eive/eive-obsw
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stupid RW
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This commit is contained in:
Robin Müller
2023-02-14 18:41:43 +01:00
parent 29e78a7ae3
commit 166fd77f7b
5 changed files with 116 additions and 119 deletions
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4
bsp_q7s/core/ObjectFactory.cpp
View File

@ -683,8 +683,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
&rwSpiCallback::spiCallback, nullptr);
auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
rwGpioIds[idx]);
rwCookies[idx]->setCallbackArgs(rws[idx]);
rwGpioIds[idx], idx);
rwCookies[idx]->setCallbackArgs(rwHandler);
#if OBSW_TEST_RW == 1
rws[idx]->setStartUpImmediately();
#endif

148
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -633,80 +633,80 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
}
if (cfg.scheduleRws) {
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
//
// thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
// thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
}
if (cfg.scheduleRws) {

14
mission/devices/ImtqHandler.cpp
View File

@ -183,22 +183,20 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
}
ReturnValue_t result;
{
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet);
// Commands override anything which was set in the software
if (commandData != nullptr) {
dipoleSet.setValidityBufferGeneration(false);
result =
dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
result = dipoleSet.deSerialize(&commandData, &commandDataLen,
SerializeIF::Endianness::NETWORK);
dipoleSet.setValidityBufferGeneration(true);
if (result != returnvalue::OK) {
return result;
}
result = dipoleSet.commit();
if (result != returnvalue::OK) {
sif::error << "ImtqHandler::buildCommandFromCommand: commit failed" << std::endl;
}
} else {
// Read set dipole values from local pool
PoolReadGuard pg(&dipoleSet);
}
if (ACTUATION_WIRETAPPING) {
sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value

30
mission/devices/RwHandler.cpp
View File

@ -7,14 +7,15 @@
#include "OBSWConfig.h"
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
GpioIF* gpioComIF, gpioId_t enableGpio)
GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
: DeviceHandlerBase(objectId, comIF, comCookie),
gpioComIF(gpioComIF),
enableGpio(enableGpio),
statusSet(this),
lastResetStatusSet(this),
tmDataset(this),
rwSpeedActuationSet(*this) {
rwSpeedActuationSet(*this),
rwIdx(rwIdx) {
if (comCookie == nullptr) {
sif::error << "RwHandler: Invalid com cookie" << std::endl;
}
@ -43,6 +44,10 @@ void RwHandler::doShutDown() {
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
switch (internalState) {
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::GET_RESET_STATUS:
*id = RwDefinitions::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
@ -53,10 +58,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
break;
case InternalState::GET_RW_SATUS:
*id = RwDefinitions::GET_RW_STATUS;
internalState = InternalState::SET_SPEED;
break;
case InternalState::SET_SPEED:
*id = RwDefinitions::SET_SPEED;
internalState = InternalState::CLEAR_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
@ -107,6 +108,9 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
<< " invalid length" << std::endl;
return SET_SPEED_COMMAND_INVALID_LENGTH;
}
{
PoolReadGuard pg(&rwSpeedActuationSet);
// Commands override anything which was set in the software
if (commandData != nullptr) {
rwSpeedActuationSet.setValidityBufferGeneration(false);
@ -116,20 +120,14 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
if (result != returnvalue::OK) {
return result;
}
result = rwSpeedActuationSet.commit();
if (result != returnvalue::OK) {
sif::error << "RwHandler::buildCommandFromCommand: commit failed" << std::endl;
}
} else {
// Read set rw speed value from local pool
PoolReadGuard pg(&rwSpeedActuationSet);
}
if (ACTUATION_WIRETAPPING) {
int32_t speed;
uint16_t rampTime;
int32_t speed = 0;
uint16_t rampTime = 0;
rwSpeedActuationSet.getRwSpeed(speed, rampTime);
sif::debug << "Actuating RW with speed = " << speed << " and rampTime = " << rampTime
<< std::endl;
sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
<< " and rampTime = " << rampTime << std::endl;
}
result = checkSpeedAndRampTime();
if (result != returnvalue::OK) {

9
mission/devices/RwHandler.h
View File

@ -9,7 +9,7 @@
#include "events/subsystemIdRanges.h"
#include "returnvalues/classIds.h"
static constexpr bool ACTUATION_WIRETAPPING = true;
static constexpr bool ACTUATION_WIRETAPPING = false;
class GpioIF;
@ -36,7 +36,7 @@ class RwHandler : public DeviceHandlerBase {
* to high to enable the device.
*/
RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
gpioId_t enableGpio);
gpioId_t enableGpio, uint8_t rwIdx);
void setDebugMode(bool enable);
@ -98,9 +98,10 @@ class RwHandler : public DeviceHandlerBase {
RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
uint8_t rwIdx;
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>(10, false);
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
enum class InternalState {
GET_RESET_STATUS,