continue testing

bsp_q7s/obsw.cpp

@@ -74,16 +74,23 @@ int obsw::obsw() {
 
   scheduling::initMission();
 
-#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
   // Command the EIVE system to safe mode
   auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
   CommandMessage msg;
+#if OBSW_COMMAND_SAFE_MODE_AT_STARTUP == 1
   ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
   ReturnValue_t result =
       MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
   if (result != returnvalue::OK) {
     sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
   }
+#else
+  ModeMessage::setModeAnnounceMessage(msg, true);
+  ReturnValue_t result =
+      MessageQueueSenderIF::sendMessage(sysQueueId, &msg, MessageQueueIF::NO_QUEUE, false);
+  if (result != returnvalue::OK) {
+    sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
+  }
 #endif
 
   for (;;) {

linux/devices/RwPollingTask.cpp

@@ -59,23 +59,23 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     if (readAllRws(rws::SET_SPEED) != returnvalue::OK) {
       continue;
     }
-    prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
-    if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
-      continue;
-    }
-    prepareSimpleCommand(rws::GET_RW_STATUS);
-    if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
-      continue;
-    }
-    prepareSimpleCommand(rws::GET_TEMPERATURE);
-    if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
-      continue;
-    }
-    prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
-    if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
-      continue;
-    }
-    handleSpecialRequests();
+//    prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
+//    if (writeAndReadAllRws(rws::GET_LAST_RESET_STATUS) != returnvalue::OK) {
+//      continue;
+//    }
+//    prepareSimpleCommand(rws::GET_RW_STATUS);
+//    if (writeAndReadAllRws(rws::GET_RW_STATUS) != returnvalue::OK) {
+//      continue;
+//    }
+//    prepareSimpleCommand(rws::GET_TEMPERATURE);
+//    if (writeAndReadAllRws(rws::GET_TEMPERATURE) != returnvalue::OK) {
+//      continue;
+//    }
+//    prepareSimpleCommand(rws::CLEAR_LAST_RESET_STATUS);
+//    if (writeAndReadAllRws(rws::CLEAR_LAST_RESET_STATUS) != returnvalue::OK) {
+//      continue;
+//    }
+//    handleSpecialRequests();
   }
 
   return returnvalue::OK;
@@ -208,19 +208,20 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
   int fd = 0;
   gpioId_t gpioId = rwCookie.getChipSelectPin();
   uint8_t byteRead = 0;
-  for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
-    result = openSpi(O_RDWR, fd);
-    if (result != returnvalue::OK) {
-      return result;
-    }
-    pullCsLow(gpioId, spiLock, gpioIF);
+  bool exitOuter = false;
+  for (unsigned retryIdx = 0; retryIdx < MAX_RETRIES_REPLY; retryIdx++) {
     /**
      * The reaction wheel responds with empty frames while preparing the reply data.
      * However, receiving more than 5 empty frames will be interpreted as an error.
      */
     for (int idx = 0; idx < 5; idx++) {
+      result = openSpi(O_RDWR, fd);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      pullCsLow(gpioId, gpioIF);
       if (read(fd, &byteRead, 1) != 1) {
-        sif::error << "RwPollingTask: Read failed" << std::endl;
+        sif::error << "RwPollingTask: Read failed. " << strerror(errno) << std::endl;
         pullCsHigh(gpioId, gpioIF);
         closeSpi(fd);
         return rws::SPI_READ_FAILURE;
@@ -235,6 +236,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
       }
 
       if (byteRead != rws::FRAME_DELIMITER) {
+        exitOuter = true;
         break;
       }
 
@@ -244,8 +246,11 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
         sif::error << "rwSpiCallback::spiCallback: Empty frame timeout" << std::endl;
         return rws::NO_REPLY;
       }
-      TaskFactory::delayTask(5);
     }
+    if(exitOuter) {
+      break;
+    }
+    TaskFactory::delayTask(5);
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   sif::info << "RW start marker detected" << std::endl;
@@ -448,7 +453,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
     sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
     return returnvalue::FAILED;
   }
-  pullCsLow(gpioId, spiLock, gpioIF);
+  pullCsLow(gpioId, gpioIF);
   // Add datalinklayer like specified in the datasheet.
   size_t lenToSend = 0;
   rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
@@ -461,7 +466,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   return returnvalue::OK;
 }
 
-ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
+ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
   ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
   if (result != returnvalue::OK) {
     sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;

linux/devices/RwPollingTask.h

@@ -74,7 +74,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
 
   ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;
   ReturnValue_t openSpi(int flags, int& fd);
-  ReturnValue_t pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF);
+  ReturnValue_t pullCsLow(gpioId_t gpioId, GpioIF& gpioIF);
   void prepareSimpleCommand(DeviceCommandId_t id);
   ReturnValue_t prepareSetSpeedCmd(uint8_t rwIdx);
 

mission/devices/devicedefinitions/rwHelpers.h

@@ -62,7 +62,7 @@ static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);
 static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);
 
 //! Minimal delay as specified by the datasheet.
-static const uint32_t SPI_REPLY_DELAY = 20000;  // us
+static const uint32_t SPI_REPLY_DELAY = 70000;  // us
 
 enum PoolIds : lp_id_t {
   TEMPERATURE_C,

mission/system/objects/RwAssembly.cpp

@@ -167,7 +167,7 @@ bool RwAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-ReturnValue_t RwAssembly::initialize() { return SubsystemBase::initialize(); }
+ReturnValue_t RwAssembly::initialize() { return AssemblyBase::initialize(); }
 
 void RwAssembly::handleModeTransitionFailed(ReturnValue_t result) {
   if (targetMode == MODE_OFF) {