Merge pull request 'GPS Reset Pin Handling Update' (#261) from mueller/gps-reset-pin-update into develop

Reviewed-on: #261
Reviewed-by: Jakob.Meier <meierj@irs.uni-stuttgart.de>

bsp_q7s/callbacks/gnssCallback.cpp

@@ -1,9 +1,14 @@
 #include "gnssCallback.h"
 
+#include "fsfw/action/HasActionsIF.h"
 #include "devices/gpioIds.h"
 #include "fsfw/tasks/TaskFactory.h"
 
-ReturnValue_t gps::triggerGpioResetPin(void* args) {
+ReturnValue_t gps::triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args) {
+  // At least one byte which denotes which GPS to reset is required
+  if(len < 1 or actionData == nullptr) {
+    return HasActionsIF::INVALID_PARAMETERS;
+  }
   ResetArgs* resetArgs = reinterpret_cast<ResetArgs*>(args);
   if (args == nullptr) {
     return HasReturnvaluesIF::RETURN_FAILED;
@@ -12,11 +17,10 @@ ReturnValue_t gps::triggerGpioResetPin(void* args) {
     return HasReturnvaluesIF::RETURN_FAILED;
   }
   gpioId_t gpioId;
-  if (resetArgs->gnss1) {
-    gpioId = gpioIds::GNSS_1_NRESET;
-
-  } else {
+  if (actionData[0] == 0) {
     gpioId = gpioIds::GNSS_0_NRESET;
+  } else {
+    gpioId = gpioIds::GNSS_1_NRESET;
   }
   resetArgs->gpioComIF->pullLow(gpioId);
   TaskFactory::delayTask(resetArgs->waitPeriodMs);

bsp_q7s/callbacks/gnssCallback.h

@@ -5,14 +5,13 @@
 #include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
 
 struct ResetArgs {
-  bool gnss1 = false;
   LinuxLibgpioIF* gpioComIF = nullptr;
   uint32_t waitPeriodMs = 100;
 };
 
 namespace gps {
 
-ReturnValue_t triggerGpioResetPin(void* args);
+ReturnValue_t triggerGpioResetPin(const uint8_t* actionData, size_t len, void* args);
 
 }
 

bsp_q7s/core/ObjectFactory.cpp

@@ -93,8 +93,7 @@
 #include "mission/tmtc/VirtualChannel.h"
 #include "mission/utility/TmFunnel.h"
 
-ResetArgs resetArgsGnss0;
-ResetArgs resetArgsGnss1;
+ResetArgs RESET_ARGS_GNSS;
 
 void Factory::setStaticFrameworkObjectIds() {
   PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
@@ -462,15 +461,11 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComI
 #if OBSW_DEBUG_GPS == 1
   debugGps = true;
 #endif
-  resetArgsGnss1.gnss1 = true;
-  resetArgsGnss1.gpioComIF = gpioComIF;
-  resetArgsGnss1.waitPeriodMs = 100;
-  resetArgsGnss0.gnss1 = false;
-  resetArgsGnss0.gpioComIF = gpioComIF;
-  resetArgsGnss0.waitPeriodMs = 100;
-  auto gpsHandler0 =
+  RESET_ARGS_GNSS.gpioComIF = gpioComIF;
+  RESET_ARGS_GNSS.waitPeriodMs = 100;
+  auto gpsCtrl =
       new GPSHyperionLinuxController(objects::GPS_CONTROLLER, objects::NO_OBJECT, debugGps);
-  gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
+  gpsCtrl->setResetPinTriggerFunction(gps::triggerGpioResetPin, &RESET_ARGS_GNSS);
 
   AcsBoardHelper acsBoardHelper = AcsBoardHelper(
       objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,

linux/devices/GPSHyperionLinuxController.cpp

@@ -57,12 +57,12 @@ ReturnValue_t GPSHyperionLinuxController::executeAction(ActionId_t actionId,
                                                         MessageQueueId_t commandedBy,
                                                         const uint8_t *data, size_t size) {
   switch (actionId) {
-    case (GpsHyperion::TRIGGER_RESET_PIN): {
+    case (GpsHyperion::TRIGGER_RESET_PIN_GNSS): {
       if (resetCallback != nullptr) {
         PoolReadGuard pg(&gpsSet);
         // Set HK entries invalid
         gpsSet.setValidity(false, true);
-        resetCallback(resetCallbackArgs);
+        resetCallback(data, size, resetCallbackArgs);
         return HasActionsIF::EXECUTION_FINISHED;
       }
       return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;

linux/devices/GPSHyperionLinuxController.h

@@ -30,7 +30,7 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
 
-  using gpioResetFunction_t = ReturnValue_t (*)(void* args);
+  using gpioResetFunction_t = ReturnValue_t (*)(const uint8_t* actionData, size_t len, void* args);
 
   void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void* args);
   ReturnValue_t handleCommandMessage(CommandMessage* message) override;

mission/devices/devicedefinitions/GPSDefinitions.h

@@ -14,7 +14,7 @@ static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::GPS_HANDLER;
 static constexpr Event GPS_FIX_CHANGE = event::makeEvent(SUBSYSTEM_ID, 0, severity::INFO);
 
 static constexpr DeviceCommandId_t GPS_REPLY = 0;
-static constexpr DeviceCommandId_t TRIGGER_RESET_PIN = 5;
+static constexpr DeviceCommandId_t TRIGGER_RESET_PIN_GNSS = 5;
 
 static constexpr uint32_t DATASET_ID = 0;