From df9119241e7c53c8039088a8072e78e4d8f8b018 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 21 Jun 2021 09:50:26 +0200 Subject: [PATCH 01/43] RwHandler first commands --- bsp_q7s/CMakeLists.txt | 1 + bsp_q7s/ObjectFactory.cpp | 14 +- bsp_q7s/spiCallbacks/CMakeLists.txt | 3 + bsp_q7s/spiCallbacks/rwSpiCallback.cpp | 220 +++++++++++++++ bsp_q7s/spiCallbacks/rwSpiCallback.h | 21 ++ common/config/commonClassIds.h | 1 + common/config/commonSubsystemIds.h | 1 + common/config/spiConf.h | 3 + linux/fsfwconfig/devices/addresses.h | 6 +- linux/fsfwconfig/devices/gpioIds.h | 7 +- linux/fsfwconfig/objects/systemObjectList.h | 5 + mission/devices/CMakeLists.txt | 1 + mission/devices/RwHandler.cpp | 259 ++++++++++++++++++ mission/devices/RwHandler.h | 125 +++++++++ .../devicedefinitions/Max31865Definitions.h | 6 +- .../devices/devicedefinitions/RwDefinitions.h | 86 ++++++ 16 files changed, 750 insertions(+), 9 deletions(-) create mode 100644 bsp_q7s/spiCallbacks/CMakeLists.txt create mode 100644 bsp_q7s/spiCallbacks/rwSpiCallback.cpp create mode 100644 bsp_q7s/spiCallbacks/rwSpiCallback.h create mode 100644 mission/devices/RwHandler.cpp create mode 100644 mission/devices/RwHandler.h create mode 100644 mission/devices/devicedefinitions/RwDefinitions.h diff --git a/bsp_q7s/CMakeLists.txt b/bsp_q7s/CMakeLists.txt index ce790656..c0547997 100644 --- a/bsp_q7s/CMakeLists.txt +++ b/bsp_q7s/CMakeLists.txt @@ -9,3 +9,4 @@ add_subdirectory(comIF) add_subdirectory(boardtest) add_subdirectory(gpio) add_subdirectory(core) +add_subdirectory(spiCallbacks) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index a977c91b..8c9dc91a 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -9,6 +9,7 @@ #include "bsp_q7s/gpio/gpioCallbacks.h" #include "bsp_q7s/core/CoreController.h" +#include "bsp_q7s/spiCallbacks/rwSpiCallback.h" #include #include @@ -31,11 +32,13 @@ #include #include #include +#include #include #include #include #include #include +#include #include #include @@ -545,10 +548,13 @@ void ObjectFactory::produce(void* args){ UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200, PLOC::MAX_REPLY_SIZE); - PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, - plocUartCookie); -// plocHandler->setStartUpImmediately(); - (void) plocHandler; + PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); + + auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::RW1, "/dev/spidev2.0", + RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr); + + auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie); + rwHandler1->setStartUpImmediately(); #endif /* TE0720 == 0 */ diff --git a/bsp_q7s/spiCallbacks/CMakeLists.txt b/bsp_q7s/spiCallbacks/CMakeLists.txt new file mode 100644 index 00000000..59d507e6 --- /dev/null +++ b/bsp_q7s/spiCallbacks/CMakeLists.txt @@ -0,0 +1,3 @@ +target_sources(${TARGET_NAME} PRIVATE + rwSpiCallback.cpp +) diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp new file mode 100644 index 00000000..fc9bade1 --- /dev/null +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp @@ -0,0 +1,220 @@ +#include +#include +#include +#include +#include + +ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, + size_t sendLen, void* args) { + + ReturnValue_t result = HasReturnvaluesIF::RETURN_OK; + + RwHandler* handler = reinterpret_cast(args); + if(handler == nullptr) { + sif::error << "rwSpiCallback: Pointer to handler is invalid" + << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + uint8_t writeBuffer[2]; + uint8_t writeSize = 0; + + int fileDescriptor = 0; + std::string device = cookie->getSpiDevice(); + UnixFileGuard fileHelper(device, &fileDescriptor, O_RDWR, "rwSpiCallback: "); + if(fileHelper.getOpenResult() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to open device file" << std::endl; + return SpiComIF::OPENING_FILE_FAILED; + } + spi::SpiModes spiMode = spi::SpiModes::MODE_0; + uint32_t spiSpeed = 0; + cookie->getSpiParameters(spiMode, spiSpeed, nullptr); + comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed); + + gpioId_t gpioId = cookie->getChipSelectPin(); + GpioIF* gpioIF = comIf->getGpioInterface(); + MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING; + uint32_t timeoutMs = 0; + MutexIF* mutex = comIf->getMutex(&timeoutType, &timeoutMs); + if(mutex == nullptr or gpioIF == nullptr) { + sif::debug << "rwSpiCallback: Mutex or GPIO interface invalid" << std::endl; + return HasReturnvaluesIF::RETURN_FAILED; + } + + if(gpioId != gpio::NO_GPIO) { + result = mutex->lockMutex(timeoutType, timeoutMs); + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::debug << "rwSpiCallback: Failed to lock mutex" << std::endl; + return result; + } + } + + /** Sending frame start sign */ + writeBuffer[0] = 0x7E; + writeSize = 1; + + // Pull SPI CS low. For now, no support for active high given + if(gpioId != gpio::NO_GPIO) { + if(gpioIF->pullLow(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select low" << std::endl; + } + } + + if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { + sif::error << "rwSpiCallback: Write failed!" << std::endl; + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex" << std::endl;; + } + return RwHandler::SPI_WRITE_FAILURE; + } + + /** Encoding and sending command */ + size_t idx = 0; + while(idx < sendLen) { + switch(*(sendData + idx)) { + case 0x7E: + writeBuffer[0] = 0x7D; + writeBuffer[1] = 0x5E; + writeSize = 2; + break; + case 0x7D: + writeBuffer[0] = 0x7D; + writeBuffer[1] = 0x5D; + writeSize = 2; + break; + default: + writeBuffer[0] = *(sendData + idx); + writeSize = 1; + } + if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { + sif::error << "rwSpiCallback: Write failed!" << std::endl; + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex"; + } + return RwHandler::SPI_WRITE_FAILURE; + } + } + + /** Sending frame start sign */ + writeBuffer[0] = 0x7E; + writeSize = 1; + + if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { + sif::error << "rwSpiCallback: Write failed!" << std::endl; + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex"; + } + return RwHandler::SPI_WRITE_FAILURE; + } + + uint8_t* rxBuf = nullptr; + result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf); + if(result != HasReturnvaluesIF::RETURN_OK) { + return result; + } + + size_t replyBufferSize = cookie->getMaxBufferSize(); + + uint8_t byteRead = 0; + /** Reading the reply frame */ + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl; + return RwHandler::SPI_READ_FAILURE; + } + + /** First byte must be the start sign 0x7E */ + if (byteRead != 0x7E) { + sif::error << "rwSpiCallback: First byte of reply is not 0x7E" << std::endl; + return RwHandler::MISSING_START_SIGN; + } + + size_t decodedFrameLen = 0; + for (; decodedFrameLen < replyBufferSize; decodedFrameLen++) { + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Read failed" << std::endl; + return RwHandler::SPI_READ_FAILURE; + } + + if (byteRead == 0x7E) { + /** Reached end of frame */ + break; + } + else if (byteRead == 0xD) { + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Read failed" << std::endl; + result = RwHandler::SPI_READ_FAILURE; + break; + } + if (byteRead == 0x5E) { + *(rxBuf + decodedFrameLen) = 0x7E; + decodedFrameLen++; + continue; + } + else if (byteRead == 0x5D) { + *(rxBuf + decodedFrameLen) = 0x7D; + decodedFrameLen++; + continue; + } + else { + sif::error << "rwSpiCallback: Invalid substitute" << std::endl; + result = RwHandler::INVALID_SUBSTITUTE; + break; + } + } + else { + *(rxBuf + decodedFrameLen) = byteRead; + decodedFrameLen++; + continue; + } + + /** + * There might be the unlikely case that each byte in a get-telemetry reply has been + * replaced by its substitute. Than the next byte must correspond to the end sign 0x7E. + * Otherwise there might be something wrong. + */ + if (decodedFrameLen == replyBufferSize) { + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Failed to read last byte" << std::endl; + result = RwHandler::SPI_READ_FAILURE; + break; + } + if (byteRead != 0x7E) { + sif::error << "rwSpiCallback: Missing end sign 0x7E" << std::endl; + decodedFrameLen--; + result = RwHandler::MISSING_END_SIGN; + break; + } + } + result = HasReturnvaluesIF::RETURN_OK; + } + + cookie->assignTransferSize(decodedFrameLen); + + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + + if(gpioId != gpio::NO_GPIO) { + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex" << std::endl; + } + } + return result; +} diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.h b/bsp_q7s/spiCallbacks/rwSpiCallback.h new file mode 100644 index 00000000..d882bee4 --- /dev/null +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.h @@ -0,0 +1,21 @@ +#ifndef BSP_Q7S_RW_SPI_CALLBACK_H_ +#define BSP_Q7S_RW_SPI_CALLBACK_H_ + +#include +#include + +/** + * @brief This is the callback function to send commands to the nano avionics reaction wheels and + * receive the replies. + * + * @details The data to sent are additionally encoded according to the HDLC framing defined in the + * datasheet of the reaction wheels: + * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/ + * Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622 + * Each command entails exactly one reply which will also be read in and decoded by this + * function. + */ +ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, + size_t sendLen, void* args); + +#endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */ diff --git a/common/config/commonClassIds.h b/common/config/commonClassIds.h index 7a53bdf0..8a4a8121 100644 --- a/common/config/commonClassIds.h +++ b/common/config/commonClassIds.h @@ -13,6 +13,7 @@ enum commonClassIds: uint8_t { HEATER_HANDLER, //HEATER SYRLINKS_HANDLER, //SYRLINKS IMTQ_HANDLER, //IMTQ + RW_HANDLER, //Reaction Wheels PLOC_HANDLER, //PLOC SUS_HANDLER, //SUSS CCSDS_IP_CORE_BRIDGE, // IP Core interface diff --git a/common/config/commonSubsystemIds.h b/common/config/commonSubsystemIds.h index 0bc3e1dd..bc2fe400 100644 --- a/common/config/commonSubsystemIds.h +++ b/common/config/commonSubsystemIds.h @@ -13,6 +13,7 @@ enum: uint8_t { SA_DEPL_HANDLER = 110, PLOC_HANDLER = 111, IMTQ_HANDLER = 112, + RW_HANDLER = 113, COMMON_SUBSYSTEM_ID_END }; } diff --git a/common/config/spiConf.h b/common/config/spiConf.h index 2632924d..d76ac9b8 100644 --- a/common/config/spiConf.h +++ b/common/config/spiConf.h @@ -26,6 +26,9 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3; static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000; static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3; +static constexpr uint32_t RW_SPEED = 300'000; +static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0; + } #endif /* COMMON_CONFIG_SPICONF_H_ */ diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h index 0deb8490..e4dc4979 100644 --- a/linux/fsfwconfig/devices/addresses.h +++ b/linux/fsfwconfig/devices/addresses.h @@ -63,7 +63,11 @@ namespace addresses { RTD_IC15, RTD_IC16, RTD_IC17, - RTD_IC18 + RTD_IC18, + RW1, + RW2, + RW3, + RW4 }; /* Addresses of devices supporting the CSP protocol */ diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h index 102b04b9..39d1b8ce 100644 --- a/linux/fsfwconfig/devices/gpioIds.h +++ b/linux/fsfwconfig/devices/gpioIds.h @@ -68,7 +68,12 @@ namespace gpioIds { CS_RAD_SENSOR, PAPB_BUSY_N, - PAPB_EMPTY + PAPB_EMPTY, + + RW1, + RW2, + RW3, + RW4 }; } diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h index 98d6c448..bda929a5 100644 --- a/linux/fsfwconfig/objects/systemObjectList.h +++ b/linux/fsfwconfig/objects/systemObjectList.h @@ -58,6 +58,11 @@ namespace objects { RAD_SENSOR = 0x54000050, + RW1 = 0x54000051, + RW2 = 0x54000052, + RW3 = 0x54000053, + RW4 = 0x54000054, + /* 0x54 ('T') for test handlers */ TEST_TASK = 0x54694269, LIBGPIOD_TEST = 0x54123456, diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index 735e595b..544bbd14 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -16,6 +16,7 @@ target_sources(${TARGET_NAME} PUBLIC PlocHandler.cpp RadiationSensorHandler.cpp GyroADIS16507Handler.cpp + RwHandler.cpp ) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp new file mode 100644 index 00000000..9f6d483b --- /dev/null +++ b/mission/devices/RwHandler.cpp @@ -0,0 +1,259 @@ +#include "RwHandler.h" +#include "OBSWConfig.h" + +#include +#include +#include + +RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : + DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) { + if (comCookie == NULL) { + sif::error << "RwHandler: Invalid com cookie" << std::endl; + } +} + +RwHandler::~RwHandler() { +} + +void RwHandler::doStartUp() { +#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 + setMode(MODE_NORMAL); +#else + setMode(_MODE_TO_ON); +#endif +} + +void RwHandler::doShutDown() { + +} + +ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { + switch (communicationStep) { + case CommunicationStep::READ_TEMPERATURE: + *id = RwDefinitions::GET_TEMPERATURE; + break; + case CommunicationStep::GET_RW_SATUS: + *id = RwDefinitions::GET_RW_STATUS; + break; + default: + sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step" + << std::endl; + break; + } + return buildCommandFromCommand(*id, NULL, 0); +} + +ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { + return RETURN_OK; +} + +ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData, size_t commandDataLen) { + ReturnValue_t result = RETURN_OK; + + switch (deviceCommand) { + case (RwDefinitions::GET_RW_STATUS): { + prepareGetStatusCmd(commandData, commandDataLen); + return RETURN_OK; + } + case (RwDefinitions::SET_SPEED): { + if (commandDataLen != 6) { + sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with" + << " invalid length" << std::endl; + return SET_SPEED_COMMAND_INVALID_LENGTH; + } + result = checkSpeedAndRampTime(commandData, commandDataLen); + if (result != RETURN_OK) { + return result; + } + prepareSetSpeedCmd(commandData, commandDataLen); + return result; + } + case (RwDefinitions::GET_TEMPERATURE): { + prepareGetTemperatureCmd(); + return RETURN_OK; + } + default: + return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; + } + return HasReturnvaluesIF::RETURN_FAILED; +} + +void RwHandler::fillCommandAndReplyMap() { + this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet, + RwDefinitions::SIZE_GET_TEMPERATURE_REPLY); + this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr, + RwDefinitions::SIZE_SET_SPEED_REPLY); +} + +ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize, + DeviceCommandId_t *foundId, size_t *foundLen) { + + switch (*(start + 1)) { + case (static_cast(RwDefinitions::GET_RW_STATUS)): { + *foundLen = RwDefinitions::SIZE_GET_RW_STATUS; + *foundId = RwDefinitions::GET_RW_STATUS; + break; + } + case (static_cast(RwDefinitions::SET_SPEED)): { + *foundLen = RwDefinitions::SIZE_SET_SPEED_REPLY; + *foundId = RwDefinitions::SET_SPEED; + break; + } + case (static_cast(RwDefinitions::GET_TEMPERATURE)): { + *foundLen = RwDefinitions::SIZE_GET_TEMPERATURE_REPLY; + *foundId = RwDefinitions::GET_TEMPERATURE; + break; + } + default: { + sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl; + return RETURN_FAILED; + break; + } + } + + sizeOfReply = *foundLen; + + return RETURN_OK; +} + +ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { + + /** Check result code */ + if (*(packet + 1) != 0) { + return EXECUTION_FAILED; + } + + /** Received in little endian byte order */ + uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2) ; + + if (CRC::crc16ccitt(packet, sizeOfReply, 0xFFFF) != replyCrc) { + return CRC_ERROR; + } + + switch (id) { + case (RwDefinitions::GET_RW_STATUS): { + handleGetRwStatusReply(packet); + break; + } + case (RwDefinitions::SET_SPEED): + // no reply data expected + break; + case (RwDefinitions::GET_TEMPERATURE): { + handleTemperatureReply(packet); + break; + } + default: { + sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl; + return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; + } + } + + return RETURN_OK; +} + +void RwHandler::setNormalDatapoolEntriesInvalid() { + +} + +uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { + return 5000; +} + +ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) { + + localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry( { 0 })); + + return RETURN_OK; +} + +void RwHandler::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) { + commandBuffer[0] = static_cast(RwDefinitions::GET_RW_STATUS); + + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + +ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_t commandDataLen) { + int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 + | *(commandData + 3); + + if (speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) { + sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl; + return INVALID_SPEED; + } + + uint16_t rampTime = *commandData << 8 | *(commandData + 1); + + if (rampTime < 10 || rampTime > 10000) { + sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" + << std::endl; + return INVALID_RAMP_TIME; + } + + return RETURN_OK; +} + +void RwHandler::prepareGetTemperatureCmd() { + commandBuffer[0] = static_cast(RwDefinitions::GET_TEMPERATURE); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + + +void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { + commandBuffer[0] = static_cast(RwDefinitions::SET_SPEED); + + /** Speed (0.1 RPM) */ + commandBuffer[1] = *(commandData + 3); + commandBuffer[2] = *(commandData + 2); + commandBuffer[3] = *(commandData + 1); + commandBuffer[4] = *commandData; + /** Ramp time (ms) */ + commandBuffer[5] = *(commandData + 1); + commandBuffer[6] = *commandData; + + uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF); + commandBuffer[7] = static_cast(crc & 0xFF); + commandBuffer[8] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 9; +} + +void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { + uint8_t offset = 0; + statusSet.currSpeed = *(packet + 3) << 24 | *(packet + 2) << 16 | *(packet + 1) << 1 | *packet; + offset += 4; + statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 1 | *(packet + offset); + offset += 4; + statusSet.state = *(packet + offset); + offset += 1; + statusSet.clcMode = *(packet + offset); + +#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 + sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed + << " * 0.1 RPM" << std::endl; + sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " + << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl; + sif::info << "RwHandler::handleGetRwStatusReply: State is: " << statusSet.state + << " * 0.1 RPM" << std::endl; + sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: " << statusSet.clcMode + << " * 0.1 RPM" << std::endl; +#endif +} + +void RwHandler::handleTemperatureReply(const uint8_t* packet) { + temperatureSet.temperatureCelcius = *(packet + 3) << 24 | *(packet + 2) << 16 + | *(packet + 1) << 1 | *packet; +#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 + sif::info << "RwHandler::handleTemperatureReply: Temperature: " + << temperatureSet.temperatureCelcius << " °C" << std::endl; +#endif +} diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h new file mode 100644 index 00000000..8f77527b --- /dev/null +++ b/mission/devices/RwHandler.h @@ -0,0 +1,125 @@ +#ifndef MISSION_DEVICES_RWHANDLER_H_ +#define MISSION_DEVICES_RWHANDLER_H_ + +#include +#include +#include + +/** + * @brief This is the device handler for the reaction wheel from nano avionics. + * + * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/ + * Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622 + * + * @note Values are transferred in little endian format. + * + * @author J. Meier + */ +class RwHandler: public DeviceHandlerBase { +public: + + RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + virtual ~RwHandler(); + + /** + * @brief Sets mode to MODE_NORMAL. Can be used for debugging. + */ + void setModeNormal(); + + static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER; + + static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0); + //! [EXPORT] : [COMMENT] Used by the spi send function to tell a failing read call + static const ReturnValue_t SPI_READ_FAILURE = MAKE_RETURN_CODE(0xB1); + //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about a missing start sign 0x7E + static const ReturnValue_t MISSING_START_SIGN = MAKE_RETURN_CODE(0xB2); + //! [EXPORT] : [COMMENT] Can be used by the HDLC decoding mechanism to inform about an invalid substitution combination + static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3); + //! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E + static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4); + +protected: + void doStartUp() override; + void doShutDown() override; + ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t * id) override; + ReturnValue_t buildTransitionDeviceCommand(DeviceCommandId_t * id) override; + void fillCommandAndReplyMap() override; + ReturnValue_t buildCommandFromCommand(DeviceCommandId_t deviceCommand, + const uint8_t * commandData,size_t commandDataLen) override; + ReturnValue_t scanForReply(const uint8_t *start, size_t remainingSize, + DeviceCommandId_t *foundId, size_t *foundLen) override; + ReturnValue_t interpretDeviceReply(DeviceCommandId_t id, + const uint8_t *packet) override; + void setNormalDatapoolEntriesInvalid() override; + uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override; + ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap, + LocalDataPoolManager& poolManager) override; + +private: + + static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER; + + //! [EXPORT] : [COMMENT] Action Message with invalid speed was received. Valid speeds must be in the range of [-65000; 1000] or [1000; 65000] + static const ReturnValue_t INVALID_SPEED = MAKE_RETURN_CODE(0xA0); + //! [EXPORT] : [COMMENT] Action Message with invalid ramp time was received. + static const ReturnValue_t INVALID_RAMP_TIME = MAKE_RETURN_CODE(0xA1); + //! [EXPORT] : [COMMENT] Received set speed command has invalid length. Should be 6. + static const ReturnValue_t SET_SPEED_COMMAND_INVALID_LENGTH = MAKE_RETURN_CODE(0xA2); + //! [EXPORT] : [COMMENT] Command execution failed + static const ReturnValue_t EXECUTION_FAILED = MAKE_RETURN_CODE(0xA3); + //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc + static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4); + + RwDefinitions::TemperatureSet temperatureSet; + RwDefinitions::StatusSet statusSet; + + + uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE]; + + enum class CommunicationStep { + READ_TEMPERATURE, + GET_RW_SATUS + }; + + CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE; + + size_t sizeOfReply = 0; + + /** + * @brief This function prepares the send buffer with the data to request the status of + * the reaction wheel. + */ + void prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen); + + /** + * @brief This function checks if the receiced speed and ramp time to set are in a valid + * range. + * @return RETURN_OK if successful, otherwise error code. + */ + ReturnValue_t checkSpeedAndRampTime(const uint8_t * commandData, size_t commandDataLen); + + /** + * @brief This function prepares the set speed command from the commandData received with + * an action message. + */ + void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen); + + /** + * @brief This function fills the commandBuffer with the data to request the temperature. + */ + void prepareGetTemperatureCmd(); + + /** + * @brief This function handles the reply of the get temperature command. + * + * @param packet Pointer to the reply data + */ + void handleTemperatureReply(const uint8_t* packet); + + /** + * @brief This function fills the status set with the data from the get-status-reply. + */ + void handleGetRwStatusReply(const uint8_t* packet); +}; + +#endif /* MISSION_DEVICES_RWHANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/Max31865Definitions.h b/mission/devices/devicedefinitions/Max31865Definitions.h index 2a789a7b..26c702a3 100644 --- a/mission/devices/devicedefinitions/Max31865Definitions.h +++ b/mission/devices/devicedefinitions/Max31865Definitions.h @@ -1,5 +1,5 @@ -#ifndef MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ -#define MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ #include #include @@ -54,5 +54,5 @@ public: } -#endif /* MISSION_DEVICES_DEVICEPACKETS_THERMALSENSORPACKET_H_ */ +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_MAX13865DEFINITIONS_H_ */ diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h new file mode 100644 index 00000000..247b7bc6 --- /dev/null +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -0,0 +1,86 @@ +#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ +#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ + +#include +#include +#include +#include "objects/systemObjectList.h" + +namespace RwDefinitions { + +enum PoolIds: lp_id_t { + TEMPERATURE_C, + CURR_SPEED, + REFERENCE_SPEED, + STATE, + CLC_MODE +}; + +static constexpr DeviceCommandId_t GET_RW_STATUS = 4; +static constexpr DeviceCommandId_t SET_SPEED = 6; +static constexpr DeviceCommandId_t GET_TEMPERATURE = 8; + +static constexpr uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE; +static constexpr uint32_t STATUS_SET_ID = GET_RW_STATUS; + +static constexpr size_t SIZE_GET_RW_STATUS = 14; +static constexpr size_t SIZE_SET_SPEED_REPLY = 4; +static constexpr size_t SIZE_GET_TEMPERATURE_REPLY = 8; +/** Max size when requesting telemetry */ +static constexpr size_t SIZE_GET_TELEMETRY_REPLY = 83; + +/** Set speed command has maximum size */ +static constexpr size_t MAX_CMD_SIZE = 9; +static constexpr size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY; + +static constexpr uint8_t TEMPERATURE_SET_ENTRIES = 1; +static constexpr uint8_t STATUS_SET_ENTRIES = 4; + +/** + * @brief This dataset can be used to store the temperature of a reaction wheel. + */ +class TemperatureSet: + public StaticLocalDataSet { +public: + + TemperatureSet(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, TEMPERATURE_SET_ID) { + } + + TemperatureSet(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, TEMPERATURE_SET_ID)) { + } + + lp_var_t temperatureCelcius = lp_var_t(sid.objectId, + PoolIds::TEMPERATURE_C, this); +}; + +/** + * @brief This dataset can be used to store the reaction wheel status. + */ +class StatusSet: + public StaticLocalDataSet { +public: + + StatusSet(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, STATUS_SET_ID) { + } + + StatusSet(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, STATUS_SET_ID)) { + } + + lp_var_t currSpeed = lp_var_t(sid.objectId, + PoolIds::CURR_SPEED, this); + lp_var_t referenceSpeed = lp_var_t(sid.objectId, + PoolIds::REFERENCE_SPEED, this); + lp_var_t state = lp_var_t(sid.objectId, + PoolIds::STATE, this); + lp_var_t clcMode = lp_var_t(sid.objectId, + PoolIds::CLC_MODE, this); +}; + +} + +#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */ + From 428ae97e0efbc25ba74f1309cf9f8cebe6e1a4e9 Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Mon, 21 Jun 2021 14:46:46 +0200 Subject: [PATCH 02/43] reaction wheels testing --- bsp_q7s/ObjectFactory.cpp | 9 ++++++- bsp_q7s/spiCallbacks/rwSpiCallback.cpp | 25 +++++++++++++++++++ .../pollingSequenceFactory.cpp | 9 ++++++- mission/devices/RwHandler.cpp | 1 - mission/devices/RwHandler.h | 5 ---- tmtc | 2 +- 6 files changed, 42 insertions(+), 9 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 8c9dc91a..e5b43ee0 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -548,13 +548,20 @@ void ObjectFactory::produce(void* args){ UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyUL3"), 115200, PLOC::MAX_REPLY_SIZE); - PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); + new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); + + GpioCookie* gpioCookieRw = new GpioCookie; + GpiodRegular* rw1ChipSelect = new GpiodRegular(std::string("gpiochip5"), 7, + std::string("Chip Select RW 1"), gpio::OUT, 1); + gpioCookieRw->addGpio(gpioIds::RW1, rw1ChipSelect); + gpioComIF->addGpios(gpioCookieRw); auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::RW1, "/dev/spidev2.0", RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr); auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie); rwHandler1->setStartUpImmediately(); + rw1SpiCookie->setCallbackArgs(rwHandler1); #endif /* TE0720 == 0 */ diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp index fc9bade1..d1abf55e 100644 --- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp @@ -103,6 +103,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s } return RwHandler::SPI_WRITE_FAILURE; } + idx++; } /** Sending frame start sign */ @@ -125,6 +126,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s uint8_t* rxBuf = nullptr; result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf); if(result != HasReturnvaluesIF::RETURN_OK) { + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex"; + } return result; } @@ -133,6 +142,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s uint8_t byteRead = 0; /** Reading the reply frame */ if(read(fileDescriptor, &byteRead, 1) != 1) { + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex"; + } sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl; return RwHandler::SPI_READ_FAILURE; } @@ -140,6 +157,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s /** First byte must be the start sign 0x7E */ if (byteRead != 0x7E) { sif::error << "rwSpiCallback: First byte of reply is not 0x7E" << std::endl; + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "rwSpiCallback: Failed to unlock mutex"; + } return RwHandler::MISSING_START_SIGN; } diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 39cbae4d..1682e4df 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -412,6 +412,12 @@ ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence) // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ); // thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW1, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW1, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ); + if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) { return HasReturnvaluesIF::RETURN_OK; } @@ -480,8 +486,9 @@ ReturnValue_t pst::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){ ReturnValue_t pst::pollingSequenceTest(FixedTimeslotTaskIF* thisSequence) { /* Length of a communication cycle */ - uint32_t length = thisSequence->getPeriodMs(); + #if OBSW_ADD_ACS_BOARD == 1 + uint32_t length = thisSequence->getPeriodMs(); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2, diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 9f6d483b..f64c3685 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -3,7 +3,6 @@ #include #include -#include RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) { diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 8f77527b..7a5382d7 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -21,11 +21,6 @@ public: RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); virtual ~RwHandler(); - /** - * @brief Sets mode to MODE_NORMAL. Can be used for debugging. - */ - void setModeNormal(); - static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER; static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0); diff --git a/tmtc b/tmtc index 805470df..7a4d6ee1 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 805470df6d907ba5002fcca1ae71f662a7097b0b +Subproject commit 7a4d6ee13a32119a9a9e815d32680ae7ab302699 From 8d8bb413344c5a379730276fa009c2f36288d5af Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 21 Jun 2021 17:15:19 +0200 Subject: [PATCH 03/43] rw chip select decoding --- bsp_q7s/ObjectFactory.cpp | 16 +++++++++++--- bsp_q7s/gpio/gpioCallbacks.cpp | 34 ++++++++++++++++++++++++++++-- bsp_q7s/gpio/gpioCallbacks.h | 5 +++++ fsfw | 2 +- fsfw_hal | 2 +- linux/fsfwconfig/devices/gpioIds.h | 9 ++++---- 6 files changed, 57 insertions(+), 11 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index e5b43ee0..68751f5c 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -551,9 +551,19 @@ void ObjectFactory::produce(void* args){ new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); GpioCookie* gpioCookieRw = new GpioCookie; - GpiodRegular* rw1ChipSelect = new GpiodRegular(std::string("gpiochip5"), 7, - std::string("Chip Select RW 1"), gpio::OUT, 1); - gpioCookieRw->addGpio(gpioIds::RW1, rw1ChipSelect); + GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, + 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); + gpioCookieRw->addGpio(gpioIds::EN_RW1, csRw1); + GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, + 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); + gpioCookieRw->addGpio(gpioIds::EN_RW2, csRw2); + GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, + 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); + gpioCookieRw->addGpio(gpioIds::EN_RW3, csRw3); + GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, + 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); + gpioCookieRw->addGpio(gpioIds::EN_RW4, csRw4); + gpioComIF->addGpios(gpioCookieRw); auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::RW1, "/dev/spidev2.0", diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp index 2f59cb0e..7ae2c417 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -45,11 +45,13 @@ void initSpiCsDecoder(GpioIF* gpioComIF) { GpiodRegular* spiMuxBit6 = new GpiodRegular(std::string("gpiochip7"), 18, std::string("SPI Mux Bit 6"), gpio::OUT, 0); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6); + GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17, + std::string("EN_RW_CS"), gpio::OUT, 0); + spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); result = gpioComInterface->addGpios(spiMuxGpios); if (result != HasReturnvaluesIF::RETURN_OK) { - sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" - << std::endl; + sif::error << "initSpiCsDecoder: Failed to add mux bit gpios to gpioComIF" << std::endl; return; } } @@ -218,6 +220,26 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value selectY6(); break; } + case(gpioIds::EN_RW1): { + enableRwDecoder(); + selectY0(); + break; + } + case(gpioIds::EN_RW2): { + enableRwDecoder(); + selectY1(); + break; + } + case(gpioIds::EN_RW3): { + enableRwDecoder(); + selectY3(); + break; + } + case(gpioIds::EN_RW4): { + enableRwDecoder(); + selectY4(); + break; + } default: sif::debug << "spiCsDecoderCallback: Invalid gpio id " << gpioId << std::endl; } @@ -251,6 +273,13 @@ void enableDecoderInterfaceBoardIc2() { gpioComInterface->pullHigh(gpioIds::SPI_MUX_BIT_3); } +void enableRwDecoder() { + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); + gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullHigh(gpioIds::EN_RW_CS); +} + void selectY0() { gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_4); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_5); @@ -303,6 +332,7 @@ void disableAllDecoder() { gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_1); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_2); gpioComInterface->pullLow(gpioIds::SPI_MUX_BIT_3); + gpioComInterface->pullLow(gpioIds::EN_RW_CS); } } diff --git a/bsp_q7s/gpio/gpioCallbacks.h b/bsp_q7s/gpio/gpioCallbacks.h index 4a0c73cb..eaf9a701 100644 --- a/bsp_q7s/gpio/gpioCallbacks.h +++ b/bsp_q7s/gpio/gpioCallbacks.h @@ -43,6 +43,11 @@ namespace gpioCallbacks { */ void enableDecoderInterfaceBoardIc2(); + /** + * @brief Enables the reaction wheel chip select decoder (IC3). + */ + void enableRwDecoder(); + /** * @brief This function disables all decoder. */ diff --git a/fsfw b/fsfw index d700fb55..cae69d54 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit d700fb551c85393b58a3ada96fbd3f807217d14b +Subproject commit cae69d540097acba46bffa47fd7afc6a8a19bd15 diff --git a/fsfw_hal b/fsfw_hal index ae322d98..8fe5d0af 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit ae322d981bd1ed8411a058ba6b4dc185f00a12f3 +Subproject commit 8fe5d0afa0857025d9dee3c6f266c2503a22c517 diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h index 39d1b8ce..0a541477 100644 --- a/linux/fsfwconfig/devices/gpioIds.h +++ b/linux/fsfwconfig/devices/gpioIds.h @@ -70,10 +70,11 @@ namespace gpioIds { PAPB_BUSY_N, PAPB_EMPTY, - RW1, - RW2, - RW3, - RW4 + EN_RW1, + EN_RW2, + EN_RW3, + EN_RW4, + EN_RW_CS }; } From 88181d8fb4a4406b1221b216c3e8d42e76e7f986 Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Tue, 22 Jun 2021 13:48:30 +0200 Subject: [PATCH 04/43] rw enable wip --- bsp_q7s/ObjectFactory.cpp | 16 ++++++++-------- bsp_q7s/gpio/gpioCallbacks.cpp | 2 +- mission/devices/RwHandler.cpp | 14 +++++++++----- mission/devices/RwHandler.h | 13 ++++++++++++- 4 files changed, 30 insertions(+), 15 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index f3ecd173..821d94fd 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -552,18 +552,18 @@ void ObjectFactory::produce(void* args){ new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); GpioCookie* gpioCookieRw = new GpioCookie; - GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, + GpioCallback* enRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW1, csRw1); - GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); + GpioCallback* enRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW2, csRw2); - GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); + GpioCallback* enRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW3, csRw3); - GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); + GpioCallback* enRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW4, csRw4); + gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); gpioComIF->addGpios(gpioCookieRw); diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp index 7ae2c417..ede2311a 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -46,7 +46,7 @@ void initSpiCsDecoder(GpioIF* gpioComIF) { std::string("SPI Mux Bit 6"), gpio::OUT, 0); spiMuxGpios->addGpio(gpioIds::SPI_MUX_BIT_6, spiMuxBit6); GpiodRegular* enRwDecoder = new GpiodRegular(std::string("gpiochip5"), 17, - std::string("EN_RW_CS"), gpio::OUT, 0); + std::string("EN_RW_CS"), gpio::OUT, 1); spiMuxGpios->addGpio(gpioIds::EN_RW_CS, enRwDecoder); result = gpioComInterface->addGpios(spiMuxGpios); diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index f64c3685..c029372b 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -4,11 +4,15 @@ #include #include -RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) : - DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) { - if (comCookie == NULL) { - sif::error << "RwHandler: Invalid com cookie" << std::endl; - } +RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie, + LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) : + DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) { + if (comCookie == NULL) { + sif::error << "RwHandler: Invalid com cookie" << std::endl; + } + if (gpioComIF == NULL) { + sif::error << "RwHandler: Invalid gpio communication interface" << std::endl; + } } RwHandler::~RwHandler() { diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 7a5382d7..f68b57b7 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -18,7 +18,18 @@ class RwHandler: public DeviceHandlerBase { public: - RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie); + /** + * @brief Constructor + * + * @param objectId + * @param comIF + * @param comCookie + * @param gpioComIF Pointer to gpio communication interface + * @param enablePin GPIO connected to the enable pin of the reaction wheels. Must be pulled + * to high to enable the device. + */ + RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie, + LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio); virtual ~RwHandler(); static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER; From fb297237287741f2d060103d50de458153554973 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 11:16:08 +0200 Subject: [PATCH 05/43] fsfw update, rm3100 update --- fsfw | 2 +- mission/devices/MGMHandlerRM3100.cpp | 10 +++++----- mission/devices/MGMHandlerRM3100.h | 11 +++++------ 3 files changed, 11 insertions(+), 12 deletions(-) diff --git a/fsfw b/fsfw index 5f9a6bb1..c0c4a319 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit 5f9a6bb155eb59981e7ff851b7efaa1ae25e42b4 +Subproject commit c0c4a3190f1e54d4b5982656f5cc52218928d6ca diff --git a/mission/devices/MGMHandlerRM3100.cpp b/mission/devices/MGMHandlerRM3100.cpp index 4fd654d3..0f7fc729 100644 --- a/mission/devices/MGMHandlerRM3100.cpp +++ b/mission/devices/MGMHandlerRM3100.cpp @@ -1,10 +1,10 @@ -#include #include "MGMHandlerRM3100.h" -#include -#include -#include -#include +#include "fsfw/datapool/PoolReadGuard.h" +#include "fsfw/globalfunctions/bitutility.h" +#include "fsfw/devicehandlers/DeviceHandlerMessage.h" +#include "fsfw/objectmanager/SystemObjectIF.h" +#include "fsfw/returnvalues/HasReturnvaluesIF.h" MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId, diff --git a/mission/devices/MGMHandlerRM3100.h b/mission/devices/MGMHandlerRM3100.h index 95175b47..48173e65 100644 --- a/mission/devices/MGMHandlerRM3100.h +++ b/mission/devices/MGMHandlerRM3100.h @@ -1,13 +1,12 @@ #ifndef MISSION_DEVICES_MGMRM3100HANDLER_H_ #define MISSION_DEVICES_MGMRM3100HANDLER_H_ +#include "OBSWConfig.h" #include "devicedefinitions/MGMHandlerRM3100Definitions.h" -#include - -#include +#include "fsfw/devicehandlers/DeviceHandlerBase.h" #if OBSW_VERBOSE_LEVEL >= 1 -#include +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" #endif /** @@ -21,11 +20,11 @@ class MGMHandlerRM3100: public DeviceHandlerBase { public: static const uint8_t INTERFACE_ID = CLASS_ID::MGM_RM3100; - //! P1: TMRC value which was set, P2: 0 + //! [EXPORT] : [COMMENT] P1: TMRC value which was set, P2: 0 static constexpr Event tmrcSet = event::makeEvent(SUBSYSTEM_ID::MGM_RM3100, 0x00, severity::INFO); - //! P1: First two bytes new Cycle Count X + //! [EXPORT] : [COMMENT] Cycle counter set. P1: First two bytes new Cycle Count X //! P1: Second two bytes new Cycle Count Y //! P2: New cycle count Z static constexpr Event cycleCountersSet = event::makeEvent( From f9ba20b877c3ac2431dcb5df92dffe273dca255f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 11:17:36 +0200 Subject: [PATCH 06/43] fsfw update --- fsfw | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fsfw b/fsfw index c0c4a319..38f2f69c 160000 --- a/fsfw +++ b/fsfw @@ -1 +1 @@ -Subproject commit c0c4a3190f1e54d4b5982656f5cc52218928d6ca +Subproject commit 38f2f69c784c74cd87a10dce6c968325cf1cb472 From f73e7cd4b1d25004687cf0c4f75247bc7088f89a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 11:23:49 +0200 Subject: [PATCH 07/43] added ninja scripts --- ...e_cmake_debug_cfg.sh => make_debug_cfg.sh} | 0 ...e_relwithdeb_cfg.sh => make_reldeb_cfg.sh} | 0 ...ake_release_cfg.sh => make_release_cfg.sh} | 0 cmake/scripts/Q7S/ninja_debug_cfg.sh | 23 +++++++++++++++++++ ...e_cmake_debug_cfg.sh => make_debug_cfg.sh} | 0 ...e_relwithdeb_cfg.sh => make_reldeb_cfg.sh} | 0 ...ake_release_cfg.sh => make_release_cfg.sh} | 0 ...e_cmake_size_cfg.sh => ninja_debug_cfg.sh} | 12 ++++------ 8 files changed, 27 insertions(+), 8 deletions(-) rename cmake/scripts/Q7S/{create_cmake_debug_cfg.sh => make_debug_cfg.sh} (100%) rename cmake/scripts/Q7S/{create_cmake_relwithdeb_cfg.sh => make_reldeb_cfg.sh} (100%) rename cmake/scripts/Q7S/{create_cmake_release_cfg.sh => make_release_cfg.sh} (100%) create mode 100755 cmake/scripts/Q7S/ninja_debug_cfg.sh rename cmake/scripts/RPi/{create_cmake_debug_cfg.sh => make_debug_cfg.sh} (100%) rename cmake/scripts/RPi/{create_cmake_relwithdeb_cfg.sh => make_reldeb_cfg.sh} (100%) rename cmake/scripts/RPi/{create_cmake_release_cfg.sh => make_release_cfg.sh} (100%) rename cmake/scripts/RPi/{create_cmake_size_cfg.sh => ninja_debug_cfg.sh} (63%) diff --git a/cmake/scripts/Q7S/create_cmake_debug_cfg.sh b/cmake/scripts/Q7S/make_debug_cfg.sh similarity index 100% rename from cmake/scripts/Q7S/create_cmake_debug_cfg.sh rename to cmake/scripts/Q7S/make_debug_cfg.sh diff --git a/cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/Q7S/make_reldeb_cfg.sh similarity index 100% rename from cmake/scripts/Q7S/create_cmake_relwithdeb_cfg.sh rename to cmake/scripts/Q7S/make_reldeb_cfg.sh diff --git a/cmake/scripts/Q7S/create_cmake_release_cfg.sh b/cmake/scripts/Q7S/make_release_cfg.sh similarity index 100% rename from cmake/scripts/Q7S/create_cmake_release_cfg.sh rename to cmake/scripts/Q7S/make_release_cfg.sh diff --git a/cmake/scripts/Q7S/ninja_debug_cfg.sh b/cmake/scripts/Q7S/ninja_debug_cfg.sh new file mode 100755 index 00000000..3a8ac631 --- /dev/null +++ b/cmake/scripts/Q7S/ninja_debug_cfg.sh @@ -0,0 +1,23 @@ +#!