eive/eive-obsw
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added get reset and clear reset command to rw handler

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This commit is contained in:
Jakob Meier
2021-06-28 08:57:37 +02:00
parent 7c8127714e
commit 8ef9760f78
3 changed files with 137 additions and 16 deletions
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90
mission/devices/RwHandler.cpp
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@ -7,7 +7,7 @@
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie,
LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) :
DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio),
temperatureSet(this), statusSet(this) {
temperatureSet(this), statusSet(this), lastResetStatusSet(this) {
if (comCookie == NULL) {
sif::error << "RwHandler: Invalid com cookie" << std::endl;
}
@ -20,6 +20,9 @@ RwHandler::~RwHandler() {
}
void RwHandler::doStartUp() {
if (!startupPerformed) {
return;
}
if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
}
@ -34,6 +37,7 @@ void RwHandler::doShutDown() {
if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
}
startupPerformed = false;
}
ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
@ -55,7 +59,25 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
}
ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
*id = RwDefinitions::INIT_RW_CONTROLLER;
switch (startupStep) {
case StartupStep::GET_RESET_STATUS:
*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::GET_RESET_STATUS;
startupPerformed = true;
break;
default:
sif::debug << "RwHandler::buildTransitionDeviceCommand: Invalid startup step"
<< std::endl;
break;
}
return buildCommandFromCommand(*id, nullptr, 0);;
}
@ -70,6 +92,14 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
rawPacketLen = 1;
return RETURN_OK;
}
case (RwDefinitions::GET_LAST_RESET_STATUS): {
prepareGetLastResetStatusCommand();
return RETURN_OK;
}
case (RwDefinitions::CLEAR_LAST_RESET_STATUS): {
prepareClearResetStatusCommand();
return RETURN_OK;
}
case (RwDefinitions::GET_RW_STATUS): {
prepareGetStatusCmd(commandData, commandDataLen);
return RETURN_OK;
@ -103,6 +133,9 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
void RwHandler::fillCommandAndReplyMap() {
this->insertInCommandMap(RwDefinitions::RESET_MCU);
this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet,
RwDefinitions::SIZE_GET_RESET_STATUS);
this->insertInCommandMap(RwDefinitions::CLEAR_LAST_RESET_STATUS);
this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
RwDefinitions::SIZE_GET_RW_STATUS);
this->insertInCommandMap(RwDefinitions::INIT_RW_CONTROLLER);
@ -116,6 +149,11 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
DeviceCommandId_t *foundId, size_t *foundLen) {
switch (*(start)) {
case (static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS)): {
*foundLen = RwDefinitions::SIZE_GET_RESET_STATUS;
*foundId = RwDefinitions::GET_LAST_RESET_STATUS;
break;
}
case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
*foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
*foundId = RwDefinitions::GET_RW_STATUS;
@ -159,6 +197,10 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
}
switch (id) {
case (RwDefinitions::GET_LAST_RESET_STATUS): {
handleResetStatusReply(packet);
break;
}
case (RwDefinitions::GET_RW_STATUS): {
handleGetRwStatusReply(packet);
break;
@ -195,6 +237,24 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP
return RETURN_OK;
}
void RwHandler::prepareGetLastResetStatusCommand() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_LAST_RESET_STATUS);
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::prepareClearResetStatusCommand() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS);
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::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS);
@ -225,15 +285,6 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
return RETURN_OK;
}
void RwHandler::prepareGetTemperatureCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
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::prepareInitRwCommand() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER);
uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF);
@ -243,6 +294,14 @@ void RwHandler::prepareInitRwCommand() {
rawPacketLen = 3;
}
void RwHandler::prepareGetTemperatureCmd() {
commandBuffer[0] = static_cast<uint8_t>(RwDefinitions::GET_TEMPERATURE);
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);
@ -263,6 +322,15 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
rawPacketLen = 9;
}
void RwHandler::handleResetStatusReply(const uint8_t* packet) {
uint8_t offset = 2;
lastResetStatusSet.lastResetStatus = *(packet + offset);
#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
sif::info << "RwHandler::handleResetStatusReply: Last reset status: "
<< static_cast<unsigned int>(lastResetStatusSet.lastResetStatus.value) << std::endl;
#endif
}
void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
uint8_t offset = 2;
statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16