eive/eive-obsw
eive/eive-obsw
13
4
Fork 0
Code Issues 4 Pull Requests 1 Releases 120 Wiki Activity

some more bugfixes
Some checks failed
EIVE/eive-obsw/pipeline/head There was a failure building this commit
Details

Browse Source
This commit is contained in:
Robin Müller 2023-02-15 19:27:19 +01:00
parent 8c001b6443
commit 655e01c2d1
No known key found for this signature in database
GPG Key ID: 11D4952C8CCEF814
2 changed files with 70 additions and 68 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
linux/devices/RwPollingTask.cpp
View File

@ -172,6 +172,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
gpioId_t gpioId = rwCookie.getChipSelectPin();
GpioIF& gpioIF = spiIF->getGpioInterface();
pullCsLow(gpioId, spiLock, gpioIF);
uint8_t byteRead = 0;
for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
@ -181,18 +182,17 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
* The reaction wheel responds with empty frames while preparing the reply data.
* However, receiving more than 5 empty frames will be interpreted as an error.
*/
uint8_t byteRead = 0;
for (int idx = 0; idx < 5; idx++) {
if (read(fd, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
pullCsHigh(gpioId, spiLock, gpioIF);
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != FLAG_BYTE) {
sif::error << "Invalid data, expected start marker" << std::endl;
pullCsHigh(gpioId, spiLock, gpioIF);
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::NO_START_MARKER;
}
@ -202,7 +202,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
break;
}
pullCsHigh(gpioId, spiLock, gpioIF);
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
if (idx == MAX_RETRIES_REPLY - 1) {
sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
@ -210,7 +210,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
TaskFactory::delayTask(5);
}
}
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
#endif
@ -218,7 +218,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
size_t decodedFrameLen = 0;
while (decodedFrameLen < maxReplyLen) {
/** First byte already read in */
// First byte already read in
if (decodedFrameLen != 0) {
byteRead = 0;
if (read(fd, &byteRead, 1) != 1) {
@ -229,7 +229,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
if (byteRead == FLAG_BYTE) {
/** Reached end of frame */
// Reached end of frame
break;
} else if (byteRead == 0x7D) {
if (read(fd, &byteRead, 1) != 1) {
@ -247,7 +247,6 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
continue;
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
closeSpi(fd);
result = rws::INVALID_SUBSTITUTE;
break;
}
@ -257,9 +256,10 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
continue;
}
// Check end marker.
/**
* There might be the unlikely case that each byte in a get-telemetry reply has been
* replaced by its substitute. Than the next byte must correspond to the end sign 0x7E.
* replaced by its substitute. Then the next byte must correspond to the end sign 0x7E.
* Otherwise there might be something wrong.
*/
if (decodedFrameLen == maxReplyLen) {
@ -269,8 +269,8 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
break;
}
if (byteRead != FLAG_BYTE) {
sif::error << "rwSpiCallback::spiCallback: Missing end sign "
<< static_cast<int>(FLAG_BYTE) << std::endl;
sif::error << "rwSpiCallback::spiCallback: Missing end sign " << static_cast<int>(FLAG_BYTE)
<< std::endl;
decodedFrameLen--;
result = rws::MISSING_END_SIGN;
break;
@ -278,8 +278,10 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
}
result = returnvalue::OK;
}
}
return returnvalue::OK;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return result;
}
ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
@ -410,10 +412,10 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
encodeHdlc(writeBuffer.data(), writeLen, lenToSend);
if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
pullCsHigh(gpioId, spiLock, gpioIF);
pullCsHigh(gpioId, gpioIF);
return rws::SPI_WRITE_FAILURE;
}
pullCsHigh(gpioId, spiLock, gpioIF);
pullCsHigh(gpioId, gpioIF);
return returnvalue::OK;
}
@ -434,7 +436,7 @@ ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF
return returnvalue::OK;
}
void RwPollingTask::pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
if (gpioId != gpio::NO_GPIO) {
if (gpioIF.pullHigh(gpioId) != returnvalue::OK) {
sif::error << "closeSpi: Failed to pull chip select high" << std::endl;

2
linux/devices/RwPollingTask.h
View File

@ -77,7 +77,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
size_t idAndIdxToReadBuffer(DeviceCommandId_t id, uint8_t rwIdx, uint8_t** readPtr);
void encodeHdlc(const uint8_t* sourceBuf, size_t sourceLen, size_t& encodedLen);
void pullCsHigh(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
void pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF);
void closeSpi(int);
};