/bin/sh +counter=0 +while [ ${counter} -lt 5 ] +do + cd .. + if [ -f "cmake_build_config.py" ];then + break + fi + counter=$((counter=counter + 1)) +done + +if [ "${counter}" -ge 5 ];then + echo "cmake_build_config.py not found in upper directories!" + exit 1 +fi + +os_fsfw="linux" +tgt_bsp="arm/q7s" +build_dir="build-Debug-Q7S" +build_generator="Ninja" + +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ + -l"${build_dir}" diff --git a/cmake/scripts/RPi/create_cmake_debug_cfg.sh b/cmake/scripts/RPi/make_debug_cfg.sh similarity index 100% rename from cmake/scripts/RPi/create_cmake_debug_cfg.sh rename to cmake/scripts/RPi/make_debug_cfg.sh diff --git a/cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh b/cmake/scripts/RPi/make_reldeb_cfg.sh similarity index 100% rename from cmake/scripts/RPi/create_cmake_relwithdeb_cfg.sh rename to cmake/scripts/RPi/make_reldeb_cfg.sh diff --git a/cmake/scripts/RPi/create_cmake_release_cfg.sh b/cmake/scripts/RPi/make_release_cfg.sh similarity index 100% rename from cmake/scripts/RPi/create_cmake_release_cfg.sh rename to cmake/scripts/RPi/make_release_cfg.sh diff --git a/cmake/scripts/RPi/create_cmake_size_cfg.sh b/cmake/scripts/RPi/ninja_debug_cfg.sh similarity index 63% rename from cmake/scripts/RPi/create_cmake_size_cfg.sh rename to cmake/scripts/RPi/ninja_debug_cfg.sh index f7bad84e..c05ae446 100755 --- a/cmake/scripts/RPi/create_cmake_size_cfg.sh +++ b/cmake/scripts/RPi/ninja_debug_cfg.sh @@ -16,12 +16,8 @@ fi os_fsfw="linux" tgt_bsp="arm/raspberrypi" -build_generator="" -if [ "${OS}" = "Windows_NT" ]; then - build_generator="MinGW Makefiles" -# Could be other OS but this works for now. -else - build_generator="Unix Makefiles" -fi +build_generator="Ninja" +build_dir="build-Debug-RPi" -python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "size" -t "${tgt_bsp}" +python3 cmake_build_config.py -o "${os_fsfw}" -g "${build_generator}" -b "debug" -t "${tgt_bsp}" \ + -l"${build_dir}" From 29989e7ae5de2736b37afb34f443b36d785d5116 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 11:24:19 +0200 Subject: [PATCH 08/43] small README fix --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index a03d7272..53c1cfad 100644 --- a/README.md +++ b/README.md @@ -79,7 +79,7 @@ wget https://eive-cloud.irs.uni-stuttgart.de/index.php/s/2Fp2ag6NGnbtAsK/downloa 3. Run the following commands in MinGW64 ```sh - pacman -Syuuu + pacman -Syu ``` It is recommended to install the full base development toolchain From 9f795e3a3e39abc4f687a296d736e8bbe833898b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 11:42:40 +0200 Subject: [PATCH 09/43] continued gps handler --- bsp_linux_board/ObjectFactory.cpp | 4 +- mission/devices/CMakeLists.txt | 3 +- ...{GPSHandler.cpp => GPSHyperionHandler.cpp} | 52 +++++++++++++------ .../{GPSHandler.h => GPSHyperionHandler.h} | 20 ++++--- .../devicedefinitions/GPSDefinitions.h | 24 ++++++++- 5 files changed, 74 insertions(+), 29 deletions(-) rename mission/devices/{GPSHandler.cpp => GPSHyperionHandler.cpp} (55%) rename mission/devices/{GPSHandler.h => GPSHyperionHandler.h} (72%) diff --git a/bsp_linux_board/ObjectFactory.cpp b/bsp_linux_board/ObjectFactory.cpp index f4ae00bf..c5e12868 100644 --- a/bsp_linux_board/ObjectFactory.cpp +++ b/bsp_linux_board/ObjectFactory.cpp @@ -1,6 +1,6 @@ #include #include -#include +#include #include "ObjectFactory.h" #include "objects/systemObjectList.h" @@ -157,7 +157,7 @@ void ObjectFactory::produce(void* args){ UartModes::CANONICAL, 9600, 1024); uartCookie->setToFlushInput(true); uartCookie->setReadCycles(6); - GPSHandler* gpsHandler = new GPSHandler(objects::GPS0_HANDLER, + GPSHyperionHandler* gpsHandler = new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie); gpsHandler->setStartUpImmediately(); #endif diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt index 735e595b..8eb96538 100644 --- a/mission/devices/CMakeLists.txt +++ b/mission/devices/CMakeLists.txt @@ -1,6 +1,5 @@ target_sources(${TARGET_NAME} PUBLIC - GPSHandler.cpp - # GyroL3GD20Handler.cpp + GPSHyperionHandler.cpp MGMHandlerLIS3MDL.cpp MGMHandlerRM3100.cpp GomspaceDeviceHandler.cpp diff --git a/mission/devices/GPSHandler.cpp b/mission/devices/GPSHyperionHandler.cpp similarity index 55% rename from mission/devices/GPSHandler.cpp rename to mission/devices/GPSHyperionHandler.cpp index 3fdb6ab1..248b7193 100644 --- a/mission/devices/GPSHandler.cpp +++ b/mission/devices/GPSHyperionHandler.cpp @@ -1,17 +1,19 @@ -#include "GPSHandler.h" +#include "GPSHyperionHandler.h" #include "devicedefinitions/GPSDefinitions.h" +#include "fsfw/datapool/PoolReadGuard.h" + #include "lwgps/lwgps.h" -GPSHandler::GPSHandler(object_id_t objectId, object_id_t deviceCommunication, +GPSHyperionHandler::GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF *comCookie): - DeviceHandlerBase(objectId, deviceCommunication, comCookie) { + DeviceHandlerBase(objectId, deviceCommunication, comCookie), gpsSet(this) { lwgps_init(&gpsData); } -GPSHandler::~GPSHandler() {} +GPSHyperionHandler::~GPSHyperionHandler() {} -void GPSHandler::doStartUp() { +void GPSHyperionHandler::doStartUp() { if(internalState == InternalStates::NONE) { commandExecuted = false; internalState = InternalStates::WAIT_FIRST_MESSAGE; @@ -26,27 +28,27 @@ void GPSHandler::doStartUp() { } } -void GPSHandler::doShutDown() { +void GPSHyperionHandler::doShutDown() { internalState = InternalStates::NONE; commandExecuted = false; setMode(MODE_OFF); } -ReturnValue_t GPSHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) { +ReturnValue_t GPSHyperionHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) { return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t GPSHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) { +ReturnValue_t GPSHyperionHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) { return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t GPSHandler::buildCommandFromCommand( +ReturnValue_t GPSHyperionHandler::buildCommandFromCommand( DeviceCommandId_t deviceCommand, const uint8_t *commandData, size_t commandDataLen) { return HasReturnvaluesIF::RETURN_OK; } -ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, +ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len, DeviceCommandId_t *foundId, size_t *foundLen) { // Pass data to GPS library if(len > 0) { @@ -61,12 +63,30 @@ ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, << std::endl; } else { - sif::info << "GPS Data" << std::endl; + // The data from the device will generally be read all at once. Therefore, we + // can set all field here + PoolReadGuard pg(&gpsSet); + if(pg.getReadResult() != HasReturnvaluesIF::RETURN_OK) { +#if FSFW_VERBOSE_LEVEL >= 1 + sif::warning << "GPSHyperionHandler::scanForReply: Reading dataset failed" + << std::endl; +#endif + } // Print messages + if(gpsData.is_valid) { + // Set all entries valid now, set invalid on case basis if values are sanitized + gpsSet.setValidity(true, true); + } + gpsSet.latitude.value = gpsData.latitude; + gpsSet.longitude.value = gpsData.latitude; + gpsSet.fixMode.value = gpsData.fix_mode; +#if FSFW_HAL_DEBUG_HYPERION_GPS == 1 + sif::info << "GPS Data" << std::endl; printf("Valid status: %d\n", gpsData.is_valid); printf("Latitude: %f degrees\n", gpsData.latitude); printf("Longitude: %f degrees\n", gpsData.longitude); printf("Altitude: %f meters\n", gpsData.altitude); +#endif } *foundLen = len; } @@ -74,25 +94,25 @@ ReturnValue_t GPSHandler::scanForReply(const uint8_t *start, size_t len, } -ReturnValue_t GPSHandler::interpretDeviceReply(DeviceCommandId_t id, +ReturnValue_t GPSHyperionHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { return HasReturnvaluesIF::RETURN_OK; } -uint32_t GPSHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { +uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { return 5000; } -ReturnValue_t GPSHandler::initializeLocalDataPool( +ReturnValue_t GPSHyperionHandler::initializeLocalDataPool( localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { return HasReturnvaluesIF::RETURN_OK; } -void GPSHandler::fillCommandAndReplyMap() { +void GPSHyperionHandler::fillCommandAndReplyMap() { // Reply length does not matter, packets should always arrive periodically insertInReplyMap(GpsHyperion::GPS_REPLY, 4, nullptr, 0, true); } -void GPSHandler::modeChanged() { +void GPSHyperionHandler::modeChanged() { internalState = InternalStates::NONE; } diff --git a/mission/devices/GPSHandler.h b/mission/devices/GPSHyperionHandler.h similarity index 72% rename from mission/devices/GPSHandler.h rename to mission/devices/GPSHyperionHandler.h index 298871e4..5685ac86 100644 --- a/mission/devices/GPSHandler.h +++ b/mission/devices/GPSHyperionHandler.h @@ -1,20 +1,25 @@ -#ifndef MISSION_DEVICES_GPSHANDLER_H_ -#define MISSION_DEVICES_GPSHANDLER_H_ +#ifndef MISSION_DEVICES_GPSHYPERIONHANDLER_H_ +#define MISSION_DEVICES_GPSHYPERIONHANDLER_H_ -#include +#include "fsfw/devicehandlers/DeviceHandlerBase.h" +#include "devicedefinitions/GPSDefinitions.h" #include "lwgps/lwgps.h" +#ifndef FSFW_HAL_DEBUG_HYPERION_GPS +#define FSFW_HAL_DEBUG_HYPERION_GPS 0 +#endif + /** * @brief Device handler for the Hyperion HT-GPS200 device * @details * Flight manual: * https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/Hyperion_HT-GPS200 */ -class GPSHandler: public DeviceHandlerBase { +class GPSHyperionHandler: public DeviceHandlerBase { public: - GPSHandler(object_id_t objectId, object_id_t deviceCommunication, + GPSHyperionHandler(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie); - virtual ~GPSHandler(); + virtual ~GPSHyperionHandler(); protected: enum class InternalStates { @@ -48,6 +53,7 @@ protected: private: lwgps_t gpsData = {}; + GpsPrimaryDataset gpsSet; }; -#endif /* MISSION_DEVICES_GPSHANDLER_H_ */ +#endif /* MISSION_DEVICES_GPSHYPERIONHANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h index cb3cfd1a..72433f66 100644 --- a/mission/devices/devicedefinitions/GPSDefinitions.h +++ b/mission/devices/devicedefinitions/GPSDefinitions.h @@ -1,21 +1,41 @@ #ifndef MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ #define MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ -#include +#include "fsfw/devicehandlers/DeviceHandlerIF.h" +#include "fsfw/datapoollocal/StaticLocalDataSet.h" namespace GpsHyperion { static constexpr DeviceCommandId_t GPS_REPLY = 0; -enum GpsPoolIds: lp_id_t { +static constexpr uint32_t DATASET_ID = 0; +enum GpsPoolIds: lp_id_t { + LATITUDE = 0, + LONGITUDE = 1, + ALTITUDE = 2, + FIX_MODE = 3, }; } class GpsPrimaryDataset: public StaticLocalDataSet<5> { public: + GpsPrimaryDataset(object_id_t gpsId): + StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) { + setAllVariablesReadOnly(); + } + + lp_var_t latitude = lp_var_t(sid.objectId, + GpsHyperion::LATITUDE, this); + lp_var_t longitude = lp_var_t(sid.objectId, + GpsHyperion::LONGITUDE, this); + lp_var_t altitude = lp_var_t(sid.objectId, GpsHyperion::ALTITUDE, this); + lp_var_t fixMode = lp_var_t(sid.objectId, GpsHyperion::FIX_MODE, this); private: + friend class GPSHyperionHandler; + GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner): + StaticLocalDataSet(hkOwner, GpsHyperion::DATASET_ID) {} }; #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_GPSDEFINITIONS_H_ */ From d05b1913ab85fbfbb6a0a25afab02fe750543233 Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Thu, 24 Jun 2021 12:04:36 +0200 Subject: [PATCH 10/43] rw wip --- bsp_q7s/ObjectFactory.cpp | 34 ++++++++++----- bsp_q7s/gpio/gpioCallbacks.cpp | 8 ++-- bsp_q7s/spiCallbacks/rwSpiCallback.cpp | 42 ++++++++++++++----- common/config/spiConf.h | 2 +- linux/fsfwconfig/devices/gpioIds.h | 6 +++ mission/devices/RwHandler.cpp | 10 ++++- mission/devices/RwHandler.h | 6 +++ .../devices/devicedefinitions/RwDefinitions.h | 28 +++++++------ 8 files changed, 95 insertions(+), 41 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 821d94fd..7507b5e6 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -552,25 +552,39 @@ void ObjectFactory::produce(void* args){ new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie); GpioCookie* gpioCookieRw = new GpioCookie; - GpioCallback* enRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, + GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); - GpioCallback* enRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1); + GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); - GpioCallback* enRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2); + GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); - GpioCallback* enRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, + gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3); + GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT, 1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF); - gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); + gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4); + + GpiodRegular* enRw1 = new GpiodRegular(std::string("gpiochip5"), 7, + std::string("Enable reaction wheel 1"), gpio::OUT, 0); + gpioCookieRw->addGpio(gpioIds::EN_RW1, enRw1); + GpiodRegular* enRw2 = new GpiodRegular(std::string("gpiochip5"), 3, + std::string("Enable reaction wheel 2"), gpio::OUT, 0); + gpioCookieRw->addGpio(gpioIds::EN_RW2, enRw2); + GpiodRegular* enRw3 = new GpiodRegular(std::string("gpiochip5"), 11, + std::string("Enable reaction wheel 3"), gpio::OUT, 0); + gpioCookieRw->addGpio(gpioIds::EN_RW3, enRw3); + GpiodRegular* enRw4 = new GpiodRegular(std::string("gpiochip5"), 6, + std::string("Enable reaction wheel 4"), gpio::OUT, 0); + gpioCookieRw->addGpio(gpioIds::EN_RW4, enRw4); gpioComIF->addGpios(gpioCookieRw); - auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::EN_RW1, "/dev/spidev2.0", + 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 rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie); + auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, + gpioIds::EN_RW1); rwHandler1->setStartUpImmediately(); rw1SpiCookie->setCallbackArgs(rwHandler1); diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp index ede2311a..49e22249 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -220,22 +220,22 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value selectY6(); break; } - case(gpioIds::EN_RW1): { + case(gpioIds::CS_RW1): { enableRwDecoder(); selectY0(); break; } - case(gpioIds::EN_RW2): { + case(gpioIds::CS_RW2): { enableRwDecoder(); selectY1(); break; } - case(gpioIds::EN_RW3): { + case(gpioIds::CS_RW3): { enableRwDecoder(); selectY3(); break; } - case(gpioIds::EN_RW4): { + case(gpioIds::CS_RW4): { enableRwDecoder(); selectY4(); break; diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp index d1abf55e..2ad2d9fd 100644 --- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp @@ -90,6 +90,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s default: writeBuffer[0] = *(sendData + idx); writeSize = 1; + break; } if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { sif::error << "rwSpiCallback: Write failed!" << std::endl; @@ -139,19 +140,28 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s size_t replyBufferSize = cookie->getMaxBufferSize(); + /** There must be a delay of 20 ms after sending the command */ + usleep(RwDefinitions::SPI_REPLY_DELAY); + + /** Receiving reply data */ uint8_t byteRead = 0; /** Reading the reply frame */ - if(read(fileDescriptor, &byteRead, 1) != 1) { - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex"; - } - sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl; - return RwHandler::SPI_READ_FAILURE; +// if(read(fileDescriptor, &byteRead, 1) != 1) { +// if(gpioId != gpio::NO_GPIO) { +// if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { +// sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; +// } +// } +// if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { +// sif::error << "rwSpiCallback: Failed to unlock mutex"; +// } +// sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl; +// return RwHandler::SPI_READ_FAILURE; +// } + + uint8_t readbuffer[10]; + if(read(fileDescriptor, readbuffer, 10) != 10) { + sif::error << "Failed to read all bytes" << std::endl;; } /** First byte must be the start sign 0x7E */ @@ -168,8 +178,18 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s return RwHandler::MISSING_START_SIGN; } + /** + * 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 < 10; idx++) { + sif::error << "rwSpiCallback: Empty frame timeout"; + return RwHandler::NO_REPLY; + } + size_t decodedFrameLen = 0; for (; decodedFrameLen < replyBufferSize; decodedFrameLen++) { + byteRead = 0; if(read(fileDescriptor, &byteRead, 1) != 1) { sif::error << "rwSpiCallback: Read failed" << std::endl; return RwHandler::SPI_READ_FAILURE; diff --git a/common/config/spiConf.h b/common/config/spiConf.h index d76ac9b8..47600eb3 100644 --- a/common/config/spiConf.h +++ b/common/config/spiConf.h @@ -26,7 +26,7 @@ static constexpr spi::SpiModes DEFAULT_MAX_1227_MODE = spi::SpiModes::MODE_3; static constexpr uint32_t DEFAULT_ADIS16507_SPEED = 976'000; static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3; -static constexpr uint32_t RW_SPEED = 300'000; +static constexpr uint32_t RW_SPEED = 300000; static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0; } diff --git a/linux/fsfwconfig/devices/gpioIds.h b/linux/fsfwconfig/devices/gpioIds.h index 0a541477..718bc9bf 100644 --- a/linux/fsfwconfig/devices/gpioIds.h +++ b/linux/fsfwconfig/devices/gpioIds.h @@ -74,6 +74,12 @@ namespace gpioIds { EN_RW2, EN_RW3, EN_RW4, + + CS_RW1, + CS_RW2, + CS_RW3, + CS_RW4, + EN_RW_CS }; } diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index c029372b..a80c97cc 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -6,7 +6,8 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie, LinuxLibgpioIF* gpioComIF, gpioId_t enableGpio) : - DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) { + DeviceHandlerBase(objectId, comIF, comCookie), gpioComIF(gpioComIF), enableGpio(enableGpio), + temperatureSet(this), statusSet(this) { if (comCookie == NULL) { sif::error << "RwHandler: Invalid com cookie" << std::endl; } @@ -19,6 +20,9 @@ RwHandler::~RwHandler() { } void RwHandler::doStartUp() { + if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) { + sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high"; + } #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 setMode(MODE_NORMAL); #else @@ -27,7 +31,9 @@ void RwHandler::doStartUp() { } void RwHandler::doShutDown() { - + if(gpioComIF->pullLow(enableGpio) != RETURN_OK) { + sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low"; + } } ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index f68b57b7..0a9d58d0 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -3,6 +3,7 @@ #include #include +#include #include /** @@ -43,6 +44,8 @@ public: static const ReturnValue_t INVALID_SUBSTITUTE = MAKE_RETURN_CODE(0xB3); //! [EXPORT] : [COMMENT] HDLC decoding mechanism never receives the end sign 0x7E static const ReturnValue_t MISSING_END_SIGN = MAKE_RETURN_CODE(0xB4); + //! [EXPORT] : [COMMENT] Reaction wheel only responds with empty frames. + static const ReturnValue_t NO_REPLY = MAKE_RETURN_CODE(0xB5); protected: void doStartUp() override; @@ -76,6 +79,9 @@ private: //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4); + LinuxLibgpioIF* gpioComIF = nullptr; + gpioId_t enableGpio = gpio::NO_GPIO; + RwDefinitions::TemperatureSet temperatureSet; RwDefinitions::StatusSet statusSet; diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index 247b7bc6..23907eb3 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -8,6 +8,8 @@ namespace RwDefinitions { +static const uint32_t SPI_REPLY_DELAY = 70000; //us + enum PoolIds: lp_id_t { TEMPERATURE_C, CURR_SPEED, @@ -16,25 +18,25 @@ enum PoolIds: lp_id_t { CLC_MODE }; -static constexpr DeviceCommandId_t GET_RW_STATUS = 4; -static constexpr DeviceCommandId_t SET_SPEED = 6; -static constexpr DeviceCommandId_t GET_TEMPERATURE = 8; +static const DeviceCommandId_t GET_RW_STATUS = 4; +static const DeviceCommandId_t SET_SPEED = 6; +static const DeviceCommandId_t GET_TEMPERATURE = 8; -static constexpr uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE; -static constexpr uint32_t STATUS_SET_ID = GET_RW_STATUS; +static const uint32_t TEMPERATURE_SET_ID = GET_TEMPERATURE; +static const uint32_t STATUS_SET_ID = GET_RW_STATUS; -static constexpr size_t SIZE_GET_RW_STATUS = 14; -static constexpr size_t SIZE_SET_SPEED_REPLY = 4; -static constexpr size_t SIZE_GET_TEMPERATURE_REPLY = 8; +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; /** Max size when requesting telemetry */ -static constexpr size_t SIZE_GET_TELEMETRY_REPLY = 83; +static const size_t SIZE_GET_TELEMETRY_REPLY = 83; /** Set speed command has maximum size */ -static constexpr size_t MAX_CMD_SIZE = 9; -static constexpr size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY; +static const size_t MAX_CMD_SIZE = 9; +static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY; -static constexpr uint8_t TEMPERATURE_SET_ENTRIES = 1; -static constexpr uint8_t STATUS_SET_ENTRIES = 4; +static const uint8_t TEMPERATURE_SET_ENTRIES = 1; +static const uint8_t STATUS_SET_ENTRIES = 4; /** * @brief This dataset can be used to store the temperature of a reaction wheel. From 74b320d8e455e7519def585e3ec6bb54acec4073 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 13:55:51 +0200 Subject: [PATCH 11/43] gps contd --- mission/devices/GPSHyperionHandler.cpp | 32 +++++++++++++++++++ .../devicedefinitions/GPSDefinitions.h | 26 ++++++++++++++- 2 files changed, 57 insertions(+), 1 deletion(-) diff --git a/mission/devices/GPSHyperionHandler.cpp b/mission/devices/GPSHyperionHandler.cpp index 248b7193..1f68881c 100644 --- a/mission/devices/GPSHyperionHandler.cpp +++ b/mission/devices/GPSHyperionHandler.cpp @@ -2,6 +2,7 @@ #include "devicedefinitions/GPSDefinitions.h" #include "fsfw/datapool/PoolReadGuard.h" +#include "fsfw/timemanager/Clock.h" #include "lwgps/lwgps.h" @@ -77,9 +78,28 @@ ReturnValue_t GPSHyperionHandler::scanForReply(const uint8_t *start, size_t len, // Set all entries valid now, set invalid on case basis if values are sanitized gpsSet.setValidity(true, true); } + // Negative latitude -> South direction gpsSet.latitude.value = gpsData.latitude; + // Negative longitude -> West direction gpsSet.longitude.value = gpsData.latitude; gpsSet.fixMode.value = gpsData.fix_mode; + gpsSet.satInUse.value = gpsData.sats_in_use; + Clock::TimeOfDay_t timeStruct = {}; + timeStruct.day = gpsData.date; + timeStruct.hour = gpsData.hours; + timeStruct.minute = gpsData.minutes; + timeStruct.month = gpsData.month; + timeStruct.second = gpsData.seconds; + // Convert two-digit year to full year (AD) + timeStruct.year = gpsData.year + 2000; + timeval timeval = {}; + Clock::convertTimeOfDayToTimeval(&timeStruct, &timeval); + gpsSet.year = timeStruct.year; + gpsSet.month = gpsData.month; + gpsSet.day = gpsData.date; + gpsSet.hours = gpsData.hours; + gpsSet.minutes = gpsData.minutes; + gpsSet.seconds = gpsData.seconds; #if FSFW_HAL_DEBUG_HYPERION_GPS == 1 sif::info << "GPS Data" << std::endl; printf("Valid status: %d\n", gpsData.is_valid); @@ -105,6 +125,18 @@ uint32_t GPSHyperionHandler::getTransitionDelayMs(Mode_t from, Mode_t to) { ReturnValue_t GPSHyperionHandler::initializeLocalDataPool( localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) { + localDataPoolMap.emplace(GpsHyperion::ALTITUDE, new PoolEntry({0.0})); + localDataPoolMap.emplace(GpsHyperion::LONGITUDE, new PoolEntry({0.0})); + localDataPoolMap.emplace(GpsHyperion::LATITUDE, new PoolEntry({0.0})); + localDataPoolMap.emplace(GpsHyperion::YEAR, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::MONTH, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::DAY, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::HOURS, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::MINUTES, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::SECONDS, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::UNIX_SECONDS, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::SATS_IN_USE, new PoolEntry()); + localDataPoolMap.emplace(GpsHyperion::FIX_MODE, new PoolEntry()); return HasReturnvaluesIF::RETURN_OK; } diff --git a/mission/devices/devicedefinitions/GPSDefinitions.h b/mission/devices/devicedefinitions/GPSDefinitions.h index 72433f66..8f147651 100644 --- a/mission/devices/devicedefinitions/GPSDefinitions.h +++ b/mission/devices/devicedefinitions/GPSDefinitions.h @@ -15,11 +15,26 @@ enum GpsPoolIds: lp_id_t { LONGITUDE = 1, ALTITUDE = 2, FIX_MODE = 3, + SATS_IN_USE = 4, + UNIX_SECONDS = 5, + YEAR = 6, + MONTH = 7, + DAY = 8, + HOURS = 9, + MINUTES = 10, + SECONDS = 11 +}; + +enum GpsFixModes: uint8_t { + INVALID = 0, + NO_FIX = 1, + FIX_2D = 2, + FIX_3D = 3 }; } -class GpsPrimaryDataset: public StaticLocalDataSet<5> { +class GpsPrimaryDataset: public StaticLocalDataSet<18> { public: GpsPrimaryDataset(object_id_t gpsId): StaticLocalDataSet(sid_t(gpsId, GpsHyperion::DATASET_ID)) { @@ -32,6 +47,15 @@ public: GpsHyperion::LONGITUDE, this); lp_var_t altitude = lp_var_t(sid.objectId, GpsHyperion::ALTITUDE, this); lp_var_t fixMode = lp_var_t(sid.objectId, GpsHyperion::FIX_MODE, this); + lp_var_t satInUse = lp_var_t(sid.objectId, GpsHyperion::SATS_IN_USE, this); + lp_var_t year = lp_var_t(sid.objectId, GpsHyperion::YEAR, this); + lp_var_t month = lp_var_t(sid.objectId, GpsHyperion::MONTH, this); + lp_var_t day = lp_var_t(sid.objectId, GpsHyperion::DAY, this); + lp_var_t hours = lp_var_t(sid.objectId, GpsHyperion::HOURS, this); + lp_var_t minutes = lp_var_t(sid.objectId, GpsHyperion::MINUTES, this); + lp_var_t seconds = lp_var_t(sid.objectId, GpsHyperion::SECONDS, this); + lp_var_t unixSeconds = lp_var_t(sid.objectId, + GpsHyperion::UNIX_SECONDS, this); private: friend class GPSHyperionHandler; GpsPrimaryDataset(HasLocalDataPoolIF* hkOwner): From a965a80d9452d1b09a0071538127e8676bd4b272 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 14:17:24 +0200 Subject: [PATCH 12/43] lis3 minor form changes --- mission/devices/MGMHandlerLIS3MDL.cpp | 6 ++++-- mission/devices/MGMHandlerLIS3MDL.h | 8 ++++---- 2 files changed, 8 insertions(+), 6 deletions(-) diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 15f6e325..63bf607c 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -1,7 +1,9 @@ -#include #include "MGMHandlerLIS3MDL.h" -#include +#include "fsfw/datapool/PoolReadGuard.h" +#if OBSW_VERBOSE_LEVEL >= 1 +#include "fsfw/globalfunctions/PeriodicOperationDivider.h" +#endif MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication, CookieIF* comCookie): diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h index 3cc08a6b..bb64e63a 100644 --- a/mission/devices/MGMHandlerLIS3MDL.h +++ b/mission/devices/MGMHandlerLIS3MDL.h @@ -1,13 +1,13 @@ #ifndef MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ #define MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ +#include "OBSWConfig.h" #include "devicedefinitions/MGMHandlerLIS3Definitions.h" +#include "events/subsystemIdRanges.h" -#include -#include +#include "fsfw/devicehandlers/DeviceHandlerBase.h" -#include -#include +class PeriodicOperationDivider; /** * @brief Device handler object for the LIS3MDL 3-axis magnetometer From 08ab5074402a8e3e8c427fe8141cffb943abf2a0 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 14:19:25 +0200 Subject: [PATCH 13/43] removed unused code --- mission/devices/MGMHandlerLIS3MDL.cpp | 7 ++----- mission/devices/MGMHandlerLIS3MDL.h | 3 --- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/mission/devices/MGMHandlerLIS3MDL.cpp b/mission/devices/MGMHandlerLIS3MDL.cpp index 63bf607c..85cb3407 100644 --- a/mission/devices/MGMHandlerLIS3MDL.cpp +++ b/mission/devices/MGMHandlerLIS3MDL.cpp @@ -302,9 +302,9 @@ ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id, sif::printInfo("X: %f " "\xC2\xB5" "T\n", mgmX); sif::printInfo("Y: %f " "\xC2\xB5" "T\n", mgmY); sif::printInfo("Z: %f " "\xC2\xB5" "T\n", mgmZ); -#endif +#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */ } -#endif +#endif /* OBSW_VERBOSE_LEVEL >= 1 */ PoolReadGuard readHelper(&dataset); if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) { dataset.fieldStrengthX = mgmX; @@ -484,6 +484,3 @@ ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool( new PoolEntry({0.0})); return HasReturnvaluesIF::RETURN_OK; } - -void MGMHandlerLIS3MDL::performOperationHook() { -} diff --git a/mission/devices/MGMHandlerLIS3MDL.h b/mission/devices/MGMHandlerLIS3MDL.h index bb64e63a..5d8364ee 100644 --- a/mission/devices/MGMHandlerLIS3MDL.h +++ b/mission/devices/MGMHandlerLIS3MDL.h @@ -162,9 +162,6 @@ private: #if OBSW_VERBOSE_LEVEL >= 1 PeriodicOperationDivider* debugDivider; #endif - - void performOperationHook() override; - }; #endif /* MISSION_DEVICES_MGMLIS3MDLHANDLER_H_ */ From f190ad6f714249dad61dd0309f99b1db3ed0c8bc Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:17:38 +0200 Subject: [PATCH 14/43] updated object IDs --- common/config/commonObjects.h | 48 ++++---- linux/fsfwconfig/objects/systemObjectList.h | 128 +++++++++++--------- 2 files changed, 97 insertions(+), 79 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 1651f6a0..b153065e 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -6,34 +6,34 @@ namespace objects { enum commonObjects: uint32_t { /* First Byte 0x50-0x52 reserved for PUS Services **/ - CCSDS_PACKET_DISTRIBUTOR = 0x50000100, - PUS_PACKET_DISTRIBUTOR = 0x50000200, - UDP_BRIDGE = 0x50000300, - UDP_POLLING_TASK = 0x50000400, + CCSDS_PACKET_DISTRIBUTOR = 0x50000100, + PUS_PACKET_DISTRIBUTOR = 0x50000200, + UDP_BRIDGE = 0x50000300, + UDP_POLLING_TASK = 0x50000400, /* 0x43 ('C') for Controllers */ - THERMAL_CONTROLLER = 0x43001000, - ATTITUDE_CONTROLLER = 0x43002000, - ACS_CONTROLLER = 0x43003000, - CORE_CONTROLLER = 0x43004000, + THERMAL_CONTROLLER = 0x43400001, + ACS_CONTROLLER = 0x43100002, + CORE_CONTROLLER = 0x43000003, - /* 0x44 ('D') for device handlers */ - P60DOCK_HANDLER = 0x44000001, - PDU1_HANDLER = 0x44000002, - PDU2_HANDLER = 0x44000003, - ACU_HANDLER = 0x44000004, - TMP1075_HANDLER_1 = 0x44000005, - TMP1075_HANDLER_2 = 0x44000006, - MGM_0_LIS3_HANDLER = 0x44000007, - MGM_1_RM3100_HANDLER = 0x44000008, - MGM_2_LIS3_HANDLER = 0x44000009, - MGM_3_RM3100_HANDLER = 0x44000010, - GYRO_0_ADIS_HANDLER = 0x44000011, - GYRO_1_L3G_HANDLER = 0x44000012, - GYRO_2_L3G_HANDLER = 0x44000013, + /* 0x44 ('D') for device handlers */ + P60DOCK_HANDLER = 0x44200001, + PDU1_HANDLER = 0x44200002, + PDU2_HANDLER = 0x44200003, + ACU_HANDLER = 0x44200004, + TMP1075_HANDLER_1 = 0x44400005, + TMP1075_HANDLER_2 = 0x44400006, + MGM_0_LIS3_HANDLER = 0x44100007, + MGM_1_RM3100_HANDLER = 0x44100008, + MGM_2_LIS3_HANDLER = 0x44100009, + MGM_3_RM3100_HANDLER = 0x44100010, + GYRO_0_ADIS_HANDLER = 0x44100011, + GYRO_1_L3G_HANDLER = 0x44100012, + GYRO_2_ADIS_HANDLER = 0x44100013, + GYRO_3_L3G_HANDLER = 0x44100014, - IMTQ_HANDLER = 0x44000014, - PLOC_HANDLER = 0x44000015, + IMTQ_HANDLER = 0x44100014, + PLOC_HANDLER = 0x44300015, SUS_1 = 0x44000016, SUS_2 = 0x44000017, diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h index 5d5cdee1..a1c644da 100644 --- a/linux/fsfwconfig/objects/systemObjectList.h +++ b/linux/fsfwconfig/objects/systemObjectList.h @@ -6,67 +6,85 @@ #include // The objects will be instantiated in the ID order +// For naming scheme see flight manual +/* +https://egit.irs.uni-stuttgart.de/redmine/projects/eive-flight-manual/wiki/EIVE_Project_IDs + +Second byte first four bits is the subsystem: +OBDH 0x0 +ACS 0x1 +EPS 0x2 +PL 0x3 +TCS 0x4 +COM 0x5 + +Second byte last four bits is the bus: +None 0x0 +GPIO 0x1 +SPI 0x2 +UART 0x3 +I2C 0x4 +CAN 0x5 + +Third byte is an assembly counter if there are multiple redundant devices. +Fourth byte is a unique counter. + + */ namespace objects { - enum sourceObjects: uint32_t { - /* 0x53 reserved for FSFW */ - FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION, - FW_ADDRESS_END = TIME_STAMPER, +enum sourceObjects: uint32_t { + /* 0x53 reserved for FSFW */ + FW_ADDRESS_START = PUS_SERVICE_1_VERIFICATION, + FW_ADDRESS_END = TIME_STAMPER, + PUS_SERVICE_6 = 0x51000500, - CCSDS_IP_CORE_BRIDGE = 0x50000500, + CCSDS_IP_CORE_BRIDGE = 0x73500000, + TM_FUNNEL = 0x73000100, - PUS_SERVICE_6 = 0x51000500, + /* 0x49 ('I') for Communication Interfaces **/ + ARDUINO_COM_IF = 0x49000000, + CSP_COM_IF = 0x49050001, + I2C_COM_IF = 0x49040002, + UART_COM_IF = 0x49030003, + SPI_COM_IF = 0x49020004, + GPIO_IF = 0x49010005, - TM_FUNNEL = 0x52000002, + /* Custom device handler */ + PCDU_HANDLER = 0x44200032, + SOLAR_ARRAY_DEPL_HANDLER = 0x44410033, + SYRLINKS_HK_HANDLER = 0x44530034, + HEATER_HANDLER = 0x44410035, + /** + * Not yet specified which pt1000 will measure which device/location in the satellite. + * Therefore object ids are named according to the IC naming of the RTDs in the schematic. + */ + RTD_IC3 = 0x44420036, + RTD_IC4 = 0x44420037, + RTD_IC5 = 0x44420038, + RTD_IC6 = 0x44420039, + RTD_IC7 = 0x44420040, + RTD_IC8 = 0x44420041, + RTD_IC9 = 0x44420042, + RTD_IC10 = 0x44420043, + RTD_IC11 = 0x44420044, + RTD_IC12 = 0x44420045, + RTD_IC13 = 0x44420046, + RTD_IC14 = 0x44420047, + RTD_IC15 = 0x44420048, + RTD_IC16 = 0x44420049, + RTD_IC17 = 0x44420050, + RTD_IC18 = 0x44420051, - /* 0x49 ('I') for Communication Interfaces **/ - ARDUINO_COM_IF = 0x49000001, - CSP_COM_IF = 0x49000002, - I2C_COM_IF = 0x49000003, - UART_COM_IF = 0x49000004, - SPI_COM_IF = 0x49000005, + RAD_SENSOR = 0x44300052, - /* 0x47 ('G') for Gpio Interfaces */ - GPIO_IF = 0x47000001, - - /* Custom device handler */ - PCDU_HANDLER = 0x44001000, - SOLAR_ARRAY_DEPL_HANDLER = 0x44001001, - SYRLINKS_HK_HANDLER = 0x44001002, - - /* 0x54 ('T') for thermal objects */ - HEATER_HANDLER = 0x54000003, - /** - * Not yet specified which pt1000 will measure which device/location in the satellite. - * Therefore object ids are named according to the IC naming of the RTDs in the schematic. - */ - RTD_IC3 = 0x54000004, - RTD_IC4 = 0x54000005, - RTD_IC5 = 0x54000006, - RTD_IC6 = 0x54000007, - RTD_IC7 = 0x54000008, - RTD_IC8 = 0x54000009, - RTD_IC9 = 0x5400000A, - RTD_IC10 = 0x5400000B, - RTD_IC11 = 0x5400000C, - RTD_IC12 = 0x5400000D, - RTD_IC13 = 0x5400000E, - RTD_IC14 = 0x5400000F, - RTD_IC15 = 0x5400001F, - RTD_IC16 = 0x5400002F, - RTD_IC17 = 0x5400003F, - RTD_IC18 = 0x5400004F, - - RAD_SENSOR = 0x54000050, - - /* 0x54 ('T') for test handlers */ - TEST_TASK = 0x54694269, - LIBGPIOD_TEST = 0x54123456, - SPI_TEST = 0x54000010, - UART_TEST = 0x54000020, - DUMMY_INTERFACE = 0x5400CAFE, - DUMMY_HANDLER = 0x5400AFFE, - P60DOCK_TEST_TASK = 0x00005060 - }; + /* 0x54 ('T') for test handlers */ + TEST_TASK = 0x54694269, + LIBGPIOD_TEST = 0x54123456, + SPI_TEST = 0x54000010, + UART_TEST = 0x54000020, + DUMMY_INTERFACE = 0x5400CAFE, + DUMMY_HANDLER = 0x5400AFFE, + P60DOCK_TEST_TASK = 0x00005060 +}; } #endif /* BSP_CONFIG_OBJECTS_SYSTEMOBJECTLIST_H_ */ From e8ad502289f76f0b22c078bebfd4f7bc7e6328bd Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:35:04 +0200 Subject: [PATCH 15/43] tmtc update --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index 5be05c2a..f4e5bc19 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 5be05c2a929dfc908b8de61250e4db890b010fa5 +Subproject commit f4e5bc19568fc9786a3e5ac0a9164dbfe1dcbbe3 From 240bce5d2f051e337ade1d077b52f1485c61ef1f Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:36:42 +0200 Subject: [PATCH 16/43] added bus descriptors --- common/config/commonObjects.h | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index b153065e..a813fc11 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -23,17 +23,17 @@ enum commonObjects: uint32_t { ACU_HANDLER = 0x44200004, TMP1075_HANDLER_1 = 0x44400005, TMP1075_HANDLER_2 = 0x44400006, - MGM_0_LIS3_HANDLER = 0x44100007, - MGM_1_RM3100_HANDLER = 0x44100008, - MGM_2_LIS3_HANDLER = 0x44100009, - MGM_3_RM3100_HANDLER = 0x44100010, - GYRO_0_ADIS_HANDLER = 0x44100011, - GYRO_1_L3G_HANDLER = 0x44100012, - GYRO_2_ADIS_HANDLER = 0x44100013, - GYRO_3_L3G_HANDLER = 0x44100014, + MGM_0_LIS3_HANDLER = 0x44120007, + MGM_1_RM3100_HANDLER = 0x44120008, + MGM_2_LIS3_HANDLER = 0x44120009, + MGM_3_RM3100_HANDLER = 0x44120010, + GYRO_0_ADIS_HANDLER = 0x44120011, + GYRO_1_L3G_HANDLER = 0x44120012, + GYRO_2_ADIS_HANDLER = 0x44120013, + GYRO_3_L3G_HANDLER = 0x44120014, - IMTQ_HANDLER = 0x44100014, - PLOC_HANDLER = 0x44300015, + IMTQ_HANDLER = 0x44140014, + PLOC_HANDLER = 0x44330015, SUS_1 = 0x44000016, SUS_2 = 0x44000017, From 8aba720bf684298424cba6f114b11ebe1b469769 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:39:46 +0200 Subject: [PATCH 17/43] update dev handler IDs --- common/config/commonObjects.h | 50 ++++++++++----------- linux/fsfwconfig/objects/systemObjectList.h | 42 ++++++++--------- 2 files changed, 46 insertions(+), 46 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index a813fc11..24d7cc27 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -17,20 +17,20 @@ enum commonObjects: uint32_t { CORE_CONTROLLER = 0x43000003, /* 0x44 ('D') for device handlers */ - P60DOCK_HANDLER = 0x44200001, - PDU1_HANDLER = 0x44200002, - PDU2_HANDLER = 0x44200003, - ACU_HANDLER = 0x44200004, - TMP1075_HANDLER_1 = 0x44400005, - TMP1075_HANDLER_2 = 0x44400006, - MGM_0_LIS3_HANDLER = 0x44120007, - MGM_1_RM3100_HANDLER = 0x44120008, - MGM_2_LIS3_HANDLER = 0x44120009, - MGM_3_RM3100_HANDLER = 0x44120010, - GYRO_0_ADIS_HANDLER = 0x44120011, - GYRO_1_L3G_HANDLER = 0x44120012, - GYRO_2_ADIS_HANDLER = 0x44120013, - GYRO_3_L3G_HANDLER = 0x44120014, + P60DOCK_HANDLER = 0x44200000, + PDU1_HANDLER = 0x44200001, + PDU2_HANDLER = 0x44200002, + ACU_HANDLER = 0x44200003, + TMP1075_HANDLER_1 = 0x44400004, + TMP1075_HANDLER_2 = 0x44400005, + MGM_0_LIS3_HANDLER = 0x44120006, + MGM_1_RM3100_HANDLER = 0x44120007, + MGM_2_LIS3_HANDLER = 0x44120008, + MGM_3_RM3100_HANDLER = 0x44120009, + GYRO_0_ADIS_HANDLER = 0x44120010, + GYRO_1_L3G_HANDLER = 0x44120011, + GYRO_2_ADIS_HANDLER = 0x44120012, + GYRO_3_L3G_HANDLER = 0x44120013, IMTQ_HANDLER = 0x44140014, PLOC_HANDLER = 0x44330015, @@ -39,18 +39,18 @@ enum commonObjects: uint32_t { SUS_2 = 0x44000017, SUS_3 = 0x44000018, SUS_4 = 0x44000019, - SUS_5 = 0x4400001A, - SUS_6 = 0x4400001B, - SUS_7 = 0x4400001C, - SUS_8 = 0x4400001D, - SUS_9 = 0x4400001E, - SUS_10 = 0x4400001F, - SUS_11 = 0x44000021, - SUS_12 = 0x44000022, - SUS_13 = 0x44000023, + SUS_5 = 0x44000020, + SUS_6 = 0x44000021, + SUS_7 = 0x44000022, + SUS_8 = 0x44000023, + SUS_9 = 0x44000024, + SUS_10 = 0x44000025, + SUS_11 = 0x44000026, + SUS_12 = 0x44000027, + SUS_13 = 0x44000028, - GPS0_HANDLER = 0x44001000, - GPS1_HANDLER = 0x44002000 + GPS0_HANDLER = 0x44130029, + GPS1_HANDLER = 0x44130130 }; } diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h index a1c644da..05fbc997 100644 --- a/linux/fsfwconfig/objects/systemObjectList.h +++ b/linux/fsfwconfig/objects/systemObjectList.h @@ -49,32 +49,32 @@ enum sourceObjects: uint32_t { GPIO_IF = 0x49010005, /* Custom device handler */ - PCDU_HANDLER = 0x44200032, - SOLAR_ARRAY_DEPL_HANDLER = 0x44410033, - SYRLINKS_HK_HANDLER = 0x44530034, - HEATER_HANDLER = 0x44410035, + PCDU_HANDLER = 0x44200050, + SOLAR_ARRAY_DEPL_HANDLER = 0x44410051, + SYRLINKS_HK_HANDLER = 0x44530052, + HEATER_HANDLER = 0x44410053, /** * Not yet specified which pt1000 will measure which device/location in the satellite. * Therefore object ids are named according to the IC naming of the RTDs in the schematic. */ - RTD_IC3 = 0x44420036, - RTD_IC4 = 0x44420037, - RTD_IC5 = 0x44420038, - RTD_IC6 = 0x44420039, - RTD_IC7 = 0x44420040, - RTD_IC8 = 0x44420041, - RTD_IC9 = 0x44420042, - RTD_IC10 = 0x44420043, - RTD_IC11 = 0x44420044, - RTD_IC12 = 0x44420045, - RTD_IC13 = 0x44420046, - RTD_IC14 = 0x44420047, - RTD_IC15 = 0x44420048, - RTD_IC16 = 0x44420049, - RTD_IC17 = 0x44420050, - RTD_IC18 = 0x44420051, + RTD_IC3 = 0x44420054, + RTD_IC4 = 0x44420056, + RTD_IC5 = 0x44420057, + RTD_IC6 = 0x44420058, + RTD_IC7 = 0x44420059, + RTD_IC8 = 0x44420060, + RTD_IC9 = 0x44420061, + RTD_IC10 = 0x44420062, + RTD_IC11 = 0x44420063, + RTD_IC12 = 0x44420064, + RTD_IC13 = 0x44420065, + RTD_IC14 = 0x44420066, + RTD_IC15 = 0x44420067, + RTD_IC16 = 0x44420068, + RTD_IC17 = 0x44420069, + RTD_IC18 = 0x44420070, - RAD_SENSOR = 0x44300052, + RAD_SENSOR = 0x44300071, /* 0x54 ('T') for test handlers */ TEST_TASK = 0x54694269, From 7b71a96a93ad8a045b60f6a53a04cac61a886eec Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:43:15 +0200 Subject: [PATCH 18/43] updated object IDs again --- common/config/commonObjects.h | 12 ++++++------ tmtc | 2 +- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 24d7cc27..a8d8fc4f 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -17,12 +17,12 @@ enum commonObjects: uint32_t { CORE_CONTROLLER = 0x43000003, /* 0x44 ('D') for device handlers */ - P60DOCK_HANDLER = 0x44200000, - PDU1_HANDLER = 0x44200001, - PDU2_HANDLER = 0x44200002, - ACU_HANDLER = 0x44200003, - TMP1075_HANDLER_1 = 0x44400004, - TMP1075_HANDLER_2 = 0x44400005, + P60DOCK_HANDLER = 0x44250000, + PDU1_HANDLER = 0x44250001, + PDU2_HANDLER = 0x44250002, + ACU_HANDLER = 0x44250003, + TMP1075_HANDLER_1 = 0x44420004, + TMP1075_HANDLER_2 = 0x44420005, MGM_0_LIS3_HANDLER = 0x44120006, MGM_1_RM3100_HANDLER = 0x44120007, MGM_2_LIS3_HANDLER = 0x44120008, diff --git a/tmtc b/tmtc index f4e5bc19..8a66b2a7 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit f4e5bc19568fc9786a3e5ac0a9164dbfe1dcbbe3 +Subproject commit 8a66b2a721882acf342d1e25c9967db3651a919f From 4d2e7fe8dadb076f26b2707fdb1bd1b69a4738be Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:49:36 +0200 Subject: [PATCH 19/43] moved some object ids --- common/config/commonObjects.h | 51 +++++++++++++++------ linux/fsfwconfig/objects/systemObjectList.h | 31 ++----------- tmtc | 2 +- 3 files changed, 42 insertions(+), 42 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index a8d8fc4f..205c025f 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -35,22 +35,43 @@ enum commonObjects: uint32_t { IMTQ_HANDLER = 0x44140014, PLOC_HANDLER = 0x44330015, - SUS_1 = 0x44000016, - SUS_2 = 0x44000017, - SUS_3 = 0x44000018, - SUS_4 = 0x44000019, - SUS_5 = 0x44000020, - SUS_6 = 0x44000021, - SUS_7 = 0x44000022, - SUS_8 = 0x44000023, - SUS_9 = 0x44000024, - SUS_10 = 0x44000025, - SUS_11 = 0x44000026, - SUS_12 = 0x44000027, - SUS_13 = 0x44000028, + /** + * Not yet specified which pt1000 will measure which device/location in the satellite. + * Therefore object ids are named according to the IC naming of the RTDs in the schematic. + */ + RTD_IC3 = 0x44420016, + RTD_IC4 = 0x44420017, + RTD_IC5 = 0x44420018, + RTD_IC6 = 0x44420019, + RTD_IC7 = 0x44420020, + RTD_IC8 = 0x44420021, + RTD_IC9 = 0x44420022, + RTD_IC10 = 0x44420023, + RTD_IC11 = 0x44420024, + RTD_IC12 = 0x44420025, + RTD_IC13 = 0x44420026, + RTD_IC14 = 0x44420027, + RTD_IC15 = 0x44420028, + RTD_IC16 = 0x44420029, + RTD_IC17 = 0x44420030, + RTD_IC18 = 0x44420031, - GPS0_HANDLER = 0x44130029, - GPS1_HANDLER = 0x44130130 + SUS_1 = 0x44120032, + SUS_2 = 0x44120033, + SUS_3 = 0x44120034, + SUS_4 = 0x44120035, + SUS_5 = 0x44120036, + SUS_6 = 0x44120037, + SUS_7 = 0x44120038, + SUS_8 = 0x44120039, + SUS_9 = 0x44120040, + SUS_10 = 0x44120041, + SUS_11 = 0x44120042, + SUS_12 = 0x44120043, + SUS_13 = 0x44120044, + + GPS0_HANDLER = 0x44130045, + GPS1_HANDLER = 0x44130146 }; } diff --git a/linux/fsfwconfig/objects/systemObjectList.h b/linux/fsfwconfig/objects/systemObjectList.h index 05fbc997..eb5333c2 100644 --- a/linux/fsfwconfig/objects/systemObjectList.h +++ b/linux/fsfwconfig/objects/systemObjectList.h @@ -49,32 +49,11 @@ enum sourceObjects: uint32_t { GPIO_IF = 0x49010005, /* Custom device handler */ - PCDU_HANDLER = 0x44200050, - SOLAR_ARRAY_DEPL_HANDLER = 0x44410051, - SYRLINKS_HK_HANDLER = 0x44530052, - HEATER_HANDLER = 0x44410053, - /** - * Not yet specified which pt1000 will measure which device/location in the satellite. - * Therefore object ids are named according to the IC naming of the RTDs in the schematic. - */ - RTD_IC3 = 0x44420054, - RTD_IC4 = 0x44420056, - RTD_IC5 = 0x44420057, - RTD_IC6 = 0x44420058, - RTD_IC7 = 0x44420059, - RTD_IC8 = 0x44420060, - RTD_IC9 = 0x44420061, - RTD_IC10 = 0x44420062, - RTD_IC11 = 0x44420063, - RTD_IC12 = 0x44420064, - RTD_IC13 = 0x44420065, - RTD_IC14 = 0x44420066, - RTD_IC15 = 0x44420067, - RTD_IC16 = 0x44420068, - RTD_IC17 = 0x44420069, - RTD_IC18 = 0x44420070, - - RAD_SENSOR = 0x44300071, + PCDU_HANDLER = 0x442000A1, + SOLAR_ARRAY_DEPL_HANDLER = 0x444100A2, + SYRLINKS_HK_HANDLER = 0x445300A3, + HEATER_HANDLER = 0x444100A4, + RAD_SENSOR = 0x443200A5, /* 0x54 ('T') for test handlers */ TEST_TASK = 0x54694269, diff --git a/tmtc b/tmtc index 8a66b2a7..2a986248 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 8a66b2a721882acf342d1e25c9967db3651a919f +Subproject commit 2a9862489d57e2ccbf8b9ca5017f5e89395acddf From 525445823be6f4adc2cdd5c1aa0223f304cd007b Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 16:50:36 +0200 Subject: [PATCH 20/43] logical addresses fix --- linux/fsfwconfig/devices/addresses.