eive/eive-obsw
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fix STR bugs and improve code

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- Reset reply size after returning a reply
- Reset data link layer and flush RX for regular commands and before
  performing special commands to ensure consistent start state
- Clean up DHB a bit
- Set STR dev to OFF in assembly when it is faulty.
This commit is contained in:
Robin Müller
2023-04-04 01:35:05 +02:00
parent afbab6d3f2
commit 9270165bf8
5 changed files with 72 additions and 59 deletions
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106
mission/acs/str/StarTrackerHandler.cpp
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@ -56,6 +56,49 @@ StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF,
StarTrackerHandler::~StarTrackerHandler() {}
void StarTrackerHandler::doStartUp() {
switch (startupState) {
case StartupState::IDLE:
startupState = StartupState::CHECK_PROGRAM;
return;
case StartupState::BOOT_BOOTLOADER:
// This step is required in case the star tracker is already in firmware mode to harmonize
// the device handler's submode to the star tracker's mode
return;
case StartupState::DONE:
if (jcfgCountdown.isBusy()) {
startupState = StartupState::WAIT_JCFG;
return;
}
startupState = StartupState::IDLE;
break;
case StartupState::WAIT_JCFG: {
if (jcfgCountdown.hasTimedOut()) {
startupState = StartupState::IDLE;
break;
}
return;
}
default:
return;
}
solutionSet.setReportingEnabled(true);
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
setMode(_MODE_TO_ON);
}
void StarTrackerHandler::doShutDown() {
// If the star tracker is shutdown also stop all running processes in the image loader task
strHelper->stopProcess();
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
reinitNextSetParam = false;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t StarTrackerHandler::initialize() {
ReturnValue_t result = returnvalue::OK;
result = DeviceHandlerBase::initialize();
@ -236,49 +279,6 @@ void StarTrackerHandler::performOperationHook() {
Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
void StarTrackerHandler::doStartUp() {
switch (startupState) {
case StartupState::IDLE:
startupState = StartupState::CHECK_PROGRAM;
return;
case StartupState::BOOT_BOOTLOADER:
// This step is required in case the star tracker is already in firmware mode to harmonize
// the device handler's submode to the star tracker's mode
return;
case StartupState::DONE:
if (jcfgCountdown.isBusy()) {
startupState = StartupState::WAIT_JCFG;
return;
}
startupState = StartupState::IDLE;
break;
case StartupState::WAIT_JCFG: {
if (jcfgCountdown.hasTimedOut()) {
startupState = StartupState::IDLE;
break;
}
return;
}
default:
return;
}
solutionSet.setReportingEnabled(true);
startupState = StartupState::DONE;
internalState = InternalState::IDLE;
setMode(_MODE_TO_ON);
}
void StarTrackerHandler::doShutDown() {
// If the star tracker is shutdown also stop all running processes in the image loader task
strHelper->stopProcess();
internalState = InternalState::IDLE;
startupState = StartupState::IDLE;
bootState = FwBootState::NONE;
solutionSet.setReportingEnabled(false);
reinitNextSetParam = false;
setMode(_MODE_POWER_DOWN);
}
ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
if (strHelperHandlingSpecialRequest) {
return NOTHING_TO_SEND;
@ -831,7 +831,6 @@ void StarTrackerHandler::bootBootloader() {
ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
ReturnValue_t result = returnvalue::OK;
size_t bytesLeft = 0;
if (remainingSize == 0) {
*foundLen = remainingSize;
@ -845,24 +844,24 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
switch (startracker::getReplyFrameType(start)) {
case TMTC_ACTIONREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForActionReply(startracker::getId(start), foundId);
*foundLen = remainingSize;
return scanForActionReply(startracker::getId(start), foundId);
break;
}
case TMTC_SETPARAMREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForSetParameterReply(startracker::getId(start), foundId);
*foundLen = remainingSize;
return scanForSetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_PARAMREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForGetParameterReply(startracker::getId(start), foundId);
*foundLen = remainingSize;
return scanForGetParameterReply(startracker::getId(start), foundId);
break;
}
case TMTC_TELEMETRYREPLYA:
case TMTC_TELEMETRYREPLY: {
*foundLen = remainingSize - bytesLeft;
result = scanForTmReply(startracker::getId(start), foundId);
*foundLen = remainingSize;
return scanForTmReply(startracker::getId(start), foundId);
break;
}
default: {
@ -870,9 +869,6 @@ ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t rema
result = returnvalue::FAILED;
}
}
remainingSize = bytesLeft;
return result;
}