Merge branch 'develop' into meier/ptme

bsp_q7s/core/InitMission.cpp

@@ -187,9 +187,13 @@ void initmission::createPstTasks(TaskFactory& factory,
             missedDeadlineFunc);
     result = pst::pstSpi(spiPst);
     if (result != HasReturnvaluesIF::RETURN_OK) {
+        if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
             sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
         }
+    }
+    else {
         taskVec.push_back(spiPst);
+    }
 #endif
 
     FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(

bsp_q7s/core/ObjectFactory.cpp

@@ -297,43 +297,43 @@ void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComI
     GpioCookie* gpioCookieSus = new GpioCookie();
     GpioCallback* susgpio = nullptr;
 
-    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 1", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 2", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 3", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 4", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 5", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 6", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 7", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 8", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 9", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 10", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 11", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 12", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
-    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, 1,
+    susgpio = new GpioCallback("Chip select SUS 13", gpio::OUT, gpio::HIGH,
             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
     gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);
 
@@ -413,7 +413,8 @@ void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComI
     std::stringstream consumer;
     GpiodRegularByLineName* gpio = nullptr;
     consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
-    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(), gpio::OUT, gpio::HIGH);
+    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
+            gpio::OUT, gpio::HIGH);
     gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
 
     consumer.str("");
@@ -869,19 +870,31 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
 
     auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
             gpioIds::EN_RW1);
+#if OBSW_DEBUG_RW == 1
+    rwHandler1->setStartUpImmediately();
+#endif
     rw1SpiCookie->setCallbackArgs(rwHandler1);
     rwHandler1->setStartUpImmediately();
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
             gpioIds::EN_RW2);
+#if OBSW_DEBUG_RW == 1
+    rwHandler2->setStartUpImmediately();
+#endif
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
     auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
             gpioIds::EN_RW3);
+#if OBSW_DEBUG_RW == 1
+    rwHandler3->setStartUpImmediately();
+#endif
     rw3SpiCookie->setCallbackArgs(rwHandler3);
 
     auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
             gpioIds::EN_RW4);
+#if OBSW_DEBUG_RW == 1
+    rwHandler4->setStartUpImmediately();
+#endif
     rw4SpiCookie->setCallbackArgs(rwHandler4);
 }
 

bsp_q7s/gpio/gpioCallbacks.cpp

@@ -53,7 +53,7 @@ void initSpiCsDecoder(GpioIF* gpioComIF) {
     }
 }
 
-void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value,
+void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
         void* args) {
 
     if (gpioComInterface == nullptr) {
@@ -67,10 +67,10 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value
         return;
     }
 
-    if (value == 1) {
+    if (value == gpio::HIGH) {
         disableAllDecoder();
     }
-    else if (value == 0) {
+    else if (value == gpio::LOW) {
         switch (gpioId) {
         case(gpioIds::RTD_IC3): {
             enableDecoderTcsIc1();

bsp_q7s/gpio/gpioCallbacks.h

@@ -17,7 +17,8 @@ namespace gpioCallbacks {
      * @brief   This function implements the decoding to multiply gpios by using the decoder
      *          chips SN74LVC138APWR on the TCS board and the interface board.
      */
-    void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+    void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp,
+            gpio::Levels value, void* args);
 
     /**
      * @brief   This function sets mux bits 1-3 to a state which will only enable the decoder

common/config/OBSWVersion.h

@@ -4,7 +4,7 @@
 const char* const SW_NAME = "eive";
 
 #define SW_VERSION 1
-#define SW_SUBVERSION 7
+#define SW_SUBVERSION 8
 #define SW_REVISION 0
 
 #endif /* COMMON_CONFIG_OBSWVERSION_H_ */

common/config/commonClassIds.h

@@ -7,8 +7,6 @@
 namespace CLASS_ID {
 enum commonClassIds: uint8_t {
 	COMMON_CLASS_ID_START = FW_CLASS_ID_COUNT,
-	MGM_LIS3MDL, //MGMLIS3
-	MGM_RM3100, //MGMRM3100
 	PCDU_HANDLER, //PCDU
 	HEATER_HANDLER, //HEATER
 	SYRLINKS_HANDLER, //SYRLINKS

common/config/commonSubsystemIds.h

@@ -6,8 +6,6 @@
 namespace SUBSYSTEM_ID {
 enum: uint8_t {
 	COMMON_SUBSYSTEM_ID_START = FW_SUBSYSTEM_ID_RANGE,
-	MGM_LIS3MDL = 106,
-	MGM_RM3100 = 107,
 	PCDU_HANDLER = 108,
 	HEATER_HANDLER = 109,
 	SA_DEPL_HANDLER = 110,

fsfw

@@ -1 +1 @@
-Subproject commit 16b125ef6cdfbe1349e5b21b783cd72c871372a8
+Subproject commit a84c770dfb8447325c263da42d5cecd99b38d1f0

linux/fsfwconfig/FSFWConfig.h.in

@@ -72,7 +72,7 @@ static constexpr size_t FSFW_MAX_TM_PACKET_SIZE = 2048;
 
 }
 
-#define FSFW_HAL_LINUX_SPI_WIRETAPPING          0
+#define FSFW_HAL_SPI_WIRETAPPING                0
 #define FSFW_DEV_HYPERION_GPS_CREATE_NMEA_CSV   0
 
 #define FSFW_HAL_L3GD20_GYRO_DEBUG              0

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -536,9 +536,16 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     }
 #endif /* OBSW_ADD_ACS_BOARD == 1 */
 
-    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
+    ReturnValue_t seqCheck = thisSequence->checkSequence();
+    if (seqCheck != HasReturnvaluesIF::RETURN_OK) {
+        if(seqCheck == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
+            sif::warning << "SPI PST is empty.." << std::endl;
+        }
+        else {
             sif::error << "SPI PST initialization failed" << std::endl;
-        return HasReturnvaluesIF::RETURN_FAILED;
+        }
+
+        return seqCheck;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }

mission/devices/GPSHyperionHandler.cpp

@@ -60,10 +60,8 @@ ReturnValue_t GPSHyperionHandler::buildCommandFromCommand(
             PoolReadGuard pg(&gpsSet);
             // Set HK entries invalid
             gpsSet.setValidity(false, true);
-            // The user needs to implement this. Don't touch states for now, the device should
+            resetCallback(resetCallbackArgs);
-            // quickly reboot and send valid strings again.
+            return HasActionsIF::EXECUTION_FINISHED;
-            actionHelper.finish(true, getCommanderQueueId(deviceCommand), deviceCommand);
-            return resetCallback(resetCallbackArgs);
         }
         return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
     }
@@ -210,3 +208,7 @@ ReturnValue_t GPSHyperionHandler::initialize() {
     // Enable reply immediately for now
     return updatePeriodicReply(true, GpsHyperion::GPS_REPLY);
 }
+
+ReturnValue_t GPSHyperionHandler::acceptExternalDeviceCommands() {
+    return DeviceHandlerBase::acceptExternalDeviceCommands();
+}

mission/devices/GPSHyperionHandler.h

@@ -22,6 +22,7 @@ public:
     using gpioResetFunction_t = ReturnValue_t (*) (void* args);
 
 	void setResetPinTriggerFunction(gpioResetFunction_t resetCallback, void*args);
+	ReturnValue_t acceptExternalDeviceCommands() override;
 
 	ReturnValue_t initialize() override;
 protected:

mission/devices/GyroADIS16507Handler.cpp

@@ -441,7 +441,7 @@ ReturnValue_t GyroADIS16507Handler::spiSendCallback(SpiComIF *comIf, SpiCookie *
                 utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
                 result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
             }
-#if FSFW_HAL_LINUX_SPI_WIRETAPPING == 1
+#if FSFW_HAL_SPI_WIRETAPPING == 1
             comIf->performSpiWiretapping(cookie);
 #endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
 

mission/devices/RwHandler.cpp

@@ -144,47 +144,48 @@ void RwHandler::fillCommandAndReplyMap() {
 
 ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize,
         DeviceCommandId_t *foundId, size_t *foundLen) {
-
+    uint8_t replyByte = *start;
-    switch (*(start)) {
+    switch (replyByte) {
-    case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
+    case (RwDefinitions::GET_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
         *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
         *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
+    case (RwDefinitions::GET_RW_STATUS): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+    case (RwDefinitions::INIT_RW_CONTROLLER): {
         *foundLen = RwDefinitions::SIZE_INIT_RW;
         *foundId = RwDefinitions::INIT_RW_CONTROLLER;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
+    case (RwDefinitions::SET_SPEED): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE)): {
+    case (RwDefinitions::GET_TEMPERATURE): {
         *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY;
         *foundId = RwDefinitions::GET_TEMPERATURE;
         break;
     }
-    case (static_cast<uint8_t>(RwDefinitions::GET_TM)): {
+    case (RwDefinitions::GET_TM): {
         *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY;
         *foundId = RwDefinitions::GET_TM;
         break;
     }
     default: {
-        sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl;
+        sif::warning << "RwHandler::scanForReply: Reply contains invalid command code" <<
+                std::endl;
+        *foundLen = remainingSize;
         return RETURN_FAILED;
-        break;
     }
     }