Merge branch 'meier/ReactionWheelHandler' of https://egit.irs.uni-stuttgart.de/eive/eive-obsw into meier/ReactionWheelHandler
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commit
93f5ce2892
@ -20,6 +20,7 @@ debugging. */
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#define OBSW_PRINT_MISSED_DEADLINES 1
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#define OBSW_ADD_TEST_CODE 1
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#define OBSW_ADD_TEST_PST 1
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#define OBSW_ADD_GPS 0
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#define TEST_LIBGPIOD 0
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#define TEST_RADIATION_SENSOR_HANDLER 0
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@ -43,6 +44,7 @@ debugging. */
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#define DEBUG_SUS 1
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#define DEBUG_RTD 1
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#define IMTQ_DEBUG 1
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#define RW_DEBUG 1
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// Leave at one as the BSP is linux. Used by the ADIS16507 device handler
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#define OBSW_ADIS16507_LINUX_COM_IF 1
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@ -432,50 +432,61 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
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ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
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// Length of a communication cycle
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uint32_t length = thisSequence->getPeriodMs();
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thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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#if OBSW_ADD_GPS == 1
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thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
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DeviceHandlerIF::PERFORM_OPERATION);
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#endif
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thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
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DeviceHandlerIF::SEND_WRITE);
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#if OBSW_ADD_GPS == 1
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thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
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DeviceHandlerIF::SEND_WRITE);
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thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
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DeviceHandlerIF::SEND_WRITE);
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#endif
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thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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#if OBSW_ADD_GPS == 1
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thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
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DeviceHandlerIF::GET_WRITE);
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#endif
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thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
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DeviceHandlerIF::SEND_READ);
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#if OBSW_ADD_GPS == 1
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thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
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DeviceHandlerIF::SEND_READ);
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thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
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DeviceHandlerIF::SEND_READ);
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#endif
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thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
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DeviceHandlerIF::GET_READ);
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#if OBSW_ADD_GPS == 1
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thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
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DeviceHandlerIF::GET_READ);
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thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
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DeviceHandlerIF::GET_READ);
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#endif
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if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
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sif::error << "UART PST initialization failed" << std::endl;
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@ -208,7 +208,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
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return INVALID_SPEED;
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}
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uint16_t rampTime = *commandData << 8 | *(commandData + 1);
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uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
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if (rampTime < 10 || rampTime > 10000) {
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sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time"
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@ -238,8 +238,8 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
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commandBuffer[3] = *(commandData + 1);
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commandBuffer[4] = *commandData;
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/** Ramp time (ms) */
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commandBuffer[5] = *(commandData + 1);
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commandBuffer[6] = *commandData;
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commandBuffer[5] = *(commandData + 5);
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commandBuffer[6] = *(commandData + 4);
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uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
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commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
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@ -251,10 +251,10 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
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void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
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uint8_t offset = 2;
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statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 1 | *(packet + offset);
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 1 | *(packet + offset);
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| *(packet + offset + 1) << 8 | *(packet + offset);
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offset += 4;
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statusSet.state = *(packet + offset);
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offset += 1;
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@ -275,7 +275,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
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void RwHandler::handleTemperatureReply(const uint8_t* packet) {
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uint8_t offset = 2;
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temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
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| *(packet + offset + 1) << 1 | *(packet + offset);
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| *(packet + offset + 1) << 8 | *(packet + offset);
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#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
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sif::info << "RwHandler::handleTemperatureReply: Temperature: "
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<< temperatureSet.temperatureCelcius << " °C" << std::endl;
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2
tmtc
2
tmtc
@ -1 +1 @@
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Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb
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Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2
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