update

2022-05-10 18:34:39 +02:00 · 2022-05-10 18:34:39 +02:00 · 45c1ac0f61
commit 45c1ac0f61
parent 9d63eb837a
7 changed files with 33 additions and 34 deletions
--- a/bsp_q7s/callbacks/rwSpiCallback.cpp
+++ b/bsp_q7s/callbacks/rwSpiCallback.cpp
@ -1,8 +1,9 @@
 #include "rwSpiCallback.h"

+#include <fsfw/timemanager/Stopwatch.h>
+
 #include "devices/gpioIds.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
-#include <fsfw/timemanager/Stopwatch.h>
 #include "fsfw_hal/linux/UnixFileGuard.h"
 #include "fsfw_hal/linux/spi/SpiCookie.h"
 #include "mission/devices/RwHandler.h"
@ -11,7 +12,7 @@ namespace rwSpiCallback {

 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
                          size_t sendLen, void* args) {
-  Stopwatch watch;
+  // Stopwatch watch;
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;

  RwHandler* handler = reinterpret_cast<RwHandler*>(args);
--- a/misc/eclipse/.cproject
+++ b/misc/eclipse/.cproject
@ -687,7 +687,8 @@
 									<listOptionValue builtIn="false" value="&quot;${Q7S_SYSROOT_UNIX}/usr/include&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input.1331264991" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.assembler.input"/>
 							</tool>
@ -699,7 +700,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs.1143219558" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.c.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
@ -713,10 +715,10 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/linux/fsfwconfig}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/common/config}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/fsfw/hal/src}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/build-Debug-Q7S/fsfw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/eive-obsw/cmake-build-debug-q7s/fsfw}&quot;"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs.1199844227" name="Defined symbols (-D)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.compiler.defs" useByScannerDiscovery="true" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="LINUX=1"/>
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@ -11,7 +11,6 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
    : DeviceHandlerBase(objectId, comIF, comCookie),
      gpioComIF(gpioComIF),
      enableGpio(enableGpio),
-      temperatureSet(this),
      statusSet(this),
      lastResetStatusSet(this),
      tmDataset(this) {
@ -134,7 +133,7 @@ void RwHandler::fillCommandAndReplyMap() {
                                   RwDefinitions::SIZE_GET_RW_STATUS);
  this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
                                   RwDefinitions::SIZE_INIT_RW);
-  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
+  this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, nullptr,
                                   RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
  this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
                                   RwDefinitions::SIZE_SET_SPEED_REPLY);
@ -278,7 +277,6 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
  localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry<uint32_t>({0}));
-  poolManager.subscribeForPeriodicPacket(temperatureSet.getSid(), false, 30.0, false);
  poolManager.subscribeForPeriodicPacket(statusSet.getSid(), false, 5.0, true);
  poolManager.subscribeForPeriodicPacket(tmDataset.getSid(), false, 30.0, false);
  return RETURN_OK;
@ -354,17 +352,28 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
 }

 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
-  PoolReadGuard rg(&statusSet);
+  PoolReadGuard rg0(&statusSet);
+  PoolReadGuard rg1(&tmDataset);
  uint8_t offset = 2;
  statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                        *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwCurrSpeed = statusSet.currSpeed;
+  tmDataset.rwCurrSpeed.setValid(true);
  offset += 4;
  statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
                             *(packet + offset + 1) << 8 | *(packet + offset);
+  tmDataset.rwRefSpeed = statusSet.referenceSpeed;
+  tmDataset.rwRefSpeed.setValid(true);
  offset += 4;
  statusSet.state = *(packet + offset);
+  tmDataset.rwState = statusSet.state;
+  tmDataset.rwState.setValid(true);
  offset += 1;
  statusSet.clcMode = *(packet + offset);
+  tmDataset.rwClcMode = statusSet.clcMode;
+  tmDataset.rwClcMode.setValid(true);
+
+  statusSet.setValidity(true, true);

  if (statusSet.state == RwDefinitions::STATE_ERROR) {
    // This requires the commanding of the init reaction wheel controller command to recover
@ -388,14 +397,14 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 }

 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
-  PoolReadGuard rg(&temperatureSet);
+  PoolReadGuard rg(&statusSet);
  uint8_t offset = 2;
-  temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
-                                      *(packet + offset + 1) << 8 | *(packet + offset);
+  statusSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 |
+                                 *(packet + offset + 1) << 8 | *(packet + offset);
  if (debugMode) {
 #if OBSW_VERBOSE_LEVEL >= 1
-    sif::info << "RwHandler::handleTemperatureReply: Temperature: "
-              << temperatureSet.temperatureCelcius << " °C" << std::endl;
+    sif::info << "RwHandler::handleTemperatureReply: Temperature: " << statusSet.temperatureCelcius
+              << " °C" << std::endl;
 #endif
  }
 }
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@ -87,7 +87,6 @@ class RwHandler : public DeviceHandlerBase {
  gpioId_t enableGpio = gpio::NO_GPIO;
  bool debugMode = false;

-  RwDefinitions::TemperatureSet temperatureSet;
  RwDefinitions::StatusSet statusSet;
  RwDefinitions::LastResetSatus lastResetStatusSet;
  RwDefinitions::TmDataset tmDataset;
--- a/mission/devices/devicedefinitions/RwDefinitions.h
+++ b/mission/devices/devicedefinitions/RwDefinitions.h
@ -98,25 +98,11 @@ static const size_t MAX_CMD_SIZE = 9;
 static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;

 static const uint8_t LAST_RESET_ENTRIES = 2;
-static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
-static const uint8_t STATUS_SET_ENTRIES = 4;
+static const uint8_t STATUS_SET_ENTRIES = 5;
 static const uint8_t TM_SET_ENTRIES = 24;

 /**
- * @brief   This dataset can be used to store the temperature of a reaction wheel.
- */
-class TemperatureSet : public StaticLocalDataSet<TEMPERATURE_SET_ENTRIES> {
- public:
-  TemperatureSet(HasLocalDataPoolIF* owner) : StaticLocalDataSet(owner, TEMPERATURE_SET_ID) {}
-
-  TemperatureSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) {}
-
-  lp_var_t<int32_t> temperatureCelcius =
-      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
-};
-
-/**
- * @brief   This dataset can be used to store the reaction wheel status.
+ * @brief   This dataset can be used to store the data periodically polled from the RW
 */
 class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 public:
@ -124,6 +110,8 @@ class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {

  StatusSet(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) {}

+  lp_var_t<int32_t> temperatureCelcius =
+      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
  lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
  lp_var_t<int32_t> referenceSpeed =
      lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
--- a/mission/devices/devicedefinitions/powerDefinitions.h
+++ b/mission/devices/devicedefinitions/powerDefinitions.h
@ -10,7 +10,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::PCDU_HANDLER;
 //! [EXPORT] : [COMMENT] Indicates that a FSFW object requested setting a switch
 //! P1: 1 if on was requested, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_CMD_SENT = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
-//! [EXPORT] : [COMMENT] Indicated that a swithc state has changed
+//! [EXPORT] : [COMMENT] Indicated that a switch state has changed
 //! P1: New switch state, 1 for on, 0 for off | P2: Switch Index
 static constexpr Event SWITCH_HAS_CHANGED = event::makeEvent(SUBSYSTEM_ID, 1, severity::INFO);
 static constexpr Event SWITCHING_Q7S_DENIED = event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 1c5149c2b1bd61347585a2e4982feee60914a2c0
+Subproject commit a648b7f76f59838c73ce5286570b2130af426f96