eive/eive-obsw
eive/eive-obsw
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Some RW improvements

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- Moved Events to definitions file
- Added new event if reset occurs
- Deliver state if there is an error (going to be 0, still deliver it)
This commit is contained in:
Robin Müller 2022-05-05 12:48:56 +02:00
parent 28c9e33d1c
commit 590fe6ca39
No known key found for this signature in database
GPG Key ID: 71B58F8A3CDFA9AC
4 changed files with 27 additions and 25 deletions
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2
fsfw

@ -1 +1 @@
Subproject commit f59b05c86cd54390d2a259eda770ee7935587112
Subproject commit 71f704c980ec8847bdd0bb1bf354c8de30d3524b

31
mission/devices/RwHandler.cpp
View File

@ -47,11 +47,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
*id = RwDefinitions::GET_LAST_RESET_STATUS;
internalState = InternalState::READ_TEMPERATURE;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
/** After reset status is cleared, reset status will be polled again for verification */
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::READ_TEMPERATURE:
*id = RwDefinitions::GET_TEMPERATURE;
internalState = InternalState::GET_RW_SATUS;
@ -60,6 +55,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
*id = RwDefinitions::GET_RW_STATUS;
internalState = InternalState::GET_RESET_STATUS;
break;
case InternalState::CLEAR_RESET_STATUS:
*id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
/** After reset status is cleared, reset status will be polled again for verification */
internalState = InternalState::GET_RESET_STATUS;
break;
default:
sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid internal step" << std::endl;
break;
@ -240,8 +240,6 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
return RETURN_OK;
}
void RwHandler::setNormalDatapoolEntriesInvalid() {}
uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@ -336,18 +334,19 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t* commandData, size_t commandDat
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
PoolReadGuard rg(&lastResetStatusSet);
uint8_t offset = 2;
uint8_t resetStatus = *(packet + offset);
uint8_t resetStatus = packet[offset];
if (resetStatus != RwDefinitions::CLEARED) {
internalState = InternalState::CLEAR_RESET_STATUS;
lastResetStatusSet.lastResetStatus = resetStatus;
lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);
}
lastResetStatusSet.currentResetStatus = resetStatus;
lastResetStatusSet.lastResetStatus = resetStatus;
if (debugMode) {
#if OBSW_VERBOSE_LEVEL >= 1
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
<< static_cast<unsigned int>(lastResetStatusSet.lastNonClearedResetStatus.value) << std::endl;
sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
<< static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value)
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value)
<< std::endl;
#endif
}
@ -367,11 +366,9 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
statusSet.clcMode = *(packet + offset);
if (statusSet.state == RwDefinitions::STATE_ERROR) {
/**
* This requires the commanding of the init reaction wheel controller command to recover
* form error state which must be handled by the FDIR instance.
*/
triggerEvent(ERROR_STATE);
// This requires the commanding of the init reaction wheel controller command to recover
// from error state which must be handled by the FDIR instance.
triggerEvent(RwDefinitions::ERROR_STATE, statusSet.state.value, 0);
sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" << std::endl;
}

6
mission/devices/RwHandler.h
View File

@ -66,13 +66,12 @@ class RwHandler : public DeviceHandlerBase {
ReturnValue_t scanForReply(const uint8_t* start, size_t remainingSize, DeviceCommandId_t* foundId,
size_t* foundLen) override;
ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) override;
void setNormalDatapoolEntriesInvalid() override;
uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
LocalDataPoolManager& poolManager) override;
private:
static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
//! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in
//! the range of [-65000; 1000] or [1000; 65000]
@ -86,9 +85,6 @@ class RwHandler : public DeviceHandlerBase {
//! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc
static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4);
//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
GpioIF* gpioComIF = nullptr;
gpioId_t enableGpio = gpio::NO_GPIO;
bool debugMode = false;

13
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -9,6 +9,13 @@
namespace RwDefinitions {
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;
//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::HIGH);
static const uint32_t SPI_REPLY_DELAY = 70000; // us
enum PoolIds : lp_id_t {
@ -133,9 +140,11 @@ class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
LastResetSatus(object_id_t objectId) : StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {}
lp_var_t<uint8_t> lastResetStatus =
// If a reset occurs, the status code will be cached into this variable
lp_var_t<uint8_t> lastNonClearedResetStatus =
lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
lp_var_t<uint8_t> currentResetStatus =
// This will always contain the last polled reset status
lp_var_t<uint8_t> lastResetStatus =
lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
};