important bugfixes

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -23,7 +23,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
  * @param gpioIF    Pointer to gpio interface to drive the chip select
  * @param mutex     The spi mutex
  */
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex);
 }  // namespace
 
 ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sendData,
@@ -74,7 +74,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
@@ -99,7 +99,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
     }
     if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
       sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_WRITE_FAILURE;
     }
     idx++;
@@ -111,14 +111,14 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   if (write(fileDescriptor, writeBuffer, writeSize) != static_cast<ssize_t>(writeSize)) {
     sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return RwHandler::SPI_WRITE_FAILURE;
   }
 
   uint8_t* rxBuf = nullptr;
   result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf);
   if (result != HasReturnvaluesIF::RETURN_OK) {
-    closeSpi(gpioId, gpioIF, mutex);
+    closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
     return result;
   }
 
@@ -126,7 +126,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   // There must be a delay of at least 20 ms after sending the command.
   // Delay for 70 ms here and release the SPI bus for that duration.
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
   usleep(RwDefinitions::SPI_REPLY_DELAY);
   result = openSpi(dev, O_RDWR, gpioIF, gpioId, mutex, timeoutType, timeoutMs, fileDescriptor);
   if (result != HasReturnvaluesIF::RETURN_OK) {
@@ -141,13 +141,13 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
   for (int idx = 0; idx < 10; idx++) {
     if (read(fileDescriptor, &byteRead, 1) != 1) {
       sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::SPI_READ_FAILURE;
     }
     if (idx == 0) {
       if (byteRead != FLAG_BYTE) {
         sif::error << "Invalid data, expected start marker" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         return RwHandler::NO_START_MARKER;
       }
     }
@@ -158,7 +158,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
     if (idx == 9) {
       sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
-      closeSpi(gpioId, gpioIF, mutex);
+      closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
       return RwHandler::NO_REPLY;
     }
   }
@@ -198,7 +198,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
         continue;
       } else {
         sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
-        closeSpi(gpioId, gpioIF, mutex);
+        closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
         result = RwHandler::INVALID_SUBSTITUTE;
         break;
       }
@@ -232,7 +232,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie* cookie, const uint8_t* sen
 
   cookie->setTransferSize(decodedFrameLen);
 
-  closeSpi(gpioId, gpioIF, mutex);
+  closeSpi(fileDescriptor, gpioId, gpioIF, mutex);
 
   return result;
 }
@@ -264,7 +264,8 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   }
   return HasReturnvaluesIF::RETURN_OK;
 }
-void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+void closeSpi(int fd, gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) {
+  close(fd);
   if (gpioId != gpio::NO_GPIO) {
     if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) {
       sif::error << "closeSpi: Failed to pull chip select high" << std::endl;

fsfw

@@ -1 +1 @@
-Subproject commit ab2d7ca98fbfbb862e129ea57b65b712e3dec589
+Subproject commit dafcaa60079ba8e57753d389e6a569ee3eb0b7cb

linux/devices/ploc/PlocMPSoCHandler.h

@@ -108,7 +108,7 @@ class PlocMPSoCHandler : public DeviceHandlerBase, public CommandsActionsIF {
   MessageQueueIF* eventQueue = nullptr;
   MessageQueueIF* commandActionHelperQueue = nullptr;
 
-  SourceSequenceCounter sequenceCount = 0;
+  SourceSequenceCounter sequenceCount;
 
   uint8_t commandBuffer[mpsoc::MAX_COMMAND_SIZE];
 

mission/devices/RwHandler.cpp

@@ -333,7 +333,7 @@ void RwHandler::handleResetStatusReply(const uint8_t* packet) {
   PoolReadGuard rg(&lastResetStatusSet);
   uint8_t offset = 2;
   uint8_t resetStatus = packet[offset];
-  if (resetStatus != RwDefinitions::CLEARED) {
+  if (resetStatus != 0) {
     internalState = InternalState::CLEAR_RESET_STATUS;
     lastResetStatusSet.lastNonClearedResetStatus = resetStatus;
     triggerEvent(RwDefinitions::RESET_OCCURED, resetStatus, 0);

mission/devices/devicedefinitions/RwDefinitions.h

@@ -14,7 +14,7 @@ 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 constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
 
 static const uint32_t SPI_REPLY_DELAY = 70000;  // us
 
@@ -55,14 +55,13 @@ enum PoolIds : lp_id_t {
 
 enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };
 
-enum LastResetStatus : uint8_t {
-  CLEARED = 0,
-  PIN_RESET = 1,
-  POR_PDR_BOR_RESET = 2,
-  SOFTWARE_RESET = 4,
-  INDEPENDENT_WATCHDOG_RESET = 8,
-  WINDOW_WATCHDOG_RESET = 16,
-  LOW_POWER_RESET = 32
+enum LastResetStatusBitPos : uint8_t {
+  PIN_RESET = 0,
+  POR_PDR_BOR_RESET = 1,
+  SOFTWARE_RESET = 2,
+  INDEPENDENT_WATCHDOG_RESET = 3,
+  WINDOW_WATCHDOG_RESET = 4,
+  LOW_POWER_RESET = 5
 };
 
 static const DeviceCommandId_t RESET_MCU = 1;

tmtc

@@ -1 +1 @@
-Subproject commit a648b7f76f59838c73ce5286570b2130af426f96
+Subproject commit bc02c9d6076dc3f6e0b37a67be04a445245fdd1e