added second reaction wheel

bsp_q7s/ObjectFactory.cpp

@@ -582,12 +582,26 @@ void ObjectFactory::produce(void* args){
 
     auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, "/dev/spidev2.0",
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
+    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, "/dev/spidev2.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
+    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, "/dev/spidev2.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
+    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev2.0",
+            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
+    (void) rw3SpiCookie;
+    (void) rw4SpiCookie;
 
 	auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
 			gpioIds::EN_RW1);
-    rwHandler1->setStartUpImmediately();
+	(void) rwHandler1;
+//    rwHandler1->setStartUpImmediately();
     rw1SpiCookie->setCallbackArgs(rwHandler1);
 
+    auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
+			gpioIds::EN_RW1);
+    rwHandler2->setStartUpImmediately();
+    rw2SpiCookie->setCallbackArgs(rwHandler2);
+
 #endif /* TE0720 == 0 */
 
     new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);

bsp_q7s/spiCallbacks/rwSpiCallback.cpp

@@ -93,7 +93,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
         idx++;
     }
 
-    /** Sending frame start sign */
+    /** Sending frame end sign */
     writeBuffer[0] = 0x7E;
     writeSize = 1;
 
@@ -155,7 +155,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s
             /** Reached end of frame */
             break;
         }
-        else if (byteRead == 0xD) {
+        else if (byteRead == 0x7D) {
             if(read(fileDescriptor, &byteRead, 1) != 1) {
                 sif::error << "rwSpiCallback: Read failed" << std::endl;
                 result = RwHandler::SPI_READ_FAILURE;

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -407,6 +407,12 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);
 
+    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
+
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;

mission/devices/RwHandler.cpp

@@ -20,12 +20,19 @@ RwHandler::~RwHandler() {
 }
 
 void RwHandler::doStartUp() {
-    if (!startupPerformed) {
+	switch (startupStep) {
-        return;
+	case StartupStep::ENABLE_RW: {
-    }
 		if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) {
 			sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
 		}
+		return;
+	}
+	case StartupStep::STARTUP_COMPLETE:
+		break;
+	default:
+		return;
+	}
+
 #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
     setMode(MODE_NORMAL);
 #else
@@ -37,7 +44,8 @@ void RwHandler::doShutDown() {
 	if(gpioComIF->pullLow(enableGpio) != RETURN_OK) {
 		sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
 	}
-	startupPerformed = false;
+	/** Reset startup step for next doStartUp routine */
+	startupStep = StartupStep::ENABLE_RW;
 }
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
@@ -64,7 +72,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) {
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
     switch (startupStep) {
-    case StartupStep::GET_RESET_STATUS:
+    case StartupStep::ENABLE_RW:
         *id = RwDefinitions::GET_LAST_RESET_STATUS;
         startupStep = StartupStep::CLEAR_RESET_STATUS;
         break;
@@ -74,8 +82,9 @@ ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) {
         break;
     case StartupStep::INIT_RW:
         *id = RwDefinitions::INIT_RW_CONTROLLER;
-        startupStep = StartupStep::GET_RESET_STATUS;
+        startupStep = StartupStep::STARTUP_COMPLETE;
-        startupPerformed = true;
+        break;
+    case StartupStep::STARTUP_COMPLETE:
     	break;
     default:
         sif::debug << "RwHandler::buildTransitionDeviceCommand: Invalid startup step"
@@ -139,10 +148,12 @@ 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::CLEAR_LAST_RESET_STATUS, 1, nullptr,
+			RwDefinitions::SIZE_CLEAR_RESET_STATUS);
 	this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet,
 			RwDefinitions::SIZE_GET_RW_STATUS);
-    this->insertInCommandMap(RwDefinitions::INIT_RW_CONTROLLER);
+	this->insertInCommandAndReplyMap(RwDefinitions::INIT_RW_CONTROLLER, 1, nullptr,
+			RwDefinitions::SIZE_INIT_RW);
 	this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet,
 			RwDefinitions::SIZE_GET_TEMPERATURE_REPLY);
 	this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr,
@@ -158,11 +169,21 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize
         *foundId = RwDefinitions::GET_LAST_RESET_STATUS;
         break;
     }
+    case (static_cast<uint8_t>(RwDefinitions::CLEAR_LAST_RESET_STATUS)): {
+        *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS;
+        *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS;
+        break;
+    }
     case (static_cast<uint8_t>(RwDefinitions::GET_RW_STATUS)): {
         *foundLen = RwDefinitions::SIZE_GET_RW_STATUS;
         *foundId = RwDefinitions::GET_RW_STATUS;
         break;
     }
+    case (static_cast<uint8_t>(RwDefinitions::INIT_RW_CONTROLLER)): {
+        *foundLen = RwDefinitions::SIZE_INIT_RW;
+        *foundId = RwDefinitions::INIT_RW_CONTROLLER;
+        break;
+    }
     case (static_cast<uint8_t>(RwDefinitions::SET_SPEED)): {
         *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY;
         *foundId = RwDefinitions::SET_SPEED;
@@ -189,6 +210,8 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
 
     /** Check result code */
     if (*(packet + 1) == RwDefinitions::ERROR) {
+		sif::error << "RwHandler::interpretDeviceReply: Command execution failed. Command id: "
+				<< id << std::endl;
         return EXECUTION_FAILED;
     }
 
@@ -209,6 +232,8 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
         handleGetRwStatusReply(packet);
         break;
     }
+    case (RwDefinitions::CLEAR_LAST_RESET_STATUS):
+    case (RwDefinitions::INIT_RW_CONTROLLER):
     case (RwDefinitions::SET_SPEED):
         // no reply data expected
         break;
@@ -230,7 +255,7 @@ void RwHandler::setNormalDatapoolEntriesInvalid() {
 }
 
 uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) {
-    return 5000;
+    return 15000;
 }
 
 ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,

mission/devices/RwHandler.h

@@ -98,17 +98,16 @@ private:
 	CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE;
 
 	enum class StartupStep {
-        GET_RESET_STATUS,
+        ENABLE_RW,
         CLEAR_RESET_STATUS,
-        INIT_RW
+        INIT_RW,
+		STARTUP_COMPLETE
     };
 
-	StartupStep startupStep = StartupStep::GET_RESET_STATUS;
+	StartupStep startupStep = StartupStep::ENABLE_RW;
 
 	size_t sizeOfReply = 0;
 
-	bool startupPerformed = false;
-
 	/**
 	 * @brief  This function prepares the command to request the last reset status
 	 */

mission/devices/devicedefinitions/RwDefinitions.h

@@ -41,6 +41,8 @@ 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_CLEAR_RESET_STATUS = 4;
+static const size_t SIZE_INIT_RW = 4;
 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;

tmtc

@@ -1 +1 @@
-Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb
+Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2