eive/eive-obsw
eive/eive-obsw
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some reaction wheel fixes
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This commit is contained in:
Robin Müller 2021-11-30 16:45:33 +01:00
parent d287aa80c1
commit 77f6ac57e9
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GPG Key ID: 11D4952C8CCEF814
4 changed files with 19 additions and 3 deletions
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15
bsp_q7s/callbacks/rwSpiCallback.cpp
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@ -133,8 +133,15 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
closeSpi(gpioId, gpioIF, mutex); closeSpi(gpioId, gpioIF, mutex);
return RwHandler::SPI_READ_FAILURE; 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);
return RwHandler::NO_START_MARKER;
}
}
if (byteRead != 0x7E) { if (byteRead != FLAG_BYTE) {
break; break;
} }
@ -145,6 +152,10 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
} }
} }
#if FSFW_HAL_SPI_WIRETAPPING == 1
sif::info << "RW start marker detected" << std::endl;
#endif
size_t decodedFrameLen = 0; size_t decodedFrameLen = 0;
while(decodedFrameLen < replyBufferSize) { while(decodedFrameLen < replyBufferSize) {
@ -158,7 +169,7 @@ ReturnValue_t spiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sen
} }
} }
if (byteRead == 0x7E) { if (byteRead == FLAG_BYTE) {
/** Reached end of frame */ /** Reached end of frame */
break; break;
} }

3
bsp_q7s/callbacks/rwSpiCallback.h
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@ -8,6 +8,9 @@
namespace rwSpiCallback { namespace rwSpiCallback {
//! This is the end and start marker of the frame datalinklayer
static constexpr uint8_t FLAG_BYTE = 0x7E;
/** /**
* @brief This is the callback function to send commands to the nano avionics reaction wheels and * @brief This is the callback function to send commands to the nano avionics reaction wheels and
* receive the replies. * receive the replies.

2
bsp_q7s/core/InitMission.cpp
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@ -22,7 +22,7 @@
ServiceInterfaceStream sif::debug("DEBUG"); ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO"); ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING"); ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true); ServiceInterfaceStream sif::error("ERROR");
#else #else
ServiceInterfaceStream sif::debug("DEBUG", true); ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true); ServiceInterfaceStream sif::info("INFO", true);

2
mission/devices/RwHandler.h
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@ -46,6 +46,8 @@ public:
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4); static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames. //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5); static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5);
//! [EXPORT] : [COMMENT] Expected a start marker as first byte
static const ReturnValue_t NO_START_MARKER = MAKE_RETURN_CODE(0xB6);
protected: protected:
void doStartUp() override; void doStartUp() override;