eive/eive-obsw
eive/eive-obsw
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Merge remote-tracking branch 'origin/develop' into meier/openGpioByName
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This commit is contained in:
Robin Müller 2021-09-27 09:59:36 +02:00
commit 3a606fdfc4
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GPG Key ID: 71B58F8A3CDFA9AC
4 changed files with 33 additions and 16 deletions
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15
bsp_q7s/core/ObjectFactory.cpp
View File

@ -400,7 +400,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
std::stringstream consumer;
GpiodRegularByLineName* gpio = nullptr;
consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::OUT, gpio::HIGH);
gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
gpio::OUT, gpio::HIGH);
gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
consumer.str("");
@ -856,19 +857,31 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
#if OBSW_DEBUG_RW == 1
rwHandler1->setStartUpImmediately();
#endif
rw1SpiCookie->setCallbackArgs(rwHandler1);
rwHandler1->setStartUpImmediately();
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
#if OBSW_DEBUG_RW == 1
rwHandler2->setStartUpImmediately();
#endif
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
#if OBSW_DEBUG_RW == 1
rwHandler3->setStartUpImmediately();
#endif
rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
#if OBSW_DEBUG_RW == 1
rwHandler4->setStartUpImmediately();
#endif
rw4SpiCookie->setCallbackArgs(rwHandler4);
}

10
mission/devices/GPSHyperionHandler.cpp
View File

@ -60,10 +60,8 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
PoolReadGuard pg(&gpsSet);
// Set HK entries invalid
gpsSet.setValidity(false, true);
// The user needs to implement this. Don't touch states for now, the device should
// quickly reboot and send valid strings again.
actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
return resetCallback(resetCallbackArgs);
resetCallback(resetCallbackArgs);
return HasActionsIF::EXECUTION_FINISHED;
}
return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}
@ -210,3 +208,7 @@ ReturnValue_t GPSHyperionHandler::initialize() {
// Enable reply immediately for now
return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
}
ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
return DeviceHandlerBase::acceptExternalDeviceCommands();
}

1
mission/devices/GPSHyperionHandler.h
View File

@ -22,6 +22,7 @@ public:
using gpioResetFunction_t = ReturnValue_t (*) (void* args);
void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
ReturnValue_t acceptExternalDeviceCommands() override;
ReturnValue_t initialize() override;
protected:

23
mission/devices/RwHandler.cpp
View File

@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
DeviceCommandId_t *foundId, size_t *foundLen) {
switch (*(start)) {
case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
uint8_t replyByte = *start;
switch (replyByte) {
case (RwDefinitions::GET_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
*foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
*foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
case (RwDefinitions::GET_RW_STATUS): {
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
*foundId = RwDefinitions::GET_RW_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
case (RwDefinitions::INIT_RW_CONTROLLER): {
*foundLen = RwDefinitions::SIZE_INIT_RW;
*foundId = RwDefinitions::INIT_RW_CONTROLLER;
break;
}
case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
case (RwDefinitions::SET_SPEED): {
*foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
*foundId = RwDefinitions::SET_SPEED;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
case (RwDefinitions::GET_TEMPERATURE): {
*foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
*foundId = RwDefinitions::GET_TEMPERATURE;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
case (RwDefinitions::GET_TM): {
*foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
*foundId = RwDefinitions::GET_TM;
break;
}
default: {
sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
std::endl;
*foundLen = remainingSize;
return RETURN_FAILED;
break;
}
}