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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 3193d007c7
commit ad43ebd587
3 changed files with 137 additions and 16 deletions
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90
mission/devices/RwHandler.cpp
View File

@ -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

37
mission/devices/RwHandler.h
View File

@ -84,6 +84,7 @@ private:
RwDefinitions::TemperatureSet temperatureSet;
RwDefinitions::StatusSet statusSet;
RwDefinitions::LastResetSatus lastResetStatusSet;
uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
@ -95,8 +96,28 @@ private:
CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE;
enum class StartupStep {
GET_RESET_STATUS,
CLEAR_RESET_STATUS,
INIT_RW
};
StartupStep startupStep = StartupStep::GET_RESET_STATUS;
size_t sizeOfReply = 0;
bool startupPerformed = false;
/**
* @brief This function prepares the command to request the last reset status
*/
void prepareGetLastResetStatusCommand();
/**
* @brief Fills the command buffer with the command to clear the reset status.
*/
void prepareClearResetStatusCommand();
/**
* @brief This function prepares the send buffer with the data to request the status of
* the reaction wheel.
@ -110,6 +131,13 @@ private:
*/
ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen);
/**
* @brief This function fills the commandBuffer with the data to request initialize the
* reaction wheel controller. This command must be sent as soon as the state of a
* reaction wheel is equal to 1 which indicates an error.
*/
void prepareInitRwCommand();
/**
* @brief This function prepares the set speed command from the commandData received with
* an action message.
@ -122,11 +150,12 @@ private:
void prepareGetTemperatureCmd();
/**
* @brief This function fills the commandBuffer with the data to request initialize the
* reaction wheel controller. This command must be sent as soon as the state of a
* reaction wheel is equal to 1 which indicates an error.
* @brief This function writes the last reset status retrieved with the get last reset status
* command into the reset status dataset.
*
* @param packet Pointer to the buffer holding the reply data.
*/
void prepareInitRwCommand();
void handleResetStatusReply(const uint8_t* packet);
/**
* @brief This function handles the reply of the get temperature command.

26
mission/devices/devicedefinitions/RwDefinitions.h
View File

@ -15,7 +15,8 @@ enum PoolIds: lp_id_t {
CURR_SPEED,
REFERENCE_SPEED,
STATE,
CLC_MODE
CLC_MODE,
LAST_RESET_STATUS
};
enum States: uint8_t {
@ -30,13 +31,16 @@ static const DeviceCommandId_t RESET_MCU = 1;
static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
static const DeviceCommandId_t GET_RW_STATUS = 4;
/** This command is needed to recover from error state */
static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE;
static const uint32_t STATUS_SET_ID = GET_RW_STATUS;
static const uint32_t LAST_RESET_ID = GET_LAST_RESET_STATUS;
static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
@ -47,6 +51,7 @@ static const size_t SIZE_GET_TELEMETRY_REPLY = 83;
static const size_t MAX_CMD_SIZE = 9;
static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY;
static const uint8_t LAST_RESET_ENTRIES = 1;
static const uint8_t TEMPERATURE_SET_ENTRIES = 1;
static const uint8_t STATUS_SET_ENTRIES = 4;
@ -94,6 +99,25 @@ public:
PoolIds::CLC_MODE, this);
};
/**
* @brief This dataset stores the last reset status.
*/
class LastResetSatus:
public StaticLocalDataSet<LAST_RESET_ENTRIES> {
public:
LastResetSatus(HasLocalDataPoolIF* owner):
StaticLocalDataSet(owner, LAST_RESET_ID) {
}
LastResetSatus(object_id_t objectId):
StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) {
}
lp_var_t<uint8_t> lastResetStatus = lp_var_t<uint8_t>(sid.objectId,
PoolIds::LAST_RESET_STATUS, this);
};
}
#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */