eive/eive-obsw
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continue rw refactoring
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This commit is contained in:
Robin Müller
2023-02-15 17:02:22 +01:00
parent 177b573cd4
commit 8b0eceb072
13 changed files with 739 additions and 212 deletions
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30
mission/devices/RwHandler.h
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@ -3,7 +3,7 @@
#include <fsfw/devicehandlers/DeviceHandlerBase.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/rwHelpers.h>
#include <string.h>
#include "events/subsystemIdRanges.h"
@ -42,24 +42,6 @@ class RwHandler : public DeviceHandlerBase {
virtual ~RwHandler();
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);
//! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call
static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing
//! start sign 0x7E
static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2);
//! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid
//! substitution combination
static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3);
//! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E
static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4);
//! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames.
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:
void doStartUp() override;
void doShutDown() override;
@ -92,12 +74,12 @@ class RwHandler : public DeviceHandlerBase {
gpioId_t enableGpio = gpio::NO_GPIO;
bool debugMode = false;
RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet;
RwDefinitions::TmDataset tmDataset;
RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
rws::StatusSet statusSet;
rws::LastResetSatus lastResetStatusSet;
rws::TmDataset tmDataset;
rws::RwSpeedActuationSet rwSpeedActuationSet;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
uint8_t commandBuffer[rws::MAX_CMD_SIZE];
uint8_t rwIdx;
PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});