eive/eive-obsw
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everything except SDC switch looking good..

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This commit is contained in:
Robin Müller
2023-04-08 17:13:42 +02:00
parent 2fb7ac7b4b
commit aa43912279
5 changed files with 76 additions and 2 deletions
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57
bsp_q7s/core/CoreController.cpp
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@ -440,6 +440,19 @@ ReturnValue_t CoreController::sdStateMachine() {
}
result = sdcMan->getSdCardsStatus(sdInfo.currentState);
updateInternalSdInfo();
auto currentlyActiveSdc = sdcMan->getActiveSdCard();
// Used/active SD card switches, so mark SD card unusable so other tasks have some time
// registering the unavailable SD card.
if (not currentlyActiveSdc.has_value() or
((currentlyActiveSdc.value() == sd::SdCard::SLOT_0) and
(sdInfo.active == sd::SdCard::SLOT_1)) or
((currentlyActiveSdc.value() == sd::SdCard::SLOT_1) and
(sdInfo.active == sd::SdCard::SLOT_0))) {
sdInfo.lockSdCardUsage = true;
}
if (sdInfo.lockSdCardUsage) {
sdcMan->markUnusable();
}
if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
sdInfo.active = sd::SdCard::SLOT_0;
@ -451,7 +464,11 @@ ReturnValue_t CoreController::sdStateMachine() {
sif::info << "Cold redundant SD card configuration, target SD card: "
<< static_cast<int>(sdInfo.active) << std::endl;
}
SdStates tgtState = SdStates::IDLE;
bool skipCycles = sdInfo.lockSdCardUsage;
// Need to do different things depending on state of SD card which will be active.
if (sdInfo.activeState == sd::SdState::MOUNTED) {
// Already mounted, so we can perform handling of the other side.
#if OBSW_VERBOSE_LEVEL >= 1
std::string mountString;
if (sdInfo.active == sd::SdCard::SLOT_0) {
@ -464,21 +481,50 @@ ReturnValue_t CoreController::sdStateMachine() {
#endif
sdcMan->setActiveSdCard(sdInfo.active);
currMntPrefix = sdcMan->getCurrentMountPrefix();
sdFsmState = SdStates::DETERMINE_OTHER;
tgtState = SdStates::DETERMINE_OTHER;
} else if (sdInfo.activeState == sd::SdState::OFF) {
// It's okay to do the delay after swichting active SD on, no one can use it anyway..
sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
sdInfo.commandPending = true;
// Do not skip cycles here, would mess up the state machine. We skip the cycles after
// the SD card was switched on.
skipCycles = false;
} else if (sdInfo.activeState == sd::SdState::ON) {
sdFsmState = SdStates::MOUNT_SELF;
// We can do the delay before mounting where applicable.
tgtState = SdStates::MOUNT_SELF;
}
if (skipCycles) {
sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
fsmStateAfterDelay = tgtState;
sdInfo.skippedCyclesCount = 0;
} else {
sdFsmState = tgtState;
}
} else {
if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
sdInfo.activeState = sd::SdState::ON;
currentStateSetter(sdInfo.active, sd::SdState::ON);
// Skip the two cycles now.
if (sdInfo.lockSdCardUsage) {
sdFsmState = SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED;
fsmStateAfterDelay = SdStates::MOUNT_SELF;
sdInfo.skippedCyclesCount = 0;
}
}
}
}
if (sdFsmState == SdStates::SKIP_TWO_CYCLES_IF_SD_LOCKED) {
sif::debug << "skipping cycle.." << std::endl;
sdInfo.skippedCyclesCount++;
// Count to three because this branch will run in the same FSM cycle.
if (sdInfo.skippedCyclesCount == 3) {
sdFsmState = fsmStateAfterDelay;
fsmStateAfterDelay = SdStates::IDLE;
sdInfo.skippedCyclesCount = 0;
}
}
if (sdFsmState == SdStates::MOUNT_SELF) {
if (not sdInfo.commandPending) {
result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
@ -583,6 +629,8 @@ ReturnValue_t CoreController::sdStateMachine() {
sif::warning << "CoreController: Updating SD card state file failed" << std::endl;
}
updateInternalSdInfo();
// Mark usable again in any case.
sdcMan->markUsable();
sdInfo.commandPending = false;
sdFsmState = SdStates::IDLE;
sdInfo.cycleCount = 0;
@ -2032,6 +2080,11 @@ bool CoreController::startSdStateMachine(sd::SdCard targetActiveSd, SdCfgMode mo
}
sdFsmState = SdStates::START;
sdInfo.active = targetActiveSd;
// If we are going from 2 SD cards to one, lock SD card usage in any case because 1 SD card is
// going off.
if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT and mode == SdCfgMode::COLD_REDUNDANT) {
sdInfo.lockSdCardUsage = true;
}
sdInfo.cfgMode = mode;
sdCommandingInfo.actionId = actionId;
sdCommandingInfo.commander = commander;