all reaction wheels working

bsp_q7s/ObjectFactory.cpp

@@ -591,26 +591,18 @@ void ObjectFactory::produce(void* args){
 
 	auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
 			gpioIds::EN_RW1);
-	(void) rwHandler1;
-//    rwHandler1->setStartUpImmediately();
     rw1SpiCookie->setCallbackArgs(rwHandler1);
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
 			gpioIds::EN_RW2);
-//    rwHandler2->setStartUpImmediately();
-    (void) rwHandler2;
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
     auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
 			gpioIds::EN_RW3);
-//    rwHandler3->setStartUpImmediately();
+    rw3SpiCookie->setCallbackArgs(rwHandler3);
-    (void) rwHandler3;
-//    rw3SpiCookie->setCallbackArgs(rwHandler3);
 
     auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
 			gpioIds::EN_RW4);
-//    (void) rwHandler4;
-    rwHandler4->setStartUpImmediately();
     rw4SpiCookie->setCallbackArgs(rwHandler4);
 
 #endif /* TE0720 == 0 */

linux/fsfwconfig/OBSWConfig.h.in

@@ -52,7 +52,7 @@ debugging. */
 #include "OBSWVersion.h"
 
 /* Can be used to switch device to NORMAL mode immediately */
-#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    1
+#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP    0
 
 #ifdef __cplusplus
 

mission/devices/RwHandler.cpp

@@ -20,18 +20,12 @@ RwHandler::~RwHandler() {
 }
 
 void RwHandler::doStartUp() {
-	switch (startupStep) {
+
-	case StartupStep::ENABLE_RW: {
+    internalState  = InternalState::GET_RESET_STATUS;
-		if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
+
-			sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
-		}
+        sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
-		return;
+    }
-	}
-	case StartupStep::STARTUP_COMPLETE:
-		break;
-	default:
-		return;
-	}
 
 #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
     setMode(MODE_NORMAL);
@@ -44,23 +38,26 @@ void RwHandler::doShutDown() {
 	if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
 		sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
 	}
-	/** Reset startup step for next doStartUp routine */
-	startupStep = StartupStep::ENABLE_RW;
 }
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
-    switch (communicationStep) {
+    switch (internalState) {
-    case CommunicationStep::GET_RESET_STATUS:
+    case InternalState::GET_RESET_STATUS:
         *id = RwDefinitions::GET_LAST_RESET_STATUS;
-        communicationStep = CommunicationStep::READ_TEMPERATURE;
+        internalState = InternalState::READ_TEMPERATURE;
         break;
-    case CommunicationStep::READ_TEMPERATURE:
+    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;
-        communicationStep = CommunicationStep::GET_RW_SATUS;
+        internalState = InternalState::GET_RW_SATUS;
         break;
-    case CommunicationStep::GET_RW_SATUS:
+    case InternalState::GET_RW_SATUS:
         *id = RwDefinitions::GET_RW_STATUS;
-        communicationStep = CommunicationStep::GET_RESET_STATUS;
+        internalState = InternalState::GET_RESET_STATUS;
         break;
     default:
         sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step"
@@ -71,27 +68,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
-    switch (startupStep) {
+    return RETURN_OK;
-    case StartupStep::ENABLE_RW:
-        *id = RwDefinitions::GET_LAST_RESET_STATUS;
-        startupStep = StartupStep::CLEAR_RESET_STATUS;
-        break;
-    case StartupStep::CLEAR_RESET_STATUS:
-        *id = RwDefinitions::CLEAR_LAST_RESET_STATUS;
-        startupStep = StartupStep::INIT_RW;
-        break;
-    case StartupStep::INIT_RW:
-        *id = RwDefinitions::INIT_RW_CONTROLLER;
-        startupStep = StartupStep::STARTUP_COMPLETE;
-        break;
-    case StartupStep::STARTUP_COMPLETE:
-    	break;
-    default:
-        sif::debug << "RwHandler::buildTransitionDeviceCommand: Invalid startup step"
-                << std::endl;
-        break;
-    }
-    return buildCommandFromCommand(*id, nullptr, 0);;
 }
 
 ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@@ -100,9 +77,7 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
 
     switch (deviceCommand) {
     case (RwDefinitions::RESET_MCU): {
-        commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::RESET_MCU);
+        prepareResetMcuCommand();
-        rawPacket = commandBuffer;
-        rawPacketLen = 1;
         return RETURN_OK;
     }
     case (RwDefinitions::GET_LAST_RESET_STATUS): {
@@ -255,7 +230,7 @@ void RwHandler::setNormalDatapoolEntriesInvalid() {
 }
 
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-    return 15000;
+    return 500;
 }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
@@ -263,9 +238,23 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
 
     localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry<int32_t>( { 0 }));
 
+    localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry<int32_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry<uint8_t>( { 0 }));
+
+    localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
+    localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry<uint8_t>( { 0 }));
+
     return RETURN_OK;
 }
 
+void RwHandler::prepareResetMcuCommand() {
+    commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::RESET_MCU);
+    rawPacket = commandBuffer;
+    rawPacketLen = 1;
+}
+
 void RwHandler::prepareGetLastResetStatusCommand() {
     commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS);
     uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
@@ -352,15 +341,24 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
 }
 
 void RwHandler::handleResetStatusReply(const uint8_t* packet) {
+    PoolReadGuard rg(&lastResetStatusSet);
     uint8_t offset = 2;
-    lastResetStatusSet.lastResetStatus = *(packet + offset);
+    uint8_t resetStatus = *(packet + offset);
+    if (resetStatus != RwDefinitions::CLEARED) {
+        internalState = InternalState::CLEAR_RESET_STATUS;
+        lastResetStatusSet.lastResetStatus = resetStatus;
+    }
+    lastResetStatusSet.currentResetStatus = resetStatus;
 #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
     sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
             << static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
+    sif::info << "RwHandler::handleResetStatusReply: Current reset status: "
+            << static_cast<unsigned int>(lastResetStatusSet.currentResetStatus.value) << std::endl;
 #endif
 }
 
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
+    PoolReadGuard rg(&statusSet);
     uint8_t offset = 2;
     statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
             | *(packet + offset + 1) << 8 | *(packet + offset);
@@ -372,6 +370,16 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     offset += 1;
     statusSet.clcMode = *(packet + offset);
 
+    if (statusSet.state == RwDefinitions::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);
+        sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state"
+                << std::endl;
+    }
+
 #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
     sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed
             << " * 0.1 RPM" << std::endl;
@@ -385,6 +393,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 }
 
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
+    PoolReadGuard rg(&temperatureSet);
     uint8_t offset = 2;
     temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
             | *(packet + offset + 1) << 8 | *(packet + offset);

mission/devices/RwHandler.h

@@ -79,6 +79,9 @@ private:
     //! [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);
+
     LinuxLibgpioIF* gpioComIF = nullptr;
 	gpioId_t enableGpio = gpio::NO_GPIO;
 
@@ -89,25 +92,23 @@ private:
 
 	uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
 
-	enum class CommunicationStep {
+	enum class InternalState {
         GET_RESET_STATUS,
+        CLEAR_RESET_STATUS,
         READ_TEMPERATURE,
         GET_RW_SATUS
     };
 
-	CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE;
+	InternalState internalState = InternalState::GET_RESET_STATUS;
-
-	enum class StartupStep {
-        ENABLE_RW,
-        CLEAR_RESET_STATUS,
-        INIT_RW,
-		STARTUP_COMPLETE
-    };
-
-	StartupStep startupStep = StartupStep::ENABLE_RW;
 
 	size_t sizeOfReply = 0;
 
+	/**
+	 * @brief   This function fills the command buffer with the data to reset the MCU on a reaction
+	 *          wheel.
+	 */
+	void prepareResetMcuCommand();
+
 	/**
 	 * @brief  This function prepares the command to request the last reset status
 	 */

mission/devices/devicedefinitions/RwDefinitions.h

@@ -16,7 +16,8 @@ enum PoolIds: lp_id_t {
     REFERENCE_SPEED,
     STATE,
     CLC_MODE,
-    LAST_RESET_STATUS
+    LAST_RESET_STATUS,
+    CURRRENT_RESET_STATUS
 };
 
 enum States: uint8_t {
@@ -27,6 +28,16 @@ enum States: uint8_t {
     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
+};
+
 static const DeviceCommandId_t RESET_MCU = 1;
 static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
 static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
@@ -53,7 +64,7 @@ static const size_t SIZE_GET_TELEMETRY_REPLY = 83;
 static const size_t MAX_CMD_SIZE = 9;
 static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY;
 
-static const uint8_t LAST_RESET_ENTRIES = 1;
+static const uint8_t LAST_RESET_ENTRIES = 2;
 static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
 static const uint8_t STATUS_SET_ENTRIES = 4;
 
@@ -118,6 +129,8 @@ public:
 
     lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
             PoolIds::LAST_RESET_STATUS, this);
+    lp_var_t<uint8_t> currentResetStatus = lp_var_t<uint8_t>(sid.objectId,
+            PoolIds::CURRRENT_RESET_STATUS, this);
 };
 
 }

tmtc

@@ -1 +1 @@
-Subproject commit 10ea97ff0b685014f8f79b124edc8009db6fd879
+Subproject commit a8ea01bb2fced3d7562af4b200080e424468e9c6