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/linux/fsfwconfig/devices/addresses.h b/linux/fsfwconfig/devices/addresses.h index 0deb8490..99fa00ac 100644 --- a/linux/fsfwconfig/devices/addresses.h +++ b/linux/fsfwconfig/devices/addresses.h @@ -17,7 +17,8 @@ namespace addresses { GYRO_0_ADIS = objects::GYRO_0_ADIS_HANDLER, GYRO_1_L3G = objects::GYRO_1_L3G_HANDLER, - GYRO_2_L3G = objects::GYRO_2_L3G_HANDLER, + GYRO_2_ADIS = objects::GYRO_2_ADIS_HANDLER, + GYRO_3_L3G = objects::GYRO_3_L3G_HANDLER, RAD_SENSOR = objects::RAD_SENSOR, From 31f926533831bc7855a7aed35c634a168e001815 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 24 Jun 2021 17:32:42 +0200 Subject: [PATCH 21/43] get temperature and status of reaction wheel --- bsp_q7s/spiCallbacks/rwSpiCallback.cpp | 127 ++++++------------ bsp_q7s/spiCallbacks/rwSpiCallback.h | 9 ++ fsfw_hal | 2 +- mission/devices/RwHandler.cpp | 39 ++++-- .../devices/devicedefinitions/RwDefinitions.h | 9 ++ 5 files changed, 89 insertions(+), 97 deletions(-) diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp index 2ad2d9fd..41ba70d9 100644 --- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp @@ -62,14 +62,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { sif::error << "rwSpiCallback: Write failed!" << std::endl; - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex" << std::endl;; - } + closeSpi(gpioId, gpioIF, mutex); return RwHandler::SPI_WRITE_FAILURE; } @@ -94,14 +87,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s } if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { sif::error << "rwSpiCallback: Write failed!" << std::endl; - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex"; - } + closeSpi(gpioId, gpioIF, mutex); return RwHandler::SPI_WRITE_FAILURE; } idx++; @@ -113,28 +99,14 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s if (write(fileDescriptor, writeBuffer, writeSize) != static_cast(writeSize)) { sif::error << "rwSpiCallback: Write failed!" << std::endl; - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex"; - } + closeSpi(gpioId, gpioIF, mutex); return RwHandler::SPI_WRITE_FAILURE; } uint8_t* rxBuf = nullptr; result = comIf->getReadBuffer(cookie->getSpiAddress(), &rxBuf); if(result != HasReturnvaluesIF::RETURN_OK) { - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex"; - } + closeSpi(gpioId, gpioIF, mutex); return result; } @@ -143,56 +115,40 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s /** There must be a delay of 20 ms after sending the command */ usleep(RwDefinitions::SPI_REPLY_DELAY); - /** Receiving reply data */ - uint8_t byteRead = 0; - /** Reading the reply frame */ -// if(read(fileDescriptor, &byteRead, 1) != 1) { -// if(gpioId != gpio::NO_GPIO) { -// if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { -// sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; -// } -// } -// if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { -// sif::error << "rwSpiCallback: Failed to unlock mutex"; -// } -// sif::error << "rwSpiCallback: Failed to read first byte of reply frame" << std::endl; -// return RwHandler::SPI_READ_FAILURE; -// } - - uint8_t readbuffer[10]; - if(read(fileDescriptor, readbuffer, 10) != 10) { - sif::error << "Failed to read all bytes" << std::endl;; - } - - /** First byte must be the start sign 0x7E */ - if (byteRead != 0x7E) { - sif::error << "rwSpiCallback: First byte of reply is not 0x7E" << std::endl; - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex"; - } - return RwHandler::MISSING_START_SIGN; - } - /** * 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. */ + uint8_t byteRead = 0; for (int idx = 0; idx < 10; idx++) { - sif::error << "rwSpiCallback: Empty frame timeout"; - return RwHandler::NO_REPLY; + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Read failed" << std::endl; + closeSpi(gpioId, gpioIF, mutex); + return RwHandler::SPI_READ_FAILURE; + } + + if (byteRead != 0x7E) { + break; + } + + if (idx == 9) { + sif::error << "rwSpiCallback: Empty frame timeout" << std::endl; + closeSpi(gpioId, gpioIF, mutex); + return RwHandler::NO_REPLY; + } } size_t decodedFrameLen = 0; - for (; decodedFrameLen < replyBufferSize; decodedFrameLen++) { - byteRead = 0; - if(read(fileDescriptor, &byteRead, 1) != 1) { - sif::error << "rwSpiCallback: Read failed" << std::endl; - return RwHandler::SPI_READ_FAILURE; + while(decodedFrameLen < replyBufferSize) { + + /** First byte already read in */ + if (decodedFrameLen != 0) { + byteRead = 0; + if(read(fileDescriptor, &byteRead, 1) != 1) { + sif::error << "rwSpiCallback: Read failed" << std::endl; + result = RwHandler::SPI_READ_FAILURE; + break; + } } if (byteRead == 0x7E) { @@ -217,6 +173,7 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s } else { sif::error << "rwSpiCallback: Invalid substitute" << std::endl; + closeSpi(gpioId, gpioIF, mutex); result = RwHandler::INVALID_SUBSTITUTE; break; } @@ -250,16 +207,18 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *s cookie->assignTransferSize(decodedFrameLen); - if(gpioId != gpio::NO_GPIO) { - if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to pull chip select high" << std::endl; - } - } + closeSpi(gpioId, gpioIF, mutex); - if(gpioId != gpio::NO_GPIO) { - if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { - sif::error << "rwSpiCallback: Failed to unlock mutex" << std::endl; - } - } return result; } + +void closeSpi (gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex) { + if(gpioId != gpio::NO_GPIO) { + if (gpioIF->pullHigh(gpioId) != HasReturnvaluesIF::RETURN_OK) { + sif::error << "closeSpi: Failed to pull chip select high" << std::endl; + } + } + if(mutex->unlockMutex() != HasReturnvaluesIF::RETURN_OK) { + sif::error << "closeSpi: Failed to unlock mutex" << std::endl;; + } +} diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.h b/bsp_q7s/spiCallbacks/rwSpiCallback.h index d882bee4..e684c1c1 100644 --- a/bsp_q7s/spiCallbacks/rwSpiCallback.h +++ b/bsp_q7s/spiCallbacks/rwSpiCallback.h @@ -18,4 +18,13 @@ ReturnValue_t rwSpiCallback(SpiComIF* comIf, SpiCookie *cookie, const uint8_t *sendData, size_t sendLen, void* args); +/** + * @brief This function closes a spi session. Pulls the chip select to high an releases the + * mutex. + * @param gpioId Gpio ID of chip select + * @param gpioIF Pointer to gpio interface to drive the chip select + * @param mutex The spi mutex + */ +void closeSpi(gpioId_t gpioId, GpioIF* gpioIF, MutexIF* mutex); + #endif /* BSP_Q7S_RW_SPI_CALLBACK_H_ */ diff --git a/fsfw_hal b/fsfw_hal index 8fe5d0af..2e243e3b 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit 8fe5d0afa0857025d9dee3c6f266c2503a22c517 +Subproject commit 2e243e3b294870b0c93f85c6b8ff0c74f4f9cce7 diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index a80c97cc..23c49eba 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -40,9 +40,11 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { switch (communicationStep) { case CommunicationStep::READ_TEMPERATURE: *id = RwDefinitions::GET_TEMPERATURE; + communicationStep = CommunicationStep::GET_RW_SATUS; break; case CommunicationStep::GET_RW_SATUS: *id = RwDefinitions::GET_RW_STATUS; + communicationStep = CommunicationStep::READ_TEMPERATURE; break; default: sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step" @@ -61,6 +63,12 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand ReturnValue_t result = RETURN_OK; switch (deviceCommand) { + case (RwDefinitions::RESET_MCU): { + commandBuffer[0] = static_cast(RwDefinitions::RESET_MCU); + rawPacket = commandBuffer; + rawPacketLen = 1; + return RETURN_OK; + } case (RwDefinitions::GET_RW_STATUS): { prepareGetStatusCmd(commandData, commandDataLen); return RETURN_OK; @@ -89,6 +97,9 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand } void RwHandler::fillCommandAndReplyMap() { + this->insertInCommandMap(RwDefinitions::RESET_MCU); + this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet, + RwDefinitions::SIZE_GET_RW_STATUS); this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet, RwDefinitions::SIZE_GET_TEMPERATURE_REPLY); this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr, @@ -98,7 +109,7 @@ void RwHandler::fillCommandAndReplyMap() { ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) { - switch (*(start + 1)) { + switch (*(start)) { case (static_cast(RwDefinitions::GET_RW_STATUS)): { *foundLen = RwDefinitions::SIZE_GET_RW_STATUS; *foundId = RwDefinitions::GET_RW_STATUS; @@ -129,14 +140,15 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t *packet) { /** Check result code */ - if (*(packet + 1) != 0) { + if (*(packet + 1) == RwDefinitions::ERROR) { return EXECUTION_FAILED; } /** Received in little endian byte order */ uint16_t replyCrc = *(packet + sizeOfReply - 1) << 8 | *(packet + sizeOfReply - 2) ; - if (CRC::crc16ccitt(packet, sizeOfReply, 0xFFFF) != replyCrc) { + if (CRC::crc16ccitt(packet, sizeOfReply - 2, 0xFFFF) != replyCrc) { + sif::error << "RwHandler::interpretDeviceReply: cRC error" << std::endl; return CRC_ERROR; } @@ -237,10 +249,12 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa } void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { - uint8_t offset = 0; - statusSet.currSpeed = *(packet + 3) << 24 | *(packet + 2) << 16 | *(packet + 1) << 1 | *packet; + uint8_t offset = 2; + statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 1 | *(packet + offset); offset += 4; - statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 1 | *(packet + offset); + statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 1 | *(packet + offset); offset += 4; statusSet.state = *(packet + offset); offset += 1; @@ -251,16 +265,17 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { << " * 0.1 RPM" << std::endl; sif::info << "RwHandler::handleGetRwStatusReply: Reference speed is: " << statusSet.referenceSpeed << " * 0.1 RPM" << std::endl; - sif::info << "RwHandler::handleGetRwStatusReply: State is: " << statusSet.state - << " * 0.1 RPM" << std::endl; - sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: " << statusSet.clcMode - << " * 0.1 RPM" << std::endl; + sif::info << "RwHandler::handleGetRwStatusReply: State is: " + << (unsigned int) statusSet.state.value << std::endl; + sif::info << "RwHandler::handleGetRwStatusReply: clc mode is: " + << (unsigned int) statusSet.clcMode.value << std::endl; #endif } void RwHandler::handleTemperatureReply(const uint8_t* packet) { - temperatureSet.temperatureCelcius = *(packet + 3) << 24 | *(packet + 2) << 16 - | *(packet + 1) << 1 | *packet; + uint8_t offset = 2; + temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 1 | *(packet + offset); #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 sif::info << "RwHandler::handleTemperatureReply: Temperature: " << temperatureSet.temperatureCelcius << " °C" << std::endl; diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index 23907eb3..4fe2d368 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -18,6 +18,15 @@ enum PoolIds: lp_id_t { CLC_MODE }; +enum States: uint8_t { + ERROR, + IDLE, + COASTING, + RUNNING_SPEED_STABLE, + RUNNING_SPEED_CHANGING +}; + +static const DeviceCommandId_t RESET_MCU = 1; static const DeviceCommandId_t GET_RW_STATUS = 4; static const DeviceCommandId_t SET_SPEED = 6; static const DeviceCommandId_t GET_TEMPERATURE = 8; From f772c18c084abed2214c493300526e6f5ea4bf00 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 17:52:09 +0200 Subject: [PATCH 22/43] added assembly index --- common/config/commonObjects.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/common/config/commonObjects.h b/common/config/commonObjects.h index 205c025f..93369350 100644 --- a/common/config/commonObjects.h +++ b/common/config/commonObjects.h @@ -24,13 +24,13 @@ enum commonObjects: uint32_t { TMP1075_HANDLER_1 = 0x44420004, TMP1075_HANDLER_2 = 0x44420005, MGM_0_LIS3_HANDLER = 0x44120006, - MGM_1_RM3100_HANDLER = 0x44120007, - MGM_2_LIS3_HANDLER = 0x44120008, - MGM_3_RM3100_HANDLER = 0x44120009, + MGM_1_RM3100_HANDLER = 0x44120107, + MGM_2_LIS3_HANDLER = 0x44120208, + MGM_3_RM3100_HANDLER = 0x44120309, GYRO_0_ADIS_HANDLER = 0x44120010, - GYRO_1_L3G_HANDLER = 0x44120011, - GYRO_2_ADIS_HANDLER = 0x44120012, - GYRO_3_L3G_HANDLER = 0x44120013, + GYRO_1_L3G_HANDLER = 0x44120111, + GYRO_2_ADIS_HANDLER = 0x44120212, + GYRO_3_L3G_HANDLER = 0x44120313, IMTQ_HANDLER = 0x44140014, PLOC_HANDLER = 0x44330015, From 17024cd420cbc3d93034231042bceafde580203a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Thu, 24 Jun 2021 18:05:41 +0200 Subject: [PATCH 23/43] set id is now 0 --- mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h index f58d6f03..c15b60ef 100644 --- a/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h +++ b/mission/devices/devicedefinitions/MGMHandlerLIS3Definitions.h @@ -20,8 +20,8 @@ static constexpr size_t MAX_BUFFER_SIZE = 16; static constexpr uint8_t GAUSS_TO_MICROTESLA_FACTOR = 100; -static const DeviceCommandId_t SETUP_MGM = 0x00; -static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x01; +static const DeviceCommandId_t READ_CONFIG_AND_DATA = 0x00; +static const DeviceCommandId_t SETUP_MGM = 0x01; static const DeviceCommandId_t READ_TEMPERATURE = 0x02; static const DeviceCommandId_t IDENTIFY_DEVICE = 0x03; static const DeviceCommandId_t TEMP_SENSOR_ENABLE = 0x04; From a5820cb2856014a2b31f29a05ae41a359a521a0f Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 25 Jun 2021 12:07:33 +0200 Subject: [PATCH 24/43] updated tmtc --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index 36582621..3d263737 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 36582621f2de1c558aa3909704545e326614d462 +Subproject commit 3d26373726199b0d07f0ce344a184ccd9a0a6041 From 993b405c99688c58ed903b28af1104c490722535 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 25 Jun 2021 12:17:07 +0200 Subject: [PATCH 25/43] added tmtc update --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index 3d263737..899cd942 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 3d26373726199b0d07f0ce344a184ccd9a0a6041 +Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb From 18cdfab9c993ad479320723eae390be37c6b01e1 Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Fri, 25 Jun 2021 15:25:54 +0200 Subject: [PATCH 26/43] rw handler fixes --- linux/fsfwconfig/OBSWConfig.h.in | 2 ++ .../pollingsequence/pollingSequenceFactory.cpp | 11 +++++++++++ mission/devices/RwHandler.cpp | 12 ++++++------ tmtc | 2 +- 4 files changed, 20 insertions(+), 7 deletions(-) diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in index b3002cf4..ce1a7526 100644 --- a/linux/fsfwconfig/OBSWConfig.h.in +++ b/linux/fsfwconfig/OBSWConfig.h.in @@ -20,6 +20,7 @@ debugging. */ #define OBSW_PRINT_MISSED_DEADLINES 1 #define OBSW_ADD_TEST_CODE 1 #define OBSW_ADD_TEST_PST 1 +#define OBSW_ADD_GPS 0 #define TEST_LIBGPIOD 0 #define TEST_RADIATION_SENSOR_HANDLER 0 @@ -43,6 +44,7 @@ debugging. */ #define DEBUG_SUS 1 #define DEBUG_RTD 1 #define IMTQ_DEBUG 1 +#define RW_DEBUG 1 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler #define OBSW_ADIS16507_LINUX_COM_IF 1 diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 6ba4083d..9bb73857 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -432,50 +432,61 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) { ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) { // Length of a communication cycle uint32_t length = thisSequence->getPeriodMs(); + thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); +#if OBSW_ADD_GPS == 1 thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); thisSequence->addSlot(objects::GPS1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION); +#endif thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); +#if OBSW_ADD_GPS == 1 thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE); +#endif thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); +#if OBSW_ADD_GPS == 1 thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE); +#endif thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); +#if OBSW_ADD_GPS == 1 thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ); +#endif thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); +#if OBSW_ADD_GPS == 1 thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ); +#endif if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { sif::error << "UART PST initialization failed" << std::endl; diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 23c49eba..a9d9dde3 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -208,7 +208,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_ return INVALID_SPEED; } - uint16_t rampTime = *commandData << 8 | *(commandData + 1); + uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5); if (rampTime < 10 || rampTime > 10000) { sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time" @@ -238,8 +238,8 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa commandBuffer[3] = *(commandData + 1); commandBuffer[4] = *commandData; /** Ramp time (ms) */ - commandBuffer[5] = *(commandData + 1); - commandBuffer[6] = *commandData; + commandBuffer[5] = *(commandData + 5); + commandBuffer[6] = *(commandData + 4); uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF); commandBuffer[7] = static_cast(crc & 0xFF); @@ -251,10 +251,10 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { uint8_t offset = 2; statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 1 | *(packet + offset); + | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 1 | *(packet + offset); + | *(packet + offset + 1) << 8 | *(packet + offset); offset += 4; statusSet.state = *(packet + offset); offset += 1; @@ -275,7 +275,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { void RwHandler::handleTemperatureReply(const uint8_t* packet) { uint8_t offset = 2; temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 - | *(packet + offset + 1) << 1 | *(packet + offset); + | *(packet + offset + 1) << 8 | *(packet + offset); #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 sif::info << "RwHandler::handleTemperatureReply: Temperature: " << temperatureSet.temperatureCelcius << " °C" << std::endl; diff --git a/tmtc b/tmtc index 899cd942..19b76d96 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb +Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2 From a1b070c24208349287db293970d8d04e1e1f6b3e Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 25 Jun 2021 15:47:33 +0200 Subject: [PATCH 27/43] modified rw definitions --- mission/devices/devicedefinitions/RwDefinitions.h | 2 ++ 1 file changed, 2 insertions(+) diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index 4fe2d368..e07e01b0 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -27,6 +27,8 @@ enum States: uint8_t { }; 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; static const DeviceCommandId_t SET_SPEED = 6; static const DeviceCommandId_t GET_TEMPERATURE = 8; From 3193d007c796fd9829fd6c3260771b9616ea5b24 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Fri, 25 Jun 2021 16:00:32 +0200 Subject: [PATCH 28/43] added init command --- mission/devices/RwHandler.cpp | 17 ++++++++++++++++- mission/devices/RwHandler.h | 7 +++++++ .../devices/devicedefinitions/RwDefinitions.h | 1 + tmtc | 2 +- 4 files changed, 25 insertions(+), 2 deletions(-) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index a9d9dde3..7254ee0e 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -55,7 +55,8 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { } ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { - return RETURN_OK; + *id = RwDefinitions::INIT_RW_CONTROLLER; + return buildCommandFromCommand(*id, nullptr, 0);; } ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, @@ -73,6 +74,10 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand prepareGetStatusCmd(commandData, commandDataLen); return RETURN_OK; } + case (RwDefinitions::INIT_RW_CONTROLLER): { + prepareInitRwCommand(); + return RETURN_OK; + } case (RwDefinitions::SET_SPEED): { if (commandDataLen != 6) { sif::error << "RwHandler::buildCommandFromCommand: Received set speed command with" @@ -100,6 +105,7 @@ void RwHandler::fillCommandAndReplyMap() { this->insertInCommandMap(RwDefinitions::RESET_MCU); this->insertInCommandAndReplyMap(RwDefinitions::GET_RW_STATUS, 1, &statusSet, RwDefinitions::SIZE_GET_RW_STATUS); + this->insertInCommandMap(RwDefinitions::INIT_RW_CONTROLLER); this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet, RwDefinitions::SIZE_GET_TEMPERATURE_REPLY); this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr, @@ -228,6 +234,15 @@ void RwHandler::prepareGetTemperatureCmd() { rawPacketLen = 3; } +void RwHandler::prepareInitRwCommand() { + commandBuffer[0] = static_cast(RwDefinitions::INIT_RW_CONTROLLER); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { commandBuffer[0] = static_cast(RwDefinitions::SET_SPEED); diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 0a9d58d0..fcde9c81 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -121,6 +121,13 @@ 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. + */ + void prepareInitRwCommand(); + /** * @brief This function handles the reply of the get temperature command. * diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index e07e01b0..a38b0acf 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -30,6 +30,7 @@ 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; +static const DeviceCommandId_t INIT_RW_CONTROLLER = 5; static const DeviceCommandId_t SET_SPEED = 6; static const DeviceCommandId_t GET_TEMPERATURE = 8; diff --git a/tmtc b/tmtc index 19b76d96..899cd942 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2 +Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb From ad43ebd5878648b2c9f03d7cd63d2228849f5eb4 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 28 Jun 2021 08:57:37 +0200 Subject: [PATCH 29/43] added get reset and clear reset command to rw handler --- mission/devices/RwHandler.cpp | 90 ++++++++++++++++--- mission/devices/RwHandler.h | 37 +++++++- .../devices/devicedefinitions/RwDefinitions.h | 26 +++++- 3 files changed, 137 insertions(+), 16 deletions(-) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 7254ee0e..83a136b8 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -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(RwDefinitions::GET_LAST_RESET_STATUS)): { + *foundLen = RwDefinitions::SIZE_GET_RESET_STATUS; + *foundId = RwDefinitions::GET_LAST_RESET_STATUS; + break; + } case (static_cast(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(RwDefinitions::GET_LAST_RESET_STATUS); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + +void RwHandler::prepareClearResetStatusCommand() { + commandBuffer[0] = static_cast(RwDefinitions::CLEAR_LAST_RESET_STATUS); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + void RwHandler::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) { commandBuffer[0] = static_cast(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(RwDefinitions::GET_TEMPERATURE); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - void RwHandler::prepareInitRwCommand() { commandBuffer[0] = static_cast(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(RwDefinitions::GET_TEMPERATURE); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { commandBuffer[0] = static_cast(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(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 diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index fcde9c81..29a2ae52 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -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. diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index a38b0acf..73de0e57 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -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 { +public: + + LastResetSatus(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, LAST_RESET_ID) { + } + + LastResetSatus(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, LAST_RESET_ID)) { + } + + lp_var_t lastResetStatus = lp_var_t(sid.objectId, + PoolIds::LAST_RESET_STATUS, this); +}; + } #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */ From 67f2ed83ce4f09c69a70359f516dfd771bfd8824 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 28 Jun 2021 09:31:10 +0200 Subject: [PATCH 30/43] added periodically polling of reset status in rw handler --- mission/devices/RwHandler.cpp | 6 +++++- mission/devices/RwHandler.h | 1 + 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 83a136b8..7d84bfcf 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -42,13 +42,17 @@ void RwHandler::doShutDown() { ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { switch (communicationStep) { + case CommunicationStep::GET_RESET_STATUS: + *id = RwDefinitions::GET_LAST_RESET_STATUS; + communicationStep = CommunicationStep::READ_TEMPERATURE; + break; case CommunicationStep::READ_TEMPERATURE: *id = RwDefinitions::GET_TEMPERATURE; communicationStep = CommunicationStep::GET_RW_SATUS; break; case CommunicationStep::GET_RW_SATUS: *id = RwDefinitions::GET_RW_STATUS; - communicationStep = CommunicationStep::READ_TEMPERATURE; + communicationStep = CommunicationStep::GET_RESET_STATUS; break; default: sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step" diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 29a2ae52..9521034c 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -90,6 +90,7 @@ private: uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE]; enum class CommunicationStep { + GET_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS }; From c6655e50a03b79d6cd4302b987736ae5083fc7fa Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Mon, 28 Jun 2021 14:07:37 +0200 Subject: [PATCH 31/43] added second reaction wheel --- bsp_q7s/ObjectFactory.cpp | 16 ++++- bsp_q7s/spiCallbacks/rwSpiCallback.cpp | 4 +- .../pollingSequenceFactory.cpp | 6 ++ mission/devices/RwHandler.cpp | 67 +++++++++++++------ mission/devices/RwHandler.h | 9 ++- .../devices/devicedefinitions/RwDefinitions.h | 2 + tmtc | 2 +- 7 files changed, 76 insertions(+), 30 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 7507b5e6..8229536b 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/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); diff --git a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp b/bsp_q7s/spiCallbacks/rwSpiCallback.cpp index 41ba70d9..bfb1892c 100644 --- a/bsp_q7s/spiCallbacks/rwSpiCallback.cpp +++ b/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; diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 9bb73857..35f38919 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/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; diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 7d84bfcf..c789fb64 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -20,12 +20,19 @@ 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"; + switch (startupStep) { + 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; @@ -74,9 +82,10 @@ ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { break; case StartupStep::INIT_RW: *id = RwDefinitions::INIT_RW_CONTROLLER; - startupStep = StartupStep::GET_RESET_STATUS; - startupPerformed = true; + startupStep = StartupStep::STARTUP_COMPLETE; break; + case StartupStep::STARTUP_COMPLETE: + break; default: sif::debug << "RwHandler::buildTransitionDeviceCommand: Invalid startup step" << std::endl; @@ -136,17 +145,19 @@ 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); - this->insertInCommandAndReplyMap(RwDefinitions::GET_TEMPERATURE, 1, &temperatureSet, - RwDefinitions::SIZE_GET_TEMPERATURE_REPLY); - this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr, - RwDefinitions::SIZE_SET_SPEED_REPLY); + this->insertInCommandMap(RwDefinitions::RESET_MCU); + this->insertInCommandAndReplyMap(RwDefinitions::GET_LAST_RESET_STATUS, 1, &lastResetStatusSet, + RwDefinitions::SIZE_GET_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->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, + RwDefinitions::SIZE_SET_SPEED_REPLY); } ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize, @@ -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(RwDefinitions::CLEAR_LAST_RESET_STATUS)): { + *foundLen = RwDefinitions::SIZE_CLEAR_RESET_STATUS; + *foundId = RwDefinitions::CLEAR_LAST_RESET_STATUS; + break; + } case (static_cast(RwDefinitions::GET_RW_STATUS)): { *foundLen = RwDefinitions::SIZE_GET_RW_STATUS; *foundId = RwDefinitions::GET_RW_STATUS; break; } + case (static_cast(RwDefinitions::INIT_RW_CONTROLLER)): { + *foundLen = RwDefinitions::SIZE_INIT_RW; + *foundId = RwDefinitions::INIT_RW_CONTROLLER; + break; + } case (static_cast(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, diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 9521034c..a3d9ff1c 100644 --- a/mission/devices/RwHandler.h +++ b/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 */ diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index 73de0e57..e383920e 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/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; diff --git a/tmtc b/tmtc index 899cd942..19b76d96 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb +Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2 From 03b10d8e42670dbee965719e5b0bb633761c7e3b Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Mon, 28 Jun 2021 14:39:08 +0200 Subject: [PATCH 32/43] rw2 enable fix --- bsp_q7s/ObjectFactory.cpp | 2 +- tmtc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 8229536b..a84e314f 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -598,7 +598,7 @@ void ObjectFactory::produce(void* args){ rw1SpiCookie->setCallbackArgs(rwHandler1); auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, - gpioIds::EN_RW1); + gpioIds::EN_RW2); rwHandler2->setStartUpImmediately(); rw2SpiCookie->setCallbackArgs(rwHandler2); diff --git a/tmtc b/tmtc index 19b76d96..10ea97ff 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2 +Subproject commit 10ea97ff0b685014f8f79b124edc8009db6fd879 From 38fa2e0f93bc2b5b604c4d5947b721f8d69bfe65 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Mon, 28 Jun 2021 17:49:24 +0200 Subject: [PATCH 33/43] gitmodules and tmtc update --- .gitmodules | 2 +- tmtc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 44a86d86..6bde354a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -9,7 +9,7 @@ url = https://egit.irs.uni-stuttgart.de/eive/fsfw.git [submodule "tmtc"] path = tmtc - url = https://egit.irs.uni-stuttgart.de/eive/eive_tmtc.git + url = https://egit.irs.uni-stuttgart.de/eive/eive-tmtc.git [submodule "thirdparty/lwgps"] path = thirdparty/lwgps url = https://github.com/rmspacefish/lwgps.git diff --git a/tmtc b/tmtc index 2a986248..98deb844 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 2a9862489d57e2ccbf8b9ca5017f5e89395acddf +Subproject commit 98deb8444f84e94dc0252ad3c51eb61574174b90 From 6257bf759d29d0f53d800819f7acd6cc52beaa60 Mon Sep 17 00:00:00 2001 From: Martin Zietz Date: Tue, 29 Jun 2021 09:50:50 +0200 Subject: [PATCH 34/43] created all rw objects --- bsp_q7s/ObjectFactory.cpp | 17 ++++++++++++++--- bsp_q7s/gpio/gpioCallbacks.cpp | 4 ++-- .../pollingsequence/pollingSequenceFactory.cpp | 12 ++++++++++++ mission/devices/RwHandler.cpp | 2 +- 4 files changed, 29 insertions(+), 6 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index a84e314f..84c26605 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -588,8 +588,6 @@ void ObjectFactory::produce(void* args){ 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); @@ -599,9 +597,22 @@ void ObjectFactory::produce(void* args){ auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); - rwHandler2->setStartUpImmediately(); +// rwHandler2->setStartUpImmediately(); + (void) rwHandler2; rw2SpiCookie->setCallbackArgs(rwHandler2); + auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, + gpioIds::EN_RW3); +// rwHandler3->setStartUpImmediately(); + (void) rwHandler3; +// rw3SpiCookie->setCallbackArgs(rwHandler3); + + auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, + gpioIds::EN_RW4); +// (void) rwHandler4; + rwHandler4->setStartUpImmediately(); + rw4SpiCookie->setCallbackArgs(rwHandler4); + #endif /* TE0720 == 0 */ new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR); diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp index 49e22249..5499517b 100644 --- a/bsp_q7s/gpio/gpioCallbacks.cpp +++ b/bsp_q7s/gpio/gpioCallbacks.cpp @@ -232,12 +232,12 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value } case(gpioIds::CS_RW3): { enableRwDecoder(); - selectY3(); + selectY2(); break; } case(gpioIds::CS_RW4): { enableRwDecoder(); - selectY4(); + selectY3(); break; } default: diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp index 35f38919..be184b6b 100644 --- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp +++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp @@ -413,6 +413,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) { thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ); thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ); + thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ); + + thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION); + thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE); + thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE); + thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ); + thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ); + if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) { sif::error << "SPI PST initialization failed" << std::endl; return HasReturnvaluesIF::RETURN_FAILED; diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index c789fb64..d423aac1 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -298,7 +298,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_ int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 | *(commandData + 3); - if (speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) { + if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) { sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl; return INVALID_SPEED; } From eba2a920216b23102a94c36773c168979a4e16be Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Jun 2021 11:23:18 +0200 Subject: [PATCH 35/43] fsfw_hal and tmtc update --- fsfw_hal | 2 +- tmtc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/fsfw_hal b/fsfw_hal index 2533af3b..0f0fc0c2 160000 --- a/fsfw_hal +++ b/fsfw_hal @@ -1 +1 @@ -Subproject commit 2533af3b53804bc68436236370911e013a2b8f64 +Subproject commit 0f0fc0c2a69494de78856d956b679d9ee6ec339f diff --git a/tmtc b/tmtc index 98deb844..9d98eb6b 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 98deb8444f84e94dc0252ad3c51eb61574174b90 +Subproject commit 9d98eb6b606b40fa26aad12786894d1a99cb726c From 43a18e030c3f324af42761003a883c42eacc0b4f Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Tue, 29 Jun 2021 16:08:20 +0200 Subject: [PATCH 36/43] all reaction wheels working --- bsp_q7s/ObjectFactory.cpp | 10 +- linux/fsfwconfig/OBSWConfig.h.in | 2 +- mission/devices/RwHandler.cpp | 103 ++++++++++-------- mission/devices/RwHandler.h | 23 ++-- .../devices/devicedefinitions/RwDefinitions.h | 17 ++- tmtc | 2 +- 6 files changed, 86 insertions(+), 71 deletions(-) diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp index 84c26605..a4a876a3 100644 --- a/bsp_q7s/ObjectFactory.cpp +++ b/bsp_q7s/ObjectFactory.cpp @@ -591,26 +591,18 @@ void ObjectFactory::produce(void* args){ auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF, gpioIds::EN_RW1); - (void) rwHandler1; -// rwHandler1->setStartUpImmediately(); rw1SpiCookie->setCallbackArgs(rwHandler1); auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF, gpioIds::EN_RW2); -// rwHandler2->setStartUpImmediately(); - (void) rwHandler2; rw2SpiCookie->setCallbackArgs(rwHandler2); auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF, gpioIds::EN_RW3); -// rwHandler3->setStartUpImmediately(); - (void) rwHandler3; -// rw3SpiCookie->setCallbackArgs(rwHandler3); + rw3SpiCookie->setCallbackArgs(rwHandler3); auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF, gpioIds::EN_RW4); -// (void) rwHandler4; - rwHandler4->setStartUpImmediately(); rw4SpiCookie->setCallbackArgs(rwHandler4); #endif /* TE0720 == 0 */ diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in index ce1a7526..a5a439ab 100644 --- a/linux/fsfwconfig/OBSWConfig.h.in +++ b/linux/fsfwconfig/OBSWConfig.h.in @@ -52,7 +52,7 @@ debugging. */ #include "OBSWVersion.h" /* Can be used to switch device to NORMAL mode immediately */ -#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 1 +#define OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP 0 #ifdef __cplusplus diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index d423aac1..45c721a8 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -20,18 +20,12 @@ RwHandler::~RwHandler() { } void RwHandler::doStartUp() { - switch (startupStep) { - 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; - } + + internalState = InternalState::GET_RESET_STATUS; + + if(gpioComIF->pullHigh(enableGpio) != RETURN_OK) { + sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high"; + } #if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1 setMode(MODE_NORMAL); @@ -44,23 +38,26 @@ void RwHandler::doShutDown() { if(gpioComIF->pullLow(enableGpio) != RETURN_OK) { sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low"; } - /** Reset startup step for next doStartUp routine */ - startupStep = StartupStep::ENABLE_RW; } ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { - switch (communicationStep) { - case CommunicationStep::GET_RESET_STATUS: + switch (internalState) { + case InternalState::GET_RESET_STATUS: *id = RwDefinitions::GET_LAST_RESET_STATUS; - communicationStep = CommunicationStep::READ_TEMPERATURE; + internalState = InternalState::READ_TEMPERATURE; break; - case CommunicationStep::READ_TEMPERATURE: + case InternalState::CLEAR_RESET_STATUS: + *id = RwDefinitions::CLEAR_LAST_RESET_STATUS; + /** After reset status is cleared, reset status will be polled again for verification */ + internalState = InternalState::GET_RESET_STATUS; + break; + case InternalState::READ_TEMPERATURE: *id = RwDefinitions::GET_TEMPERATURE; - communicationStep = CommunicationStep::GET_RW_SATUS; + internalState = InternalState::GET_RW_SATUS; break; - case CommunicationStep::GET_RW_SATUS: + case InternalState::GET_RW_SATUS: *id = RwDefinitions::GET_RW_STATUS; - communicationStep = CommunicationStep::GET_RESET_STATUS; + internalState = InternalState::GET_RESET_STATUS; break; default: sif::debug << "RwHandler::buildNormalDeviceCommand: Invalid communication step" @@ -71,27 +68,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { } ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { - switch (startupStep) { - case StartupStep::ENABLE_RW: - *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::STARTUP_COMPLETE; - break; - case StartupStep::STARTUP_COMPLETE: - break; - default: - sif::debug << "RwHandler::buildTransitionDeviceCommand: Invalid startup step" - << std::endl; - break; - } - return buildCommandFromCommand(*id, nullptr, 0);; + return RETURN_OK; } ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, @@ -100,9 +77,7 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand switch (deviceCommand) { case (RwDefinitions::RESET_MCU): { - commandBuffer[0] = static_cast(RwDefinitions::RESET_MCU); - rawPacket = commandBuffer; - rawPacketLen = 1; + prepareResetMcuCommand(); return RETURN_OK; } case (RwDefinitions::GET_LAST_RESET_STATUS): { @@ -255,7 +230,7 @@ void RwHandler::setNormalDatapoolEntriesInvalid() { } uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { - return 15000; + return 500; } ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, @@ -263,9 +238,23 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP localDataPoolMap.emplace(RwDefinitions::TEMPERATURE_C, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::CURR_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::REFERENCE_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::STATE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::CLC_MODE, new PoolEntry( { 0 })); + + localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry( { 0 })); + return RETURN_OK; } +void RwHandler::prepareResetMcuCommand() { + commandBuffer[0] = static_cast(RwDefinitions::RESET_MCU); + rawPacket = commandBuffer; + rawPacketLen = 1; +} + void RwHandler::prepareGetLastResetStatusCommand() { commandBuffer[0] = static_cast(RwDefinitions::GET_LAST_RESET_STATUS); uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); @@ -352,15 +341,24 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa } void RwHandler::handleResetStatusReply(const uint8_t* packet) { + PoolReadGuard rg(&lastResetStatusSet); uint8_t offset = 2; - lastResetStatusSet.lastResetStatus = *(packet + offset); + uint8_t resetStatus = *(packet + offset); + if (resetStatus != RwDefinitions::CLEARED) { + internalState = InternalState::CLEAR_RESET_STATUS; + lastResetStatusSet.lastResetStatus = resetStatus; + } + lastResetStatusSet.currentResetStatus = resetStatus; #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 sif::info << "RwHandler::handleResetStatusReply: Last reset status: " << static_cast(lastResetStatusSet.lastResetStatus.value) << std::endl; + sif::info << "RwHandler::handleResetStatusReply: Current reset status: " + << static_cast(lastResetStatusSet.currentResetStatus.value) << std::endl; #endif } void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { + PoolReadGuard rg(&statusSet); uint8_t offset = 2; statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); @@ -372,6 +370,16 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { offset += 1; statusSet.clcMode = *(packet + offset); + if (statusSet.state == RwDefinitions::ERROR) { + /** + * This requires the commanding of the init reaction wheel controller command to recover + * form error state which must be handled by the FDIR instance. + */ + triggerEvent(ERROR_STATE); + sif::error << "RwHandler::handleGetRwStatusReply: Reaction wheel in error state" + << std::endl; + } + #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 sif::info << "RwHandler::handleGetRwStatusReply: Current speed is: " << statusSet.currSpeed << " * 0.1 RPM" << std::endl; @@ -385,6 +393,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) { } void RwHandler::handleTemperatureReply(const uint8_t* packet) { + PoolReadGuard rg(&temperatureSet); uint8_t offset = 2; temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 | *(packet + offset + 1) << 8 | *(packet + offset); diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index a3d9ff1c..11fb4a30 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -79,6 +79,9 @@ private: //! [EXPORT] : [COMMENT] Reaction wheel reply has invalid crc static const ReturnValue_t CRC_ERROR = MAKE_RETURN_CODE(0xA4); + //! [EXPORT] : [COMMENT] Reaction wheel signals an error state + static const Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH); + LinuxLibgpioIF* gpioComIF = nullptr; gpioId_t enableGpio = gpio::NO_GPIO; @@ -89,25 +92,23 @@ private: uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE]; - enum class CommunicationStep { + enum class InternalState { GET_RESET_STATUS, + CLEAR_RESET_STATUS, READ_TEMPERATURE, GET_RW_SATUS }; - CommunicationStep communicationStep = CommunicationStep::READ_TEMPERATURE; - - enum class StartupStep { - ENABLE_RW, - CLEAR_RESET_STATUS, - INIT_RW, - STARTUP_COMPLETE - }; - - StartupStep startupStep = StartupStep::ENABLE_RW; + InternalState internalState = InternalState::GET_RESET_STATUS; size_t sizeOfReply = 0; + /** + * @brief This function fills the command buffer with the data to reset the MCU on a reaction + * wheel. + */ + void prepareResetMcuCommand(); + /** * @brief This function prepares the command to request the last reset status */ diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index e383920e..fbdbd5cf 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -16,7 +16,8 @@ enum PoolIds: lp_id_t { REFERENCE_SPEED, STATE, CLC_MODE, - LAST_RESET_STATUS + LAST_RESET_STATUS, + CURRRENT_RESET_STATUS }; enum States: uint8_t { @@ -27,6 +28,16 @@ enum States: uint8_t { RUNNING_SPEED_CHANGING }; +enum LastResetStatus: uint8_t { + CLEARED = 0, + PIN_RESET = 1, + POR_PDR_BOR_RESET = 2, + SOFTWARE_RESET = 4, + INDEPENDENT_WATCHDOG_RESET = 8, + WINDOW_WATCHDOG_RESET = 16, + LOW_POWER_RESET = 32 +}; + 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; @@ -53,7 +64,7 @@ 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 LAST_RESET_ENTRIES = 2; static const uint8_t TEMPERATURE_SET_ENTRIES = 1; static const uint8_t STATUS_SET_ENTRIES = 4; @@ -118,6 +129,8 @@ public: lp_var_t lastResetStatus = lp_var_t(sid.objectId, PoolIds::LAST_RESET_STATUS, this); + lp_var_t currentResetStatus = lp_var_t(sid.objectId, + PoolIds::CURRRENT_RESET_STATUS, this); }; } diff --git a/tmtc b/tmtc index 10ea97ff..a8ea01bb 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 10ea97ff0b685014f8f79b124edc8009db6fd879 +Subproject commit a8ea01bb2fced3d7562af4b200080e424468e9c6 From 4c879fc7680505b6773db3d6288dd15ffc998f1a Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 29 Jun 2021 16:09:32 +0200 Subject: [PATCH 37/43] added event manager --- bsp_q7s/InitMission.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/bsp_q7s/InitMission.cpp b/bsp_q7s/InitMission.cpp index 25cd6abf..3e655255 100644 --- a/bsp_q7s/InitMission.cpp +++ b/bsp_q7s/InitMission.cpp @@ -104,10 +104,14 @@ void initmission::initTasks() { PeriodicTaskIF* pusEvents = factory->createPeriodicTask( "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); - result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); + result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING); if(result != HasReturnvaluesIF::RETURN_OK) { initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING); } + result = pusEvents->addComponent(objects::EVENT_MANAGER); + if(result != HasReturnvaluesIF::RETURN_OK) { + initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER); + } PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask( "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc); From 613a58da3098b37450917f4ba7e172d2575accb3 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Tue, 29 Jun 2021 16:10:19 +0200 Subject: [PATCH 38/43] tmtc update --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index a8ea01bb..09cab194 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit a8ea01bb2fced3d7562af4b200080e424468e9c6 +Subproject commit 09cab1941fad0bbe8fa54234f7513c61e22038ca From d49e99b3e4972a31fda49a62516e15837aa39fdf Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Tue, 29 Jun 2021 17:27:39 +0200 Subject: [PATCH 39/43] generator runs and rw transition delay --- generators/bsp_q7s_events.csv | 9 + generators/bsp_q7s_objects.csv | 129 ++++---- generators/events/translateEvents.cpp | 31 +- generators/objects/translateObjects.cpp | 313 ++++++++++-------- linux/fsfwconfig/events/translateEvents.cpp | 31 +- linux/fsfwconfig/objects/translateObjects.cpp | 313 ++++++++++-------- mission/devices/RwHandler.cpp | 4 +- 7 files changed, 471 insertions(+), 359 deletions(-) diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv index 81459869..c895aebb 100644 --- a/generators/bsp_q7s_events.csv +++ b/generators/bsp_q7s_events.csv @@ -81,3 +81,12 @@ 11102;ACK_FAILURE;LOW; ;../../mission/devices/PlocHandler.h 11103;EXE_FAILURE;LOW; ;../../mission/devices/PlocHandler.h 11104;CRC_FAILURE_EVENT;LOW; ;../../mission/devices/PlocHandler.h +11201;SELF_TEST_I2C_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11202;SELF_TEST_SPI_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11203;SELF_TEST_ADC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11204;SELF_TEST_PWM_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11205;SELF_TEST_TC_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11206;SELF_TEST_MTM_RANGE_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11207;SELF_TEST_COIL_CURRENT_FAILURE;LOW; ;../../mission/devices/IMTQHandler.h +11208;INVALID_ERROR_BYTE;LOW; ;../../mission/devices/IMTQHandler.h +11301;ERROR_STATE;HIGH; ;../../mission/devices/RwHandler.h diff --git a/generators/bsp_q7s_objects.csv b/generators/bsp_q7s_objects.csv index 8df83d6a..e0180089 100644 --- a/generators/bsp_q7s_objects.csv +++ b/generators/bsp_q7s_objects.csv @@ -1,52 +1,74 @@ 0x00005060;P60DOCK_TEST_TASK -0x44000001;P60DOCK_HANDLER -0x44000002;PDU1_HANDLER -0x44000003;PDU2_HANDLER -0x44000004;ACU_HANDLER -0x44000005;TMP1075_HANDLER_1 -0x44000006;TMP1075_HANDLER_2 -0x44000007;MGM_0_LIS3_HANDLER -0x44000008;MGM_1_RM3100_HANDLER -0x44000009;MGM_2_LIS3_HANDLER -0x44000010;MGM_3_RM3100_HANDLER -0x44000011;GYRO_0_ADIS_HANDLER -0x44000012;GYRO_1_L3G_HANDLER -0x44000013;GYRO_2_L3G_HANDLER -0x44000014;IMTQ_HANDLER -0x44000015;PLOC_HANDLER -0x44000016;SUS_1 -0x44000017;SUS_2 -0x44000018;SUS_3 -0x44000019;SUS_4 -0x4400001A;SUS_5 -0x4400001B;SUS_6 -0x4400001C;SUS_7 -0x4400001D;SUS_8 -0x4400001E;SUS_9 -0x4400001F;SUS_10 -0x44000021;SUS_11 -0x44000022;SUS_12 -0x44000023;SUS_13 -0x44001000;PCDU_HANDLER -0x44001001;SOLAR_ARRAY_DEPL_HANDLER -0x44001002;SYRLINKS_HK_HANDLER -0x47000001;GPIO_IF -0x49000001;ARDUINO_COM_IF -0x49000002;CSP_COM_IF -0x49000003;I2C_COM_IF -0x49000004;UART_COM_IF -0x49000005;SPI_COM_IF +0x43000003;CORE_CONTROLLER +0x43100002;ACS_CONTROLLER +0x43400001;THERMAL_CONTROLLER +0x44120006;MGM_0_LIS3_HANDLER +0x44120010;GYRO_0_ADIS_HANDLER +0x44120032;SUS_1 +0x44120033;SUS_2 +0x44120034;SUS_3 +0x44120035;SUS_4 +0x44120036;SUS_5 +0x44120037;SUS_6 +0x44120038;SUS_7 +0x44120039;SUS_8 +0x44120040;SUS_9 +0x44120041;SUS_10 +0x44120042;SUS_11 +0x44120043;SUS_12 +0x44120044;SUS_13 +0x44120107;MGM_1_RM3100_HANDLER +0x44120111;GYRO_1_L3G_HANDLER +0x44120208;MGM_2_LIS3_HANDLER +0x44120212;GYRO_2_ADIS_HANDLER +0x44120309;MGM_3_RM3100_HANDLER +0x44120313;GYRO_3_L3G_HANDLER +0x44130045;GPS0_HANDLER +0x44130146;GPS1_HANDLER +0x44140014;IMTQ_HANDLER +0x442000A1;PCDU_HANDLER +0x44210001;RW1 +0x44210002;RW2 +0x44210003;RW3 +0x44210004;RW4 +0x44250000;P60DOCK_HANDLER +0x44250001;PDU1_HANDLER +0x44250002;PDU2_HANDLER +0x44250003;ACU_HANDLER +0x443200A5;RAD_SENSOR +0x44330015;PLOC_HANDLER +0x444100A2;SOLAR_ARRAY_DEPL_HANDLER +0x444100A4;HEATER_HANDLER +0x44420004;TMP1075_HANDLER_1 +0x44420005;TMP1075_HANDLER_2 +0x44420016;RTD_IC3 +0x44420017;RTD_IC4 +0x44420018;RTD_IC5 +0x44420019;RTD_IC6 +0x44420020;RTD_IC7 +0x44420021;RTD_IC8 +0x44420022;RTD_IC9 +0x44420023;RTD_IC10 +0x44420024;RTD_IC11 +0x44420025;RTD_IC12 +0x44420026;RTD_IC13 +0x44420027;RTD_IC14 +0x44420028;RTD_IC15 +0x44420029;RTD_IC16 +0x44420030;RTD_IC17 +0x44420031;RTD_IC18 +0x445300A3;SYRLINKS_HK_HANDLER +0x49000000;ARDUINO_COM_IF +0x49010005;GPIO_IF +0x49020004;SPI_COM_IF +0x49030003;UART_COM_IF +0x49040002;I2C_COM_IF +0x49050001;CSP_COM_IF 0x50000100;CCSDS_PACKET_DISTRIBUTOR 0x50000200;PUS_PACKET_DISTRIBUTOR 0x50000300;UDP_BRIDGE 0x50000400;UDP_POLLING_TASK -0x51000300;PUS_SERVICE_3 -0x51000400;PUS_SERVICE_5 0x51000500;PUS_SERVICE_6 -0x51000800;PUS_SERVICE_8 -0x51002300;PUS_SERVICE_23 -0x51020100;PUS_SERVICE_201 -0x52000002;TM_FUNNEL 0x53000000;FSFW_OBJECTS_START 0x53000001;PUS_SERVICE_1_VERIFICATION 0x53000002;PUS_SERVICE_2_DEVICE_ACCESS @@ -67,27 +89,12 @@ 0x534f0300;IPC_STORE 0x53500010;TIME_STAMPER 0x53ffffff;FSFW_OBJECTS_END -0x54000003;HEATER_HANDLER -0x54000004;RTD_IC3 -0x54000005;RTD_IC4 -0x54000006;RTD_IC5 -0x54000007;RTD_IC6 -0x54000008;RTD_IC7 -0x54000009;RTD_IC8 -0x5400000A;RTD_IC9 -0x5400000B;RTD_IC10 -0x5400000C;RTD_IC11 -0x5400000D;RTD_IC12 -0x5400000E;RTD_IC13 -0x5400000F;RTD_IC14 0x54000010;SPI_TEST -0x5400001F;RTD_IC15 -0x5400002F;RTD_IC16 -0x5400003F;RTD_IC17 -0x5400004F;RTD_IC18 -0x54000050;RAD_SENSOR +0x54000020;UART_TEST 0x5400AFFE;DUMMY_HANDLER 0x5400CAFE;DUMMY_INTERFACE 0x54123456;LIBGPIOD_TEST 0x54694269;TEST_TASK +0x73000100;TM_FUNNEL +0x73500000;CCSDS_IP_CORE_BRIDGE 0xFFFFFFFF;NO_OBJECT diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp index c3af08e1..9ae81646 100644 --- a/generators/events/translateEvents.cpp +++ b/generators/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 83 translations. + * @brief Auto-generated event translation file. Contains 92 translations. * @details - * Generated on: 2021-06-08 17:09:32 + * Generated on: 2021-06-29 16:20:09 */ #include "translateEvents.h" @@ -88,6 +88,15 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE"; const char *ACK_FAILURE_STRING = "ACK_FAILURE"; const char *EXE_FAILURE_STRING = "EXE_FAILURE"; const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT"; +const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE"; +const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE"; +const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE"; +const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE"; +const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE"; +const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE"; +const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE"; +const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE"; +const char *ERROR_STATE_STRING = "ERROR_STATE"; const char * translateEvents(Event event) { switch( (event & 0xffff) ) { @@ -257,6 +266,24 @@ const char * translateEvents(Event event) { return EXE_FAILURE_STRING; case(11104): return CRC_FAILURE_EVENT_STRING; + case(11201): + return SELF_TEST_I2C_FAILURE_STRING; + case(11202): + return SELF_TEST_SPI_FAILURE_STRING; + case(11203): + return SELF_TEST_ADC_FAILURE_STRING; + case(11204): + return SELF_TEST_PWM_FAILURE_STRING; + case(11205): + return SELF_TEST_TC_FAILURE_STRING; + case(11206): + return SELF_TEST_MTM_RANGE_FAILURE_STRING; + case(11207): + return SELF_TEST_COIL_CURRENT_FAILURE_STRING; + case(11208): + return INVALID_ERROR_BYTE_STRING; + case(11301): + return ERROR_STATE_STRING; default: return "UNKNOWN_EVENT"; } diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp index 47b55435..2068158b 100644 --- a/generators/objects/translateObjects.cpp +++ b/generators/objects/translateObjects.cpp @@ -1,27 +1,17 @@ -/** +/** * @brief Auto-generated object translation file. * @details - * Contains 93 translations. - * Generated on: 2021-05-18 16:48:46 + * Contains 100 translations. + * Generated on: 2021-06-29 16:19:57 */ #include "translateObjects.h" const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK"; -const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER"; -const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; -const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; -const char *ACU_HANDLER_STRING = "ACU_HANDLER"; -const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; -const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; +const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER"; +const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; +const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; -const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; -const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER"; -const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; -const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; -const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER"; -const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER"; -const char *PLOC_HANDLER_STRING = "PLOC_HANDLER"; const char *SUS_1_STRING = "SUS_1"; const char *SUS_2_STRING = "SUS_2"; const char *SUS_3_STRING = "SUS_3"; @@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10"; const char *SUS_11_STRING = "SUS_11"; const char *SUS_12_STRING = "SUS_12"; const char *SUS_13_STRING = "SUS_13"; +const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; +const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; +const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER"; +const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER"; +const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER"; +const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER"; +const char *GPS0_HANDLER_STRING = "GPS0_HANDLER"; +const char *GPS1_HANDLER_STRING = "GPS1_HANDLER"; +const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER"; const char *PCDU_HANDLER_STRING = "PCDU_HANDLER"; +const char *RW1_STRING = "RW1"; +const char *RW2_STRING = "RW2"; +const char *RW3_STRING = "RW3"; +const char *RW4_STRING = "RW4"; +const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER"; +const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; +const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; +const char *ACU_HANDLER_STRING = "ACU_HANDLER"; +const char *RAD_SENSOR_STRING = "RAD_SENSOR"; +const char *PLOC_HANDLER_STRING = "PLOC_HANDLER"; const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER"; +const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; +const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; +const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; +const char *RTD_IC3_STRING = "RTD_IC3"; +const char *RTD_IC4_STRING = "RTD_IC4"; +const char *RTD_IC5_STRING = "RTD_IC5"; +const char *RTD_IC6_STRING = "RTD_IC6"; +const char *RTD_IC7_STRING = "RTD_IC7"; +const char *RTD_IC8_STRING = "RTD_IC8"; +const char *RTD_IC9_STRING = "RTD_IC9"; +const char *RTD_IC10_STRING = "RTD_IC10"; +const char *RTD_IC11_STRING = "RTD_IC11"; +const char *RTD_IC12_STRING = "RTD_IC12"; +const char *RTD_IC13_STRING = "RTD_IC13"; +const char *RTD_IC14_STRING = "RTD_IC14"; +const char *RTD_IC15_STRING = "RTD_IC15"; +const char *RTD_IC16_STRING = "RTD_IC16"; +const char *RTD_IC17_STRING = "RTD_IC17"; +const char *RTD_IC18_STRING = "RTD_IC18"; const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER"; -const char *GPIO_IF_STRING = "GPIO_IF"; const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF"; -const char *CSP_COM_IF_STRING = "CSP_COM_IF"; -const char *I2C_COM_IF_STRING = "I2C_COM_IF"; -const char *UART_COM_IF_STRING = "UART_COM_IF"; +const char *GPIO_IF_STRING = "GPIO_IF"; const char *SPI_COM_IF_STRING = "SPI_COM_IF"; +const char *UART_COM_IF_STRING = "UART_COM_IF"; +const char *I2C_COM_IF_STRING = "I2C_COM_IF"; +const char *CSP_COM_IF_STRING = "CSP_COM_IF"; const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR"; const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR"; const char *UDP_BRIDGE_STRING = "UDP_BRIDGE"; const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK"; -const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3"; -const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5"; const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6"; -const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8"; -const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23"; -const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201"; -const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START"; const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION"; const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS"; @@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE"; const char *IPC_STORE_STRING = "IPC_STORE"; const char *TIME_STAMPER_STRING = "TIME_STAMPER"; const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END"; -const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; -const char *RTD_IC3_STRING = "RTD_IC3"; -const char *RTD_IC4_STRING = "RTD_IC4"; -const char *RTD_IC5_STRING = "RTD_IC5"; -const char *RTD_IC6_STRING = "RTD_IC6"; -const char *RTD_IC7_STRING = "RTD_IC7"; -const char *RTD_IC8_STRING = "RTD_IC8"; -const char *RTD_IC9_STRING = "RTD_IC9"; -const char *RTD_IC10_STRING = "RTD_IC10"; -const char *RTD_IC11_STRING = "RTD_IC11"; -const char *RTD_IC12_STRING = "RTD_IC12"; -const char *RTD_IC13_STRING = "RTD_IC13"; -const char *RTD_IC14_STRING = "RTD_IC14"; const char *SPI_TEST_STRING = "SPI_TEST"; -const char *RTD_IC15_STRING = "RTD_IC15"; -const char *RTD_IC16_STRING = "RTD_IC16"; -const char *RTD_IC17_STRING = "RTD_IC17"; -const char *RTD_IC18_STRING = "RTD_IC18"; -const char *RAD_SENSOR_STRING = "RAD_SENSOR"; +const char *UART_TEST_STRING = "UART_TEST"; const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST"; const char *TEST_TASK_STRING = "TEST_TASK"; +const char *TM_FUNNEL_STRING = "TM_FUNNEL"; +const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *NO_OBJECT_STRING = "NO_OBJECT"; const char* translateObject(object_id_t object) { switch( (object & 0xFFFFFFFF) ) { case 0x00005060: return P60DOCK_TEST_TASK_STRING; - case 0x44000001: - return P60DOCK_HANDLER_STRING; - case 0x44000002: - return PDU1_HANDLER_STRING; - case 0x44000003: - return PDU2_HANDLER_STRING; - case 0x44000004: - return ACU_HANDLER_STRING; - case 0x44000005: - return TMP1075_HANDLER_1_STRING; - case 0x44000006: - return TMP1075_HANDLER_2_STRING; - case 0x44000007: + case 0x43000003: + return CORE_CONTROLLER_STRING; + case 0x43100002: + return ACS_CONTROLLER_STRING; + case 0x43400001: + return THERMAL_CONTROLLER_STRING; + case 0x44120006: return MGM_0_LIS3_HANDLER_STRING; - case 0x44000008: - return MGM_1_RM3100_HANDLER_STRING; - case 0x44000009: - return MGM_2_LIS3_HANDLER_STRING; - case 0x44000010: - return MGM_3_RM3100_HANDLER_STRING; - case 0x44000011: + case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; - case 0x44000012: - return GYRO_1_L3G_HANDLER_STRING; - case 0x44000013: - return GYRO_2_L3G_HANDLER_STRING; - case 0x44000014: - return IMTQ_HANDLER_STRING; - case 0x44000015: - return PLOC_HANDLER_STRING; - case 0x44000016: + case 0x44120032: return SUS_1_STRING; - case 0x44000017: + case 0x44120033: return SUS_2_STRING; - case 0x44000018: + case 0x44120034: return SUS_3_STRING; - case 0x44000019: + case 0x44120035: return SUS_4_STRING; - case 0x4400001A: + case 0x44120036: return SUS_5_STRING; - case 0x4400001B: + case 0x44120037: return SUS_6_STRING; - case 0x4400001C: + case 0x44120038: return SUS_7_STRING; - case 0x4400001D: + case 0x44120039: return SUS_8_STRING; - case 0x4400001E: + case 0x44120040: return SUS_9_STRING; - case 0x4400001F: + case 0x44120041: return SUS_10_STRING; - case 0x44000021: + case 0x44120042: return SUS_11_STRING; - case 0x44000022: + case 0x44120043: return SUS_12_STRING; - case 0x44000023: + case 0x44120044: return SUS_13_STRING; - case 0x44001000: + case 0x44120107: + return MGM_1_RM3100_HANDLER_STRING; + case 0x44120111: + return GYRO_1_L3G_HANDLER_STRING; + case 0x44120208: + return MGM_2_LIS3_HANDLER_STRING; + case 0x44120212: + return GYRO_2_ADIS_HANDLER_STRING; + case 0x44120309: + return MGM_3_RM3100_HANDLER_STRING; + case 0x44120313: + return GYRO_3_L3G_HANDLER_STRING; + case 0x44130045: + return GPS0_HANDLER_STRING; + case 0x44130146: + return GPS1_HANDLER_STRING; + case 0x44140014: + return IMTQ_HANDLER_STRING; + case 0x442000A1: return PCDU_HANDLER_STRING; - case 0x44001001: + case 0x44210001: + return RW1_STRING; + case 0x44210002: + return RW2_STRING; + case 0x44210003: + return RW3_STRING; + case 0x44210004: + return RW4_STRING; + case 0x44250000: + return P60DOCK_HANDLER_STRING; + case 0x44250001: + return PDU1_HANDLER_STRING; + case 0x44250002: + return PDU2_HANDLER_STRING; + case 0x44250003: + return ACU_HANDLER_STRING; + case 0x443200A5: + return RAD_SENSOR_STRING; + case 0x44330015: + return PLOC_HANDLER_STRING; + case 0x444100A2: return SOLAR_ARRAY_DEPL_HANDLER_STRING; - case 0x44001002: + case 0x444100A4: + return HEATER_HANDLER_STRING; + case 0x44420004: + return TMP1075_HANDLER_1_STRING; + case 0x44420005: + return TMP1075_HANDLER_2_STRING; + case 0x44420016: + return RTD_IC3_STRING; + case 0x44420017: + return RTD_IC4_STRING; + case 0x44420018: + return RTD_IC5_STRING; + case 0x44420019: + return RTD_IC6_STRING; + case 0x44420020: + return RTD_IC7_STRING; + case 0x44420021: + return RTD_IC8_STRING; + case 0x44420022: + return RTD_IC9_STRING; + case 0x44420023: + return RTD_IC10_STRING; + case 0x44420024: + return RTD_IC11_STRING; + case 0x44420025: + return RTD_IC12_STRING; + case 0x44420026: + return RTD_IC13_STRING; + case 0x44420027: + return RTD_IC14_STRING; + case 0x44420028: + return RTD_IC15_STRING; + case 0x44420029: + return RTD_IC16_STRING; + case 0x44420030: + return RTD_IC17_STRING; + case 0x44420031: + return RTD_IC18_STRING; + case 0x445300A3: return SYRLINKS_HK_HANDLER_STRING; - case 0x47000001: - return GPIO_IF_STRING; - case 0x49000001: + case 0x49000000: return ARDUINO_COM_IF_STRING; - case 0x49000002: - return CSP_COM_IF_STRING; - case 0x49000003: - return I2C_COM_IF_STRING; - case 0x49000004: - return UART_COM_IF_STRING; - case 0x49000005: + case 0x49010005: + return GPIO_IF_STRING; + case 0x49020004: return SPI_COM_IF_STRING; + case 0x49030003: + return UART_COM_IF_STRING; + case 0x49040002: + return I2C_COM_IF_STRING; + case 0x49050001: + return CSP_COM_IF_STRING; case 0x50000100: return CCSDS_PACKET_DISTRIBUTOR_STRING; case 0x50000200: @@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) { return UDP_BRIDGE_STRING; case 0x50000400: return UDP_POLLING_TASK_STRING; - case 0x51000300: - return PUS_SERVICE_3_STRING; - case 0x51000400: - return PUS_SERVICE_5_STRING; case 0x51000500: return PUS_SERVICE_6_STRING; - case 0x51000800: - return PUS_SERVICE_8_STRING; - case 0x51002300: - return PUS_SERVICE_23_STRING; - case 0x51020100: - return PUS_SERVICE_201_STRING; - case 0x52000002: - return TM_FUNNEL_STRING; case 0x53000000: return FSFW_OBJECTS_START_STRING; case 0x53000001: @@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) { return TIME_STAMPER_STRING; case 0x53ffffff: return FSFW_OBJECTS_END_STRING; - case 0x54000003: - return HEATER_HANDLER_STRING; - case 0x54000004: - return RTD_IC3_STRING; - case 0x54000005: - return RTD_IC4_STRING; - case 0x54000006: - return RTD_IC5_STRING; - case 0x54000007: - return RTD_IC6_STRING; - case 0x54000008: - return RTD_IC7_STRING; - case 0x54000009: - return RTD_IC8_STRING; - case 0x5400000A: - return RTD_IC9_STRING; - case 0x5400000B: - return RTD_IC10_STRING; - case 0x5400000C: - return RTD_IC11_STRING; - case 0x5400000D: - return RTD_IC12_STRING; - case 0x5400000E: - return RTD_IC13_STRING; - case 0x5400000F: - return RTD_IC14_STRING; case 0x54000010: return SPI_TEST_STRING; - case 0x5400001F: - return RTD_IC15_STRING; - case 0x5400002F: - return RTD_IC16_STRING; - case 0x5400003F: - return RTD_IC17_STRING; - case 0x5400004F: - return RTD_IC18_STRING; - case 0x54000050: - return RAD_SENSOR_STRING; + case 0x54000020: + return UART_TEST_STRING; case 0x5400AFFE: return DUMMY_HANDLER_STRING; case 0x5400CAFE: @@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) { return LIBGPIOD_TEST_STRING; case 0x54694269: return TEST_TASK_STRING; + case 0x73000100: + return TM_FUNNEL_STRING; + case 0x73500000: + return CCSDS_IP_CORE_BRIDGE_STRING; case 0xFFFFFFFF: return NO_OBJECT_STRING; default: diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp index c3af08e1..9ae81646 100644 --- a/linux/fsfwconfig/events/translateEvents.cpp +++ b/linux/fsfwconfig/events/translateEvents.cpp @@ -1,7 +1,7 @@ /** - * @brief Auto-generated event translation file. Contains 83 translations. + * @brief Auto-generated event translation file. Contains 92 translations. * @details - * Generated on: 2021-06-08 17:09:32 + * Generated on: 2021-06-29 16:20:09 */ #include "translateEvents.h" @@ -88,6 +88,15 @@ const char *MEMORY_READ_RPT_CRC_FAILURE_STRING = "MEMORY_READ_RPT_CRC_FAILURE"; const char *ACK_FAILURE_STRING = "ACK_FAILURE"; const char *EXE_FAILURE_STRING = "EXE_FAILURE"; const char *CRC_FAILURE_EVENT_STRING = "CRC_FAILURE_EVENT"; +const char *SELF_TEST_I2C_FAILURE_STRING = "SELF_TEST_I2C_FAILURE"; +const char *SELF_TEST_SPI_FAILURE_STRING = "SELF_TEST_SPI_FAILURE"; +const char *SELF_TEST_ADC_FAILURE_STRING = "SELF_TEST_ADC_FAILURE"; +const char *SELF_TEST_PWM_FAILURE_STRING = "SELF_TEST_PWM_FAILURE"; +const char *SELF_TEST_TC_FAILURE_STRING = "SELF_TEST_TC_FAILURE"; +const char *SELF_TEST_MTM_RANGE_FAILURE_STRING = "SELF_TEST_MTM_RANGE_FAILURE"; +const char *SELF_TEST_COIL_CURRENT_FAILURE_STRING = "SELF_TEST_COIL_CURRENT_FAILURE"; +const char *INVALID_ERROR_BYTE_STRING = "INVALID_ERROR_BYTE"; +const char *ERROR_STATE_STRING = "ERROR_STATE"; const char * translateEvents(Event event) { switch( (event & 0xffff) ) { @@ -257,6 +266,24 @@ const char * translateEvents(Event event) { return EXE_FAILURE_STRING; case(11104): return CRC_FAILURE_EVENT_STRING; + case(11201): + return SELF_TEST_I2C_FAILURE_STRING; + case(11202): + return SELF_TEST_SPI_FAILURE_STRING; + case(11203): + return SELF_TEST_ADC_FAILURE_STRING; + case(11204): + return SELF_TEST_PWM_FAILURE_STRING; + case(11205): + return SELF_TEST_TC_FAILURE_STRING; + case(11206): + return SELF_TEST_MTM_RANGE_FAILURE_STRING; + case(11207): + return SELF_TEST_COIL_CURRENT_FAILURE_STRING; + case(11208): + return INVALID_ERROR_BYTE_STRING; + case(11301): + return ERROR_STATE_STRING; default: return "UNKNOWN_EVENT"; } diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp index 47b55435..2068158b 100644 --- a/linux/fsfwconfig/objects/translateObjects.cpp +++ b/linux/fsfwconfig/objects/translateObjects.cpp @@ -1,27 +1,17 @@ -/** +/** * @brief Auto-generated object translation file. * @details - * Contains 93 translations. - * Generated on: 2021-05-18 16:48:46 + * Contains 100 translations. + * Generated on: 2021-06-29 16:19:57 */ #include "translateObjects.h" const char *P60DOCK_TEST_TASK_STRING = "P60DOCK_TEST_TASK"; -const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER"; -const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; -const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; -const char *ACU_HANDLER_STRING = "ACU_HANDLER"; -const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; -const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; +const char *CORE_CONTROLLER_STRING = "CORE_CONTROLLER"; +const char *ACS_CONTROLLER_STRING = "ACS_CONTROLLER"; +const char *THERMAL_CONTROLLER_STRING = "THERMAL_CONTROLLER"; const char *MGM_0_LIS3_HANDLER_STRING = "MGM_0_LIS3_HANDLER"; -const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; -const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER"; -const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER"; const char *GYRO_0_ADIS_HANDLER_STRING = "GYRO_0_ADIS_HANDLER"; -const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; -const char *GYRO_2_L3G_HANDLER_STRING = "GYRO_2_L3G_HANDLER"; -const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER"; -const char *PLOC_HANDLER_STRING = "PLOC_HANDLER"; const char *SUS_1_STRING = "SUS_1"; const char *SUS_2_STRING = "SUS_2"; const char *SUS_3_STRING = "SUS_3"; @@ -35,26 +25,58 @@ const char *SUS_10_STRING = "SUS_10"; const char *SUS_11_STRING = "SUS_11"; const char *SUS_12_STRING = "SUS_12"; const char *SUS_13_STRING = "SUS_13"; +const char *MGM_1_RM3100_HANDLER_STRING = "MGM_1_RM3100_HANDLER"; +const char *GYRO_1_L3G_HANDLER_STRING = "GYRO_1_L3G_HANDLER"; +const char *MGM_2_LIS3_HANDLER_STRING = "MGM_2_LIS3_HANDLER"; +const char *GYRO_2_ADIS_HANDLER_STRING = "GYRO_2_ADIS_HANDLER"; +const char *MGM_3_RM3100_HANDLER_STRING = "MGM_3_RM3100_HANDLER"; +const char *GYRO_3_L3G_HANDLER_STRING = "GYRO_3_L3G_HANDLER"; +const char *GPS0_HANDLER_STRING = "GPS0_HANDLER"; +const char *GPS1_HANDLER_STRING = "GPS1_HANDLER"; +const char *IMTQ_HANDLER_STRING = "IMTQ_HANDLER"; const char *PCDU_HANDLER_STRING = "PCDU_HANDLER"; +const char *RW1_STRING = "RW1"; +const char *RW2_STRING = "RW2"; +const char *RW3_STRING = "RW3"; +const char *RW4_STRING = "RW4"; +const char *P60DOCK_HANDLER_STRING = "P60DOCK_HANDLER"; +const char *PDU1_HANDLER_STRING = "PDU1_HANDLER"; +const char *PDU2_HANDLER_STRING = "PDU2_HANDLER"; +const char *ACU_HANDLER_STRING = "ACU_HANDLER"; +const char *RAD_SENSOR_STRING = "RAD_SENSOR"; +const char *PLOC_HANDLER_STRING = "PLOC_HANDLER"; const char *SOLAR_ARRAY_DEPL_HANDLER_STRING = "SOLAR_ARRAY_DEPL_HANDLER"; +const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; +const char *TMP1075_HANDLER_1_STRING = "TMP1075_HANDLER_1"; +const char *TMP1075_HANDLER_2_STRING = "TMP1075_HANDLER_2"; +const char *RTD_IC3_STRING = "RTD_IC3"; +const char *RTD_IC4_STRING = "RTD_IC4"; +const char *RTD_IC5_STRING = "RTD_IC5"; +const char *RTD_IC6_STRING = "RTD_IC6"; +const char *RTD_IC7_STRING = "RTD_IC7"; +const char *RTD_IC8_STRING = "RTD_IC8"; +const char *RTD_IC9_STRING = "RTD_IC9"; +const char *RTD_IC10_STRING = "RTD_IC10"; +const char *RTD_IC11_STRING = "RTD_IC11"; +const char *RTD_IC12_STRING = "RTD_IC12"; +const char *RTD_IC13_STRING = "RTD_IC13"; +const char *RTD_IC14_STRING = "RTD_IC14"; +const char *RTD_IC15_STRING = "RTD_IC15"; +const char *RTD_IC16_STRING = "RTD_IC16"; +const char *RTD_IC17_STRING = "RTD_IC17"; +const char *RTD_IC18_STRING = "RTD_IC18"; const char *SYRLINKS_HK_HANDLER_STRING = "SYRLINKS_HK_HANDLER"; -const char *GPIO_IF_STRING = "GPIO_IF"; const char *ARDUINO_COM_IF_STRING = "ARDUINO_COM_IF"; -const char *CSP_COM_IF_STRING = "CSP_COM_IF"; -const char *I2C_COM_IF_STRING = "I2C_COM_IF"; -const char *UART_COM_IF_STRING = "UART_COM_IF"; +const char *GPIO_IF_STRING = "GPIO_IF"; const char *SPI_COM_IF_STRING = "SPI_COM_IF"; +const char *UART_COM_IF_STRING = "UART_COM_IF"; +const char *I2C_COM_IF_STRING = "I2C_COM_IF"; +const char *CSP_COM_IF_STRING = "CSP_COM_IF"; const char *CCSDS_PACKET_DISTRIBUTOR_STRING = "CCSDS_PACKET_DISTRIBUTOR"; const char *PUS_PACKET_DISTRIBUTOR_STRING = "PUS_PACKET_DISTRIBUTOR"; const char *UDP_BRIDGE_STRING = "UDP_BRIDGE"; const char *UDP_POLLING_TASK_STRING = "UDP_POLLING_TASK"; -const char *PUS_SERVICE_3_STRING = "PUS_SERVICE_3"; -const char *PUS_SERVICE_5_STRING = "PUS_SERVICE_5"; const char *PUS_SERVICE_6_STRING = "PUS_SERVICE_6"; -const char *PUS_SERVICE_8_STRING = "PUS_SERVICE_8"; -const char *PUS_SERVICE_23_STRING = "PUS_SERVICE_23"; -const char *PUS_SERVICE_201_STRING = "PUS_SERVICE_201"; -const char *TM_FUNNEL_STRING = "TM_FUNNEL"; const char *FSFW_OBJECTS_START_STRING = "FSFW_OBJECTS_START"; const char *PUS_SERVICE_1_VERIFICATION_STRING = "PUS_SERVICE_1_VERIFICATION"; const char *PUS_SERVICE_2_DEVICE_ACCESS_STRING = "PUS_SERVICE_2_DEVICE_ACCESS"; @@ -75,109 +97,150 @@ const char *TM_STORE_STRING = "TM_STORE"; const char *IPC_STORE_STRING = "IPC_STORE"; const char *TIME_STAMPER_STRING = "TIME_STAMPER"; const char *FSFW_OBJECTS_END_STRING = "FSFW_OBJECTS_END"; -const char *HEATER_HANDLER_STRING = "HEATER_HANDLER"; -const char *RTD_IC3_STRING = "RTD_IC3"; -const char *RTD_IC4_STRING = "RTD_IC4"; -const char *RTD_IC5_STRING = "RTD_IC5"; -const char *RTD_IC6_STRING = "RTD_IC6"; -const char *RTD_IC7_STRING = "RTD_IC7"; -const char *RTD_IC8_STRING = "RTD_IC8"; -const char *RTD_IC9_STRING = "RTD_IC9"; -const char *RTD_IC10_STRING = "RTD_IC10"; -const char *RTD_IC11_STRING = "RTD_IC11"; -const char *RTD_IC12_STRING = "RTD_IC12"; -const char *RTD_IC13_STRING = "RTD_IC13"; -const char *RTD_IC14_STRING = "RTD_IC14"; const char *SPI_TEST_STRING = "SPI_TEST"; -const char *RTD_IC15_STRING = "RTD_IC15"; -const char *RTD_IC16_STRING = "RTD_IC16"; -const char *RTD_IC17_STRING = "RTD_IC17"; -const char *RTD_IC18_STRING = "RTD_IC18"; -const char *RAD_SENSOR_STRING = "RAD_SENSOR"; +const char *UART_TEST_STRING = "UART_TEST"; const char *DUMMY_HANDLER_STRING = "DUMMY_HANDLER"; const char *DUMMY_INTERFACE_STRING = "DUMMY_INTERFACE"; const char *LIBGPIOD_TEST_STRING = "LIBGPIOD_TEST"; const char *TEST_TASK_STRING = "TEST_TASK"; +const char *TM_FUNNEL_STRING = "TM_FUNNEL"; +const char *CCSDS_IP_CORE_BRIDGE_STRING = "CCSDS_IP_CORE_BRIDGE"; const char *NO_OBJECT_STRING = "NO_OBJECT"; const char* translateObject(object_id_t object) { switch( (object & 0xFFFFFFFF) ) { case 0x00005060: return P60DOCK_TEST_TASK_STRING; - case 0x44000001: - return P60DOCK_HANDLER_STRING; - case 0x44000002: - return PDU1_HANDLER_STRING; - case 0x44000003: - return PDU2_HANDLER_STRING; - case 0x44000004: - return ACU_HANDLER_STRING; - case 0x44000005: - return TMP1075_HANDLER_1_STRING; - case 0x44000006: - return TMP1075_HANDLER_2_STRING; - case 0x44000007: + case 0x43000003: + return CORE_CONTROLLER_STRING; + case 0x43100002: + return ACS_CONTROLLER_STRING; + case 0x43400001: + return THERMAL_CONTROLLER_STRING; + case 0x44120006: return MGM_0_LIS3_HANDLER_STRING; - case 0x44000008: - return MGM_1_RM3100_HANDLER_STRING; - case 0x44000009: - return MGM_2_LIS3_HANDLER_STRING; - case 0x44000010: - return MGM_3_RM3100_HANDLER_STRING; - case 0x44000011: + case 0x44120010: return GYRO_0_ADIS_HANDLER_STRING; - case 0x44000012: - return GYRO_1_L3G_HANDLER_STRING; - case 0x44000013: - return GYRO_2_L3G_HANDLER_STRING; - case 0x44000014: - return IMTQ_HANDLER_STRING; - case 0x44000015: - return PLOC_HANDLER_STRING; - case 0x44000016: + case 0x44120032: return SUS_1_STRING; - case 0x44000017: + case 0x44120033: return SUS_2_STRING; - case 0x44000018: + case 0x44120034: return SUS_3_STRING; - case 0x44000019: + case 0x44120035: return SUS_4_STRING; - case 0x4400001A: + case 0x44120036: return SUS_5_STRING; - case 0x4400001B: + case 0x44120037: return SUS_6_STRING; - case 0x4400001C: + case 0x44120038: return SUS_7_STRING; - case 0x4400001D: + case 0x44120039: return SUS_8_STRING; - case 0x4400001E: + case 0x44120040: return SUS_9_STRING; - case 0x4400001F: + case 0x44120041: return SUS_10_STRING; - case 0x44000021: + case 0x44120042: return SUS_11_STRING; - case 0x44000022: + case 0x44120043: return SUS_12_STRING; - case 0x44000023: + case 0x44120044: return SUS_13_STRING; - case 0x44001000: + case 0x44120107: + return MGM_1_RM3100_HANDLER_STRING; + case 0x44120111: + return GYRO_1_L3G_HANDLER_STRING; + case 0x44120208: + return MGM_2_LIS3_HANDLER_STRING; + case 0x44120212: + return GYRO_2_ADIS_HANDLER_STRING; + case 0x44120309: + return MGM_3_RM3100_HANDLER_STRING; + case 0x44120313: + return GYRO_3_L3G_HANDLER_STRING; + case 0x44130045: + return GPS0_HANDLER_STRING; + case 0x44130146: + return GPS1_HANDLER_STRING; + case 0x44140014: + return IMTQ_HANDLER_STRING; + case 0x442000A1: return PCDU_HANDLER_STRING; - case 0x44001001: + case 0x44210001: + return RW1_STRING; + case 0x44210002: + return RW2_STRING; + case 0x44210003: + return RW3_STRING; + case 0x44210004: + return RW4_STRING; + case 0x44250000: + return P60DOCK_HANDLER_STRING; + case 0x44250001: + return PDU1_HANDLER_STRING; + case 0x44250002: + return PDU2_HANDLER_STRING; + case 0x44250003: + return ACU_HANDLER_STRING; + case 0x443200A5: + return RAD_SENSOR_STRING; + case 0x44330015: + return PLOC_HANDLER_STRING; + case 0x444100A2: return SOLAR_ARRAY_DEPL_HANDLER_STRING; - case 0x44001002: + case 0x444100A4: + return HEATER_HANDLER_STRING; + case 0x44420004: + return TMP1075_HANDLER_1_STRING; + case 0x44420005: + return TMP1075_HANDLER_2_STRING; + case 0x44420016: + return RTD_IC3_STRING; + case 0x44420017: + return RTD_IC4_STRING; + case 0x44420018: + return RTD_IC5_STRING; + case 0x44420019: + return RTD_IC6_STRING; + case 0x44420020: + return RTD_IC7_STRING; + case 0x44420021: + return RTD_IC8_STRING; + case 0x44420022: + return RTD_IC9_STRING; + case 0x44420023: + return RTD_IC10_STRING; + case 0x44420024: + return RTD_IC11_STRING; + case 0x44420025: + return RTD_IC12_STRING; + case 0x44420026: + return RTD_IC13_STRING; + case 0x44420027: + return RTD_IC14_STRING; + case 0x44420028: + return RTD_IC15_STRING; + case 0x44420029: + return RTD_IC16_STRING; + case 0x44420030: + return RTD_IC17_STRING; + case 0x44420031: + return RTD_IC18_STRING; + case 0x445300A3: return SYRLINKS_HK_HANDLER_STRING; - case 0x47000001: - return GPIO_IF_STRING; - case 0x49000001: + case 0x49000000: return ARDUINO_COM_IF_STRING; - case 0x49000002: - return CSP_COM_IF_STRING; - case 0x49000003: - return I2C_COM_IF_STRING; - case 0x49000004: - return UART_COM_IF_STRING; - case 0x49000005: + case 0x49010005: + return GPIO_IF_STRING; + case 0x49020004: return SPI_COM_IF_STRING; + case 0x49030003: + return UART_COM_IF_STRING; + case 0x49040002: + return I2C_COM_IF_STRING; + case 0x49050001: + return CSP_COM_IF_STRING; case 0x50000100: return CCSDS_PACKET_DISTRIBUTOR_STRING; case 0x50000200: @@ -186,20 +249,8 @@ const char* translateObject(object_id_t object) { return UDP_BRIDGE_STRING; case 0x50000400: return UDP_POLLING_TASK_STRING; - case 0x51000300: - return PUS_SERVICE_3_STRING; - case 0x51000400: - return PUS_SERVICE_5_STRING; case 0x51000500: return PUS_SERVICE_6_STRING; - case 0x51000800: - return PUS_SERVICE_8_STRING; - case 0x51002300: - return PUS_SERVICE_23_STRING; - case 0x51020100: - return PUS_SERVICE_201_STRING; - case 0x52000002: - return TM_FUNNEL_STRING; case 0x53000000: return FSFW_OBJECTS_START_STRING; case 0x53000001: @@ -240,44 +291,10 @@ const char* translateObject(object_id_t object) { return TIME_STAMPER_STRING; case 0x53ffffff: return FSFW_OBJECTS_END_STRING; - case 0x54000003: - return HEATER_HANDLER_STRING; - case 0x54000004: - return RTD_IC3_STRING; - case 0x54000005: - return RTD_IC4_STRING; - case 0x54000006: - return RTD_IC5_STRING; - case 0x54000007: - return RTD_IC6_STRING; - case 0x54000008: - return RTD_IC7_STRING; - case 0x54000009: - return RTD_IC8_STRING; - case 0x5400000A: - return RTD_IC9_STRING; - case 0x5400000B: - return RTD_IC10_STRING; - case 0x5400000C: - return RTD_IC11_STRING; - case 0x5400000D: - return RTD_IC12_STRING; - case 0x5400000E: - return RTD_IC13_STRING; - case 0x5400000F: - return RTD_IC14_STRING; case 0x54000010: return SPI_TEST_STRING; - case 0x5400001F: - return RTD_IC15_STRING; - case 0x5400002F: - return RTD_IC16_STRING; - case 0x5400003F: - return RTD_IC17_STRING; - case 0x5400004F: - return RTD_IC18_STRING; - case 0x54000050: - return RAD_SENSOR_STRING; + case 0x54000020: + return UART_TEST_STRING; case 0x5400AFFE: return DUMMY_HANDLER_STRING; case 0x5400CAFE: @@ -286,6 +303,10 @@ const char* translateObject(object_id_t object) { return LIBGPIOD_TEST_STRING; case 0x54694269: return TEST_TASK_STRING; + case 0x73000100: + return TM_FUNNEL_STRING; + case 0x73500000: + return CCSDS_IP_CORE_BRIDGE_STRING; case 0xFFFFFFFF: return NO_OBJECT_STRING; default: diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index 45c721a8..a5f6dbef 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -68,7 +68,7 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t * id) { } ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t * id) { - return RETURN_OK; + return NOTHING_TO_SEND; } ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand, @@ -230,7 +230,7 @@ void RwHandler::setNormalDatapoolEntriesInvalid() { } uint32_t RwHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { - return 500; + return 5000; } ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap, From 480f1a833ebe0def3a2f8a8b73f7dd42ee59895b Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Wed, 30 Jun 2021 08:21:14 +0200 Subject: [PATCH 40/43] save before using prepareDataLessCmd --- mission/devices/RwHandler.cpp | 56 ++++++++++-- mission/devices/RwHandler.h | 1 + .../devices/devicedefinitions/RwDefinitions.h | 91 ++++++++++++++++++- tmtc | 2 +- 4 files changed, 138 insertions(+), 12 deletions(-) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index a5f6dbef..b637cbba 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -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), lastResetStatusSet(this) { + temperatureSet(this), statusSet(this), lastResetStatusSet(this), tmDataset(this) { if (comCookie == NULL) { sif::error << "RwHandler: Invalid com cookie" << std::endl; } @@ -113,6 +113,10 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand prepareGetTemperatureCmd(); return RETURN_OK; } + case (RwDefinitions::GET_TM): { + prepareGetTelemetryCmd(); + return RETURN_OK; + } default: return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED; } @@ -246,6 +250,29 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP localDataPoolMap.emplace(RwDefinitions::LAST_RESET_STATUS, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::EXECUTED_REPLIES, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::COMMAND_REPLIES, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_BYTES_WRITTEN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_BYTES_READ, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_PARITY_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_NOISE_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_FRAME_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_REG_OVERRUN_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::UART_TOTAL_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_WRITTEN, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::SPI_BYTES_READ, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::SPI_REG_OVERRUN_ERRORS, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::SPI_TOTAL_ERRORS, new PoolEntry( { 0 })); + return RETURN_OK; } @@ -312,15 +339,6 @@ void RwHandler::prepareInitRwCommand() { rawPacketLen = 3; } -void RwHandler::prepareGetTemperatureCmd() { - commandBuffer[0] = static_cast(RwDefinitions::GET_TEMPERATURE); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { commandBuffer[0] = static_cast(RwDefinitions::SET_SPEED); @@ -340,6 +358,24 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa rawPacketLen = 9; } +void RwHandler::prepareGetTemperatureCmd() { + commandBuffer[0] = static_cast(RwDefinitions::GET_TEMPERATURE); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + +void RwHandler::prepareGetTelemetryCmd() { + commandBuffer[0] = static_cast(RwDefinitions::GET_TM); + uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); + commandBuffer[1] = static_cast(crc & 0xFF); + commandBuffer[2] = static_cast(crc >> 8 & 0xFF); + rawPacket = commandBuffer; + rawPacketLen = 3; +} + void RwHandler::handleResetStatusReply(const uint8_t* packet) { PoolReadGuard rg(&lastResetStatusSet); uint8_t offset = 2; diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index 11fb4a30..e447932d 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -88,6 +88,7 @@ private: RwDefinitions::TemperatureSet temperatureSet; RwDefinitions::StatusSet statusSet; RwDefinitions::LastResetSatus lastResetStatusSet; + RwDefinitions::TmDataset tmDataset; uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE]; diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index fbdbd5cf..a477f47c 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -17,7 +17,30 @@ enum PoolIds: lp_id_t { STATE, CLC_MODE, LAST_RESET_STATUS, - CURRRENT_RESET_STATUS + CURRRENT_RESET_STATUS, + TM_LAST_RESET_STATUS, + TM_MCU_TEMPERATURE, + TM_RW_STATE, + TM_CLC_MODE, + TM_RW_CURR_SPEED, + TM_RW_REF_SPEED, + INVALID_CRC_PACKETS, + INVALID_LEN_PACKETS, + INVALID_CMD_PACKETS, + EXECUTED_REPLIES, + COMMAND_REPLIES, + UART_BYTES_WRITTEN, + UART_BYTES_READ, + UART_PARITY_ERRORS, + UART_NOISE_ERRORS, + UART_FRAME_ERRORS, + UART_REG_OVERRUN_ERRORS, + UART_TOTAL_ERRORS, + TOTAL_ERRORS, + SPI_BYTES_WRITTEN, + SPI_BYTES_READ, + SPI_REG_OVERRUN_ERRORS, + SPI_TOTAL_ERRORS }; enum States: uint8_t { @@ -46,10 +69,12 @@ static const DeviceCommandId_t GET_RW_STATUS = 4; static const DeviceCommandId_t INIT_RW_CONTROLLER = 5; static const DeviceCommandId_t SET_SPEED = 6; static const DeviceCommandId_t GET_TEMPERATURE = 8; +static const DeviceCommandId_t GET_TM = 9; 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 uint32_t TM_SET_ID = GET_TM; static const size_t SIZE_GET_RESET_STATUS = 5; static const size_t SIZE_CLEAR_RESET_STATUS = 4; @@ -67,6 +92,7 @@ static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY; static const uint8_t LAST_RESET_ENTRIES = 2; static const uint8_t TEMPERATURE_SET_ENTRIES = 1; static const uint8_t STATUS_SET_ENTRIES = 4; +static const uint8_t TM_SET_ENTRIES = 22; /** * @brief This dataset can be used to store the temperature of a reaction wheel. @@ -133,6 +159,69 @@ public: PoolIds::CURRRENT_RESET_STATUS, this); }; +/** + * @brief This dataset stores telemetry data as specified in the datasheet of the nano avionics + * reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/ + * EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622 + */ +class TmDataset: + public StaticLocalDataSet { +public: + + TmDataset(HasLocalDataPoolIF* owner): + StaticLocalDataSet(owner, TM_SET_ID) { + } + + TmDataset(object_id_t objectId): + StaticLocalDataSet(sid_t(objectId, TM_SET_ID)) { + } + + lp_var_t lastResetStatus = lp_var_t(sid.objectId, + PoolIds::TM_LAST_RESET_STATUS, this); + lp_var_t mcuTemperature = lp_var_t(sid.objectId, + PoolIds::TM_MCU_TEMPERATURE, this); + lp_var_t rwState = lp_var_t(sid.objectId, + PoolIds::TM_RW_STATE, this); + lp_var_t rwClcMode = lp_var_t(sid.objectId, + PoolIds::TM_CLC_MODE, this); + lp_var_t rwCurrSpeed = lp_var_t(sid.objectId, + PoolIds::TM_RW_CURR_SPEED, this); + lp_var_t rwRefSpeed = lp_var_t(sid.objectId, + PoolIds::TM_RW_REF_SPEED, this); + lp_var_t numOfInvalidCrcPackets = lp_var_t(sid.objectId, + PoolIds::INVALID_CRC_PACKETS, this); + lp_var_t numOfInvalidLenPackets = lp_var_t(sid.objectId, + PoolIds::INVALID_LEN_PACKETS, this); + lp_var_t numOfInvalidCmdPackets = lp_var_t(sid.objectId, + PoolIds::INVALID_CMD_PACKETS, this); + lp_var_t numOfCmdExecutedReplies = lp_var_t(sid.objectId, + PoolIds::EXECUTED_REPLIES, this); + lp_var_t numOfCmdeplies = lp_var_t(sid.objectId, + PoolIds::COMMAND_REPLIES, this); + lp_var_t uartNumOfBytesWritten = lp_var_t(sid.objectId, + PoolIds::UART_BYTES_WRITTEN, this); + lp_var_t uartNumOfBytesRead = lp_var_t(sid.objectId, + PoolIds::UART_BYTES_READ, this); + lp_var_t uartNumOfParityErrors = lp_var_t(sid.objectId, + PoolIds::UART_PARITY_ERRORS, this); + lp_var_t uartNumOfNoiseErrors = lp_var_t(sid.objectId, + PoolIds::UART_NOISE_ERRORS, this); + lp_var_t uartNumOfFrameErrors = lp_var_t(sid.objectId, + PoolIds::UART_FRAME_ERRORS, this); + lp_var_t uartNumOfRegisterOverrunErrors = lp_var_t(sid.objectId, + PoolIds::UART_REG_OVERRUN_ERRORS, this); + lp_var_t uartTotalNumOfErrors = lp_var_t(sid.objectId, + PoolIds::UART_TOTAL_ERRORS, this); + lp_var_t spiNumOfBytesWritten = lp_var_t(sid.objectId, + PoolIds::SPI_BYTES_WRITTEN, this); + lp_var_t spiNumOfBytesRead = lp_var_t(sid.objectId, + PoolIds::SPI_BYTES_READ, this); + lp_var_t spiNumOfRegisterOverrunErrors = lp_var_t(sid.objectId, + PoolIds::SPI_REG_OVERRUN_ERRORS, this); + lp_var_t spiTotalNumOfErrors = lp_var_t(sid.objectId, + PoolIds::SPI_TOTAL_ERRORS, this); +}; + } #endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */ diff --git a/tmtc b/tmtc index 09cab194..78b68307 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 09cab1941fad0bbe8fa54234f7513c61e22038ca +Subproject commit 78b68307825754b468404ee4ff006ee87e0bdd5f From 83fa6e7a4b1a02ed2809ac47a62e87ddfb459733 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Wed, 30 Jun 2021 15:07:26 +0200 Subject: [PATCH 41/43] added get telemetry command --- mission/devices/RwHandler.cpp | 202 ++++++++++++------ mission/devices/RwHandler.h | 41 +--- .../devices/devicedefinitions/RwDefinitions.h | 10 +- 3 files changed, 155 insertions(+), 98 deletions(-) diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp index b637cbba..beb17602 100644 --- a/mission/devices/RwHandler.cpp +++ b/mission/devices/RwHandler.cpp @@ -77,23 +77,23 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand switch (deviceCommand) { case (RwDefinitions::RESET_MCU): { - prepareResetMcuCommand(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::GET_LAST_RESET_STATUS): { - prepareGetLastