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Merge pull request #86 from RobertK66/feature/seib_dev
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Feature/seib dev - ready
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@RobertK66
RobertK66 authored Dec 12, 2023
2 parents c63defb + 0f05a26 commit 04f1941
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Showing 5 changed files with 286 additions and 10 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -87,7 +87,7 @@ jobs:
- kind: obc
board: BA_CLIMBOBC
- kind: dev
board: BA_OM13085_EM2T
board: BA_OM13085
steps:
- env:
OBC_VERSION: ${{needs.prepBuild.outputs.obcVersion2}}
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8 changes: 4 additions & 4 deletions ClimbObc/src/ClimbObc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -107,10 +107,10 @@ static const gps_initdata_t GpsInit = {
0, // PTR_FROM_IDX(PINIDX_GPIO4_CP),
0, //PTR_FROM_IDX(PINIDX_STACIE_C_IO1_P)
};

static const thr_initdata_t ThrInit = {
LPC_UART1, ///Y+ sidepanel
};
//
//static const thr_initdata_t ThrInit = {
// LPC_UART1, ///Y+ sidepanel
//};

static init_report_t InitReport;

Expand Down
268 changes: 265 additions & 3 deletions ClimbObc/src/mod/srs/radsensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,12 @@
#define SRS_DATARESP_NOMMOREDATA 0x16
#define SRS_CMDEXEC_REQDATA 0x00000800 // Only one bit is enough here because ctrl of data transfer is done in other structures....

// Data transfer adjustable:
#define SRS_DATABLOCK_SIZE 200 // TODO: expand I2C job to uint16 rxsize!!!! 1000 // 1000 is MAX val!
#define SRS_BLOCKDELAY_MS 50
#define SRS_BLOCKBURST_CNT 5
#define SRS_BLOCKBURST_DEALY_MS 500


static uint8_t PowerOnCmd[2] = {0x00, SRS_POWERBUS_ENABLECMD};
static uint8_t PowerOffCmd[2] = {0x00, SRS_POWERBUS_DISABLECMD};
Expand All @@ -73,16 +79,37 @@ static bool srsRequestedPowerOn = false;

static bool srsJobInProgress = false;
static bool srsIsPowerJob = false;
static bool srsDelayNextJob = false;
static I2C_Data srsJob;



static uint32_t srsCmdExecutes = 0;
static uint32_t srsPendingCmdExec = 0;
//static bool srsCmdSynctime = false;
static uint8_t srsTx[20];
static uint8_t srsRx[128];

static uint8_t srsTx[20];
static uint8_t srsRx[SRS_DATABLOCK_SIZE+20];
static uint32_t val32ToSend = 0;


typedef enum {
SRS_DATA_IDLE,
SRS_DATA_GETADDRESSES,
SRS_DATA_INIT,
SRS_DATA_BLOCKREAD,
SRS_DATA_RESEND,
SRS_DATA_STOP,
SRS_DATA_ERROR } srs_transfer_stat;

static srs_transfer_stat srsDataTransferStatus = SRS_DATA_IDLE;
static uint32_t srsDataPtrStart;
static uint32_t srsDataPtrEnd;
static uint16_t srsBlockSize;
static uint32_t srsBlocksToRead;

obc_systime32_t srsNextJobTime;
static uint16_t srsBlockInBurstCnt;

// local module prototypes
uint8_t srs_crc(uint8_t *data, int len);

Expand All @@ -92,6 +119,11 @@ void srsExecuteRequestSyncTime(void);
void srsExecuteRequestStatus(uint8_t statusType);
void srsExecuteRequestIntervals(void);
void srsExecuteSendInterval(uint8_t type, uint32_t val);
void srsExecuteRequestDataAddresses(void);
void srsExecuteRequestShutdown(void);

bool srsCheckCrc(uint16_t size);
void srs_transfer(void);


// Module API
Expand All @@ -101,6 +133,15 @@ void srs_init(void *initdata) {
}

void srs_main() {
if (srsDelayNextJob) {
if (srsNextJobTime >= timGetSystime()) {
// Data transfer is delayed over tim ein Blocks of bursts
return;
} else {
srsDelayNextJob = false;
i2c_add_job(&srsJob);
}
}
if (srsJobInProgress) {
// Wait for job finishing
if (srsJob.job_done == 1) {
Expand All @@ -116,14 +157,27 @@ void srs_main() {
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_POWEROFF, srsJob.tx_data, 2);
}
} else {
bool crcOk;
// Controller Job finished.
if (srsJob.rx_size >= 3) {
// Check for errors
if (srsJob.rx_data[0] == 0xFF) {
if ((srsPendingCmdExec == SRS_CMDEXEC_REQDATAADDR) || (srsPendingCmdExec == SRS_CMDEXEC_REQDATA)) {
srsDataTransferStatus = SRS_DATA_ERROR;
}
srsPendingCmdExec = 0; // No valid answer to process
SysEvent(MODULE_ID_RADSENSOR, EVENT_ERROR, EID_SRS_ERROR, &srsJob.rx_data[1], 1);
}
}
if ((srsPendingCmdExec == SRS_CMDEXEC_REQDATA) &&
((srsDataTransferStatus == SRS_DATA_BLOCKREAD) || (srsDataTransferStatus == SRS_DATA_RESEND)) ) {
uint16_t size = 0;
memcpy(&size,&srsJob.rx_data[14], 2);
size += 17;
crcOk = srsCheckCrc(size);
} else {
crcOk = srsCheckCrc(srsJob.rx_size);
}
switch (srsPendingCmdExec) {
case SRS_CMDEXEC_SETSYNCTIME:
case SRS_CMDEXEC_REQSYNCTIME:
Expand Down Expand Up @@ -163,6 +217,57 @@ void srs_main() {
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_SHUTDOWN, 0, 0 );
break;

case SRS_CMDEXEC_REQDATAADDR:
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_ADDRINFO, &srsJob.rx_data[2], 8);
// srsJob.RxData[1] // Status -> laut doku immer 0 !?
memcpy(&srsDataPtrStart, &srsJob.rx_data[2] , 4);
memcpy(&srsDataPtrEnd, &srsJob.rx_data[6] , 4);
srsDataTransferStatus = SRS_DATA_INIT;
srs_transfer(); // Initiate next job for transfer.
break;

case SRS_CMDEXEC_REQDATA:
//SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_DATARX, srsJob.rx_data, srsJob);
if (srsDataTransferStatus == SRS_DATA_INIT) {
if (srsJob.rx_data[1] != SRS_DATACMD_INIT) {
// Error ocured.
SysEvent(MODULE_ID_RADSENSOR, EVENT_ERROR, EID_SRS_ERROR, &srsJob.rx_data[1], 1);
srsDataTransferStatus = SRS_DATA_ERROR; // TODO: Hoiw to clear/leave from here.....???
} else {
memcpy(&srsBlockSize, &srsJob.rx_data[2], 2); // Block size to use is decided by SRS here.
// Skip start address -> why bothering here . When could this be different than requested one!?
memcpy(&srsBlocksToRead, &srsJob.rx_data[8], 4); // Number of blocks to be expeted by this transfer.
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_TRANSFERINIT, &srsJob.rx_data[2], 10);
srsDataTransferStatus = SRS_DATA_BLOCKREAD;
srs_transfer();
}
} else if ( (srsDataTransferStatus == SRS_DATA_BLOCKREAD) ||
(srsDataTransferStatus == SRS_DATA_RESEND) ){
if (srsJob.rx_data[1] == SRS_DATACMD_TRANSFER) {
if (crcOk) {
// a valid data block
srsDataTransferStatus = SRS_DATA_BLOCKREAD;
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_BLOCKDATA, &srsJob.rx_data[2], 14 );
} else {
srsDataTransferStatus = SRS_DATA_RESEND;
}
srs_transfer();
} else {
// Error or no more data
SysEvent(MODULE_ID_RADSENSOR, EVENT_ERROR, EID_SRS_ERROR, &srsJob.rx_data[1], 1);
srsDataTransferStatus = SRS_DATA_STOP;
srs_transfer();
}
} else if (srsDataTransferStatus == SRS_DATA_STOP) {
if (srsJob.rx_data[1] == SRS_DATACMD_STOP) {
srsDataTransferStatus = SRS_DATA_IDLE;
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_TRANSFERSTOP, 0, 0);
} else {
srsDataTransferStatus = SRS_DATA_ERROR; // TODO: How to clear/leave from here.....???
SysEvent(MODULE_ID_RADSENSOR, EVENT_ERROR, EID_SRS_ERROR, &srsJob.rx_data[1], 1);
}
}
break;

default:
SysEvent(MODULE_ID_RADSENSOR, EVENT_INFO, EID_SRS_DATARX, srsJob.rx_data, srsJob.rx_size);
Expand Down Expand Up @@ -237,6 +342,10 @@ void srs_main() {
srsCmdExecutes &= (~SRS_CMDEXEC_SHUTDOWN);
srsPendingCmdExec = SRS_CMDEXEC_SHUTDOWN;
srsExecuteRequestShutdown();
} else if (srsCmdExecutes & SRS_CMDEXEC_REQDATAADDR) {
srsCmdExecutes &= (~SRS_CMDEXEC_REQDATAADDR);
srsPendingCmdExec = SRS_CMDEXEC_REQDATAADDR;
srsExecuteRequestDataAddresses();
}

}
Expand Down Expand Up @@ -289,6 +398,28 @@ void srs_getstatus(uint8_t statusType) {
}


//This version starts with GETADDRSS comand an fetches all data (new) available.
void srs_maketransfer(void) {
if ((srsDataTransferStatus == SRS_DATA_IDLE) || (srsDataTransferStatus == SRS_DATA_ERROR)) {
srsDataTransferStatus = SRS_DATA_GETADDRESSES;
srsCmdExecutes |= SRS_CMDEXEC_REQDATAADDR;
} else {
SysEvent(MODULE_ID_RADSENSOR, EVENT_WARNING, EID_SRS_TRANSFERBUSY, 0, 0);
}

}

//This version uses local Start and End Address (set by command)
void srs_maketransfer_presized(void) {
if ((srsDataTransferStatus == SRS_DATA_IDLE) || (srsDataTransferStatus == SRS_DATA_ERROR)) {
srsDataTransferStatus = SRS_DATA_INIT;
srs_transfer(); // Initiate next job for transfer.
} else {
SysEvent(MODULE_ID_RADSENSOR, EVENT_WARNING, EID_SRS_TRANSFERBUSY, 0, 0);
}

}


// Module local functions
// ----------------------
Expand All @@ -300,6 +431,17 @@ uint8_t srs_crc(uint8_t *data, int len) {
return ret;
}


bool srsCheckCrc(uint16_t size) {
uint8_t crcCalc = srs_crc(srsJob.rx_data, size-1);
uint8_t crcRx = srsJob.rx_data[size-1];

bool isOk = (crcCalc == crcRx);
return isOk;
}



void srsExecuteRequestSyncTime(void) {
srsJob.device = srs->pI2C; // Redundant but lets do in sake of memory flips.....
srsJob.adress = SRS_CTRL_ADDR;
Expand Down Expand Up @@ -398,6 +540,107 @@ void srsExecuteRequestShutdown(void) {
}


void srsExecuteRequestDataAddresses(void) {
srsJob.device = srs->pI2C;
srsJob.adress = SRS_CTRL_ADDR;
srsTx[0] = SRS_CTRLCMD_REQDATAADDR;
srsTx[1] = srs_crc(srsTx, 1);
srsJob.tx_size = 2;
srsJob.tx_data = srsTx;
srsJob.rx_size = 11;
srsJob.rx_data = srsRx;
srsJobInProgress = true;
i2c_add_job(&srsJob);
}

// This is called direct from main (after analyses of last JobFinished). So we can setup the next job here.
void srs_transfer() {
// Data transfer gets executed in block-bursts with more delay all x datablock transfer jobs
srsNextJobTime = timGetSystime();
srsBlockInBurstCnt--;
if (srsBlockInBurstCnt == 0) {
srsBlockInBurstCnt = SRS_BLOCKBURST_CNT;
srsNextJobTime += SRS_BLOCKBURST_DEALY_MS;
} else {
srsNextJobTime += SRS_BLOCKDELAY_MS;
}
srsDelayNextJob = true;

switch (srsDataTransferStatus) {
case SRS_DATA_INIT:
srsJob.device = srs->pI2C;
srsJob.adress = SRS_CTRL_ADDR;
srsTx[0] = SRS_CTRLCMD_REQDATA;
srsTx[1] = SRS_DATACMD_INIT;
srsTx[2] = (uint8_t)(SRS_DATABLOCK_SIZE & 0x00FF);
srsTx[3] = (uint8_t)(SRS_DATABLOCK_SIZE>>8 & 0x00FF);
memcpy(&srsTx[4],&srsDataPtrStart, 4);
uint32_t numBlocks = (srsDataPtrEnd - srsDataPtrStart + 1)/SRS_DATABLOCK_SIZE;
if ((srsDataPtrEnd - srsDataPtrStart + 1)%SRS_DATABLOCK_SIZE != 0) {
numBlocks++;
}
memcpy(&srsTx[8],&numBlocks, 4);
srsTx[12] = srs_crc(srsTx, 12);
srsJob.tx_size = 13;
srsJob.tx_data = srsTx;
srsJob.rx_size = 13;
srsJob.rx_data = srsRx;
srsJobInProgress = true;
srsPendingCmdExec = SRS_CMDEXEC_REQDATA;
srsBlockInBurstCnt = SRS_BLOCKBURST_CNT;
//i2c_add_job(&srsJob);
break;
case SRS_DATA_BLOCKREAD:
srsJob.device = srs->pI2C;
srsJob.adress = SRS_CTRL_ADDR;
srsTx[0] = SRS_CTRLCMD_REQDATA;
if (srsBlocksToRead>0) {
srsTx[1] = SRS_DATACMD_TRANSFER;
srsBlocksToRead--;
} else {
srsTx[1] = SRS_DATACMD_STOP;
srsDataTransferStatus = SRS_DATA_STOP;
}
srsTx[2] = srs_crc(srsTx, 2);
srsJob.tx_size = 3;
srsJob.tx_data = srsTx;
srsJob.rx_size = 17 + srsBlockSize;
srsJob.rx_data = srsRx;
srsJobInProgress = true;
srsPendingCmdExec = SRS_CMDEXEC_REQDATA;
//i2c_add_job(&srsJob);
break;
case SRS_DATA_RESEND:
srsJob.device = srs->pI2C;
srsJob.adress = SRS_CTRL_ADDR;
srsTx[0] = SRS_CTRLCMD_REQDATA;
srsTx[1] = SRS_DATACMD_RESEND;
srsTx[2] = srs_crc(srsTx, 2);
srsJob.tx_size = 3;
srsJob.tx_data = srsTx;
srsJob.rx_size = 17 + srsBlockSize;
srsJob.rx_data = srsRx;
srsJobInProgress = true;
srsPendingCmdExec = SRS_CMDEXEC_REQDATA;
//i2c_add_job(&srsJob);
break;
case SRS_DATA_STOP:
srsJob.device = srs->pI2C;
srsJob.adress = SRS_CTRL_ADDR;
srsTx[0] = SRS_CTRLCMD_REQDATA;
srsTx[1] = SRS_DATACMD_STOP;
srsTx[2] = srs_crc(srsTx, 2);
srsJob.tx_size = 3;
srsJob.tx_data = srsTx;
srsJob.rx_size = 3;
srsJob.rx_data = srsRx;
srsJobInProgress = true;
srsPendingCmdExec = SRS_CMDEXEC_REQDATA;
//i2c_add_job(&srsJob);
break;
}
}



// Module L7 API - TODO: move to higher level commanding layer (Scripting!)
Expand Down Expand Up @@ -440,6 +683,25 @@ void srs_cmd(int argc, char *argv[]) {
srs_shutdown();
break;

case 'd': {
if (argc > 2) {
srsDataPtrStart = atol(argv[2]);
srsDataPtrEnd = srsDataPtrStart + 500;
}
if (argc > 3) {
srsDataPtrEnd = atol(argv[3]);
if (srsDataPtrEnd <= srsDataPtrStart) {
srsDataPtrEnd = srsDataPtrStart + 500;
}
}
if (argc == 2) {
srs_maketransfer();
} else {
srs_maketransfer_presized();
}
}
break;

default:
break;
}
Expand Down
8 changes: 8 additions & 0 deletions ClimbObc/src/mod/srs/radsensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,15 @@ void srs_cmd(int argc, char *argv[]);
#define EID_SRS_INTERVALS 0x06
#define EID_SRS_INTERVAL 0x07
#define EID_SRS_SHUTDOWN 0x08
#define EID_SRS_ADDRINFO 0x09
#define EID_SRS_TRANSFERINIT 0x0a
#define EID_SRS_BLOCKDATA 0x0b
#define EID_SRS_TRANSFERSTOP 0x0c

#define EID_SRS_ERROR 0x80
#define EID_SRS_TRANSFERBUSY 0x81




#endif /* MOD_SRS_RADSENSOR_H_ */
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