added init command

mission/devices/RwHandler.cpp

@@ -55,7 +55,8 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
-    return RETURN_OK;
+    *id = RwDefinitions::INIT_RW_CONTROLLER;
+    return buildCommandFromCommand(*id, nullptr, 0);;
 }
 
 ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@@ -73,6 +74,10 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
         prepareGetStatusCmd(commandData, commandDataLen);
         return RETURN_OK;
     }
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
+        prepareInitRwCommand();
+        return RETURN_OK;
+    }
     case (RwDefinitions::SET_SPEED): {
         if (commandDataLen != 6) {
             sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
@@ -100,6 +105,7 @@ void RwHandler::fillCommandAndReplyMap() {
     this->insertInCommandMap(RwDefinitions::RESET_MCU);
     this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
             RwDefinitions::SIZE_GET_RW_STATUS);
+    this->insertInCommandMap(RwDefinitions::INIT_RW_CONTROLLER);
     this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
             RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
     this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
@@ -228,6 +234,15 @@ void RwHandler::prepareGetTemperatureCmd() {
     rawPacketLen = 3;
 }
 
+void RwHandler::prepareInitRwCommand() {
+    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER);
+    uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
+    commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
+    commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
+    rawPacket = commandBuffer;
+    rawPacketLen = 3;
+}
+
 
 void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
     commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);

mission/devices/RwHandler.h

@@ -121,6 +121,13 @@ private:
      */
     void prepareGetTemperatureCmd();
 
+    /**
+     * @brief   This function fills the commandBuffer with the data to request initialize the
+     *          reaction wheel controller. This command must be sent as soon as the state of a
+     *          reaction wheel is equal to 1 which indicates an error.
+     */
+    void prepareInitRwCommand();
+
 	/**
 	 * @brief   This function handles the reply of the get temperature command.
 	 *

mission/devices/devicedefinitions/RwDefinitions.h

@@ -30,6 +30,7 @@ static const DeviceCommandId_t RESET_MCU = 1;
 static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
 static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
 static const DeviceCommandId_t GET_RW_STATUS = 4;
+static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
 static const DeviceCommandId_t SET_SPEED = 6;
 static const DeviceCommandId_t GET_TEMPERATURE = 8;
 

tmtc

@@ -1 +1 @@
-Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2
+Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb