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added local parameter handler to PdecConfig to store persistent parameters

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This commit is contained in:
Jakob Meier
2023-02-23 10:09:04 +01:00
parent 28f3b07c5c
commit 3b17af9d07
8 changed files with 89 additions and 47 deletions
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87
linux/ipcore/PdecHandler.cpp
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@ -77,22 +77,6 @@ ReturnValue_t PdecHandler::initialize() {
return returnvalue::FAILED;
}
result = pdecConfig.write();
if (result != returnvalue::OK) {
sif::error << "PdecHandler::initialize: Failed to write PDEC config" << std::endl;
return ObjectManagerIF::CHILD_INIT_FAILED;
}
result = releasePdec();
if (result != returnvalue::OK) {
return ObjectManagerIF::CHILD_INIT_FAILED;
}
// This configuration must be done while the PDEC is not held in reset.
if (OP_MODE == Modes::IRQ) {
// Configure interrupt mask register to enable interrupts
*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
}
result = actionHelper.initialize(commandQueue);
if (result != returnvalue::OK) {
return result;
@ -101,6 +85,36 @@ ReturnValue_t PdecHandler::initialize() {
return returnvalue::OK;
}
ReturnValue_t PdecHandler::firstLoop() {
ReturnValue_t result = pdecConfig.write();
if (result != returnvalue::OK) {
if (result == LocalParameterHandler::SD_NOT_READY) {
return result;
} else {
sif::error << "PdecHandler::firstLoop: Failed to write PDEC config" << std::endl;
}
return returnvalue::FAILED;
}
result = releasePdec();
if (result != returnvalue::OK) {
return returnvalue::FAILED;
}
// This configuration must be done while the PDEC is not held in reset.
if (OP_MODE == Modes::IRQ) {
// Configure interrupt mask register to enable interrupts
*(registerBaseAddress + PDEC_IMR_OFFSET) = pdecConfig.getImrReg();
}
result = resetFarStatFlag();
if (result != returnvalue::OK) {
// Requires reconfiguration and reinitialization of PDEC
triggerEvent(INVALID_FAR);
return result;
}
return returnvalue::OK;
}
ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
if (OP_MODE == Modes::POLLED) {
return polledOperation();
@ -111,19 +125,11 @@ ReturnValue_t PdecHandler::performOperation(uint8_t operationCode) {
}
ReturnValue_t PdecHandler::polledOperation() {
ReturnValue_t result = returnvalue::OK;
readCommandQueue();
switch (state) {
case State::INIT:
resetFarStatFlag();
if (result != returnvalue::OK) {
// Requires reconfiguration and reinitialization of PDEC
triggerEvent(INVALID_FAR);
state = State::WAIT_FOR_RECOVERY;
break;
}
state = State::RUNNING;
handleInitState();
break;
case State::RUNNING:
if (newTcReceived()) {
@ -143,7 +149,6 @@ ReturnValue_t PdecHandler::polledOperation() {
// See https://yurovsky.github.io/2014/10/10/linux-uio-gpio-interrupt.html for more information.
ReturnValue_t PdecHandler::irqOperation() {
ReturnValue_t result = returnvalue::OK;
int fd = open(uioNames.irq, O_RDWR);
if (fd < 0) {
sif::error << "PdecHandler::irqOperation: Opening UIO IRQ file" << uioNames.irq << " failed"
@ -166,14 +171,7 @@ ReturnValue_t PdecHandler::irqOperation() {
readCommandQueue();
switch (state) {
case State::INIT:
result = resetFarStatFlag();
if (result != returnvalue::OK) {
// Requires reconfiguration and reinitialization of PDEC
triggerEvent(INVALID_FAR);
state = State::WAIT_FOR_RECOVERY;
return result;
}
state = State::RUNNING;
handleInitState();
break;
case State::RUNNING: {
checkAndHandleIrqs(fd, info);
@ -194,6 +192,27 @@ ReturnValue_t PdecHandler::irqOperation() {
return returnvalue::OK;
}
void PdecHandler::handleInitState() {
ReturnValue_t result = firstLoop();
if (result != returnvalue::OK) {
if (result == LocalParameterHandler::SD_NOT_READY) {
TaskFactory::delayTask(400);
if (initTries == MAX_INIT_TRIES) {
sif::error << "PdecHandler::handleInitState: SD card never "
"becomes ready"
<< std::endl;
state = State::WAIT_FOR_RECOVERY;
return;
} else {
state = State::INIT;
return;
}
}
state = State::WAIT_FOR_RECOVERY;
}
state = State::RUNNING;
}
ReturnValue_t PdecHandler::checkAndHandleIrqs(int fd, uint32_t& info) {
ssize_t nb = write(fd, &info, sizeof(info));
if (nb != static_cast<ssize_t>(sizeof(info))) {