eive/eive-obsw
eive/eive-obsw
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added init command

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This commit is contained in:
Jakob Meier 2021-06-25 16:00:32 +02:00
parent 93f5ce2892
commit 7c8127714e
4 changed files with 25 additions and 2 deletions
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17
mission/devices/RwHandler.cpp
View File

@ -55,7 +55,8 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
}
ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
return RETURN_OK;
*id = RwDefinitions::INIT_RW_CONTROLLER;
return buildCommandFromCommand(*id, nullptr, 0);;
}
ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
@ -73,6 +74,10 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
prepareGetStatusCmd(commandData, commandDataLen);
return RETURN_OK;
}
case (RwDefinitions::INIT_RW_CONTROLLER): {
prepareInitRwCommand();
return RETURN_OK;
}
case (RwDefinitions::SET_SPEED): {
if (commandDataLen != 6) {
sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with"
@ -100,6 +105,7 @@ void RwHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(RwDefinitions::RESET_MCU);
this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
RwDefinitions::SIZE_GET_RW_STATUS);
this->insertInCommandMap(RwDefinitions::INIT_RW_CONTROLLER);
this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
@ -228,6 +234,15 @@ void RwHandler::prepareGetTemperatureCmd() {
rawPacketLen = 3;
}
void RwHandler::prepareInitRwCommand() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
commandBuffer[1] = static_cast<uint8_t>(crc & 0xFF);
commandBuffer[2] = static_cast<uint8_t>(crc >> 8 & 0xFF);
rawPacket = commandBuffer;
rawPacketLen = 3;
}
void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::SET_SPEED);

7
mission/devices/RwHandler.h
View File

@ -121,6 +121,13 @@ private:
*/
void prepareGetTemperatureCmd();
/**
* @brief This function fills the commandBuffer with the data to request initialize the
* reaction wheel controller. This command must be sent as soon as the state of a
* reaction wheel is equal to 1 which indicates an error.
*/
void prepareInitRwCommand();
/**
* @brief This function handles the reply of the get temperature command.
*

1
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -30,6 +30,7 @@ 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;
static const DeviceCommandId_t GET_RW_STATUS = 4;
static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;

2
tmtc

@ -1 +1 @@
Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2
Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb