded @@ -80,9 +81,8 @@ class GyroHandlerL3GD20H : public DeviceHandlerBase { // Set default value float sensitivity = L3GD20H::SENSITIVITY_00; -#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1 - PeriodicOperationDivider *debugDivider = nullptr; -#endif + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICES_GYROL3GD20HANDLER_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp index f3ea99428..69f6311e3 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp @@ -12,9 +12,6 @@ MgmLIS3MDLHandler::MgmLIS3MDLHandler(object_id_t objectId, object_id_t deviceCom : DeviceHandlerBase(objectId, deviceCommunication, comCookie), dataset(this), transitionDelay(transitionDelay) { -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); -#endif // Set to default values right away registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT; registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT; @@ -264,7 +261,7 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8 | packet[MGMLIS3MDL::Z_LOWBYTE_IDX]; - /* Target value in microtesla */ + // Target value in microtesla float mgmX = static_cast(mgmMeasurementRawX) * sensitivityFactor * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; float mgmY = static_cast(mgmMeasurementRawY) * sensitivityFactor * @@ -272,23 +269,24 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons float mgmZ = static_cast(mgmMeasurementRawZ) * sensitivityFactor * MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR; -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { + if (periodicPrintout) { + if (debugDivider.checkAndIncrement()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MGMHandlerLIS3: Magnetic field strength in" - " microtesla:" - << std::endl; - sif::info << "X: " << mgmX << " uT" << std::endl; - sif::info << "Y: " << mgmY << " uT" << std::endl; - sif::info << "Z: " << mgmZ << " uT" << std::endl; + sif::info << "MGMHandlerLIS3: Magnetic field strength in" + " microtesla:" + << std::endl; + sif::info << "X: " << mgmX << " uT" << std::endl; + sif::info << "Y: " << mgmY << " uT" << std::endl; + sif::info << "Z: " << mgmZ << " uT" << std::endl; #else - sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); - sif::printInfo("X: %f uT\n", mgmX); - sif::printInfo("Y: %f uT\n", mgmY); - sif::printInfo("Z: %f uT\n", mgmZ); + sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f uT\n", mgmX); + sif::printInfo("Y: %f uT\n", mgmY); + sif::printInfo("Z: %f uT\n", mgmZ); #endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ + } } -#endif /* OBSW_VERBOSE_LEVEL >= 1 */ + PoolReadGuard readHelper(&dataset); if (readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { if (std::abs(mgmX) < absLimitX) { @@ -318,15 +316,16 @@ ReturnValue_t MgmLIS3MDLHandler::interpretDeviceReply(DeviceCommandId_t id, cons case MGMLIS3MDL::READ_TEMPERATURE: { int16_t tempValueRaw = packet[2] << 8 | packet[1]; float tempValue = 25.0 + ((static_cast(tempValueRaw)) / 8.0); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - if (debugDivider->check()) { + if (periodicPrintout) { + if (debugDivider.check()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; + sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" << std::endl; #else - sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); + sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n"); #endif + } } -#endif + ReturnValue_t result = dataset.read(); if (result == HasReturnvaluesIF::RETURN_OK) { dataset.temperature = tempValue; @@ -462,7 +461,9 @@ ReturnValue_t MgmLIS3MDLHandler::prepareCtrlRegisterWrite() { return RETURN_OK; } -void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {} +void MgmLIS3MDLHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) { + DeviceHandlerBase::doTransition(modeFrom, subModeFrom); +} uint32_t MgmLIS3MDLHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return transitionDelay; } @@ -482,3 +483,8 @@ void MgmLIS3MDLHandler::setAbsoluteLimits(float xLimit, float yLimit, float zLim this->absLimitY = yLimit; this->absLimitZ = zLimit; } + +void MgmLIS3MDLHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h index b7cfc3783..42bd5d4ce 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h +++ b/hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h @@ -3,8 +3,8 @@ #include "devicedefinitions/MgmLIS3HandlerDefs.h" #include "events/subsystemIdRanges.h" -#include "fsfw/FSFW.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" class PeriodicOperationDivider; @@ -30,6 +30,7 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase { uint32_t transitionDelay); virtual ~MgmLIS3MDLHandler(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); /** * Set the absolute limit for the values on the axis in microtesla. The dataset values will * be marked as invalid if that limit is exceeded @@ -167,9 +168,8 @@ class MgmLIS3MDLHandler : public DeviceHandlerBase { */ ReturnValue_t prepareCtrlRegisterWrite(); -#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1 - PeriodicOperationDivider *debugDivider; -#endif + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp index 4c6e09b12..f9929d638 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.cpp @@ -10,11 +10,7 @@ MgmRM3100Handler::MgmRM3100Handler(object_id_t objectId, object_id_t deviceCommu CookieIF *comCookie, uint32_t transitionDelay) : DeviceHandlerBase(objectId, deviceCommunication, comCookie), primaryDataset(this), - transitionDelay(transitionDelay) { -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - debugDivider = new PeriodicOperationDivider(3); -#endif -} + transitionDelay(transitionDelay) {} MgmRM3100Handler::~MgmRM3100Handler() {} @@ -337,23 +333,23 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { float fieldStrengthY = fieldStrengthRawY * scaleFactorX; float fieldStrengthZ = fieldStrengthRawZ * scaleFactorX; -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - if (debugDivider->checkAndIncrement()) { + if (periodicPrintout) { + if (debugDivider.checkAndIncrement()) { #if FSFW_CPP_OSTREAM_ENABLED == 1 - sif::info << "MgmRM3100Handler: Magnetic field strength in" - " microtesla:" - << std::endl; - sif::info << "X: " << fieldStrengthX << " uT" << std::endl; - sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; - sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; + sif::info << "MgmRM3100Handler: Magnetic field strength in" + " microtesla:" + << std::endl; + sif::info << "X: " << fieldStrengthX << " uT" << std::endl; + sif::info << "Y: " << fieldStrengthY << " uT" << std::endl; + sif::info << "Z: " << fieldStrengthZ << " uT" << std::endl; #else - sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); - sif::printInfo("X: %f uT\n", fieldStrengthX); - sif::printInfo("Y: %f uT\n", fieldStrengthY); - sif::printInfo("Z: %f uT\n", fieldStrengthZ); + sif::printInfo("MgmRM3100Handler: Magnetic field strength in microtesla:\n"); + sif::printInfo("X: %f uT\n", fieldStrengthX); + sif::printInfo("Y: %f uT\n", fieldStrengthY); + sif::printInfo("Z: %f uT\n", fieldStrengthZ); #endif + } } -#endif // TODO: Sanity check on values? PoolReadGuard readGuard(&primaryDataset); @@ -365,3 +361,8 @@ ReturnValue_t MgmRM3100Handler::handleDataReadout(const uint8_t *packet) { } return RETURN_OK; } + +void MgmRM3100Handler::enablePeriodicPrintouts(bool enable, uint8_t divider) { + periodicPrintout = enable; + debugDivider.setDivider(divider); +} diff --git a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h index 67362f591..d1048cb6e 100644 --- a/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h +++ b/hal/src/fsfw_hal/devicehandlers/MgmRM3100Handler.h @@ -2,12 +2,8 @@ #define MISSION_DEVICES_MGMRM3100HANDLER_H_ #include "devicedefinitions/MgmRM3100HandlerDefs.h" -#include "fsfw/FSFW.h" #include "fsfw/devicehandlers/DeviceHandlerBase.h" - -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 #include "fsfw/globalfunctions/PeriodicOperationDivider.h" -#endif /** * @brief Device Handler for the RM3100 geomagnetic magnetometer sensor @@ -33,6 +29,7 @@ class MgmRM3100Handler : public DeviceHandlerBase { uint32_t transitionDelay); virtual ~MgmRM3100Handler(); + void enablePeriodicPrintouts(bool enable, uint8_t divider); /** * Configure device handler to go to normal mode after startup immediately * @param enable @@ -98,9 +95,9 @@ class MgmRM3100Handler : public DeviceHandlerBase { size_t commandDataLen); ReturnValue_t handleDataReadout(const uint8_t *packet); -#if FSFW_HAL_RM3100_MGM_DEBUG == 1 - PeriodicOperationDivider *debugDivider; -#endif + + bool periodicPrintout = false; + PeriodicOperationDivider debugDivider = PeriodicOperationDivider(3); }; #endif /* MISSION_DEVICEHANDLING_MGMRM3100HANDLER_H_ */ diff --git a/src/fsfw/FSFW.h.in b/src/fsfw/FSFW.h.in index 28e0c0bfa..9cfeab61b 100644 --- a/src/fsfw/FSFW.h.in +++ b/src/fsfw/FSFW.h.in @@ -57,18 +57,6 @@ #define FSFW_HAL_SPI_WIRETAPPING 0 #endif -#ifndef FSFW_HAL_L3GD20_GYRO_DEBUG -#define FSFW_HAL_L3GD20_GYRO_DEBUG 0 -#endif /* FSFW_HAL_L3GD20_GYRO_DEBUG */ - -#ifndef FSFW_HAL_RM3100_MGM_DEBUG -#define FSFW_HAL_RM3100_MGM_DEBUG 0 -#endif /* FSFW_HAL_RM3100_MGM_DEBUG */ - -#ifndef FSFW_HAL_LIS3MDL_MGM_DEBUG -#define FSFW_HAL_LIS3MDL_MGM_DEBUG 0 -#endif /* FSFW_HAL_LIS3MDL_MGM_DEBUG */ - // Can be used for low-level debugging of the I2C bus #ifndef FSFW_HAL_I2C_WIRETAPPING #define FSFW_HAL_I2C_WIRETAPPING 0 diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp index ea1fcdf1d..08a15d5ff 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.cpp +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.cpp @@ -824,7 +824,7 @@ void DeviceHandlerBase::handleReply(const uint8_t* receivedData, DeviceCommandId } ReturnValue_t DeviceHandlerBase::getStorageData(store_address_t storageAddress, uint8_t** data, - uint32_t* len) { + size_t* len) { size_t lenTmp; if (IPCStore == nullptr) { diff --git a/src/fsfw/devicehandlers/DeviceHandlerBase.h b/src/fsfw/devicehandlers/DeviceHandlerBase.h index 037f4bd75..c8b8b86d7 100644 --- a/src/fsfw/devicehandlers/DeviceHandlerBase.h +++ b/src/fsfw/devicehandlers/DeviceHandlerBase.h @@ -673,7 +673,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, //! Pointer to the raw packet that will be sent. uint8_t *rawPacket = nullptr; //! Size of the #rawPacket. - uint32_t rawPacketLen = 0; + size_t rawPacketLen = 0; /** * The mode the device handler is currently in. @@ -1250,7 +1250,7 @@ class DeviceHandlerBase : public DeviceHandlerIF, * - @c RETURN_FAILED IPCStore is nullptr * - the return value from the IPCStore if it was not @c RETURN_OK */ - ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, uint32_t *len); + ReturnValue_t getStorageData(store_address_t storageAddress, uint8_t **data, size_t *len); /** * @param modeTo either @c MODE_ON, MODE_NORMAL or MODE_RAW, nothing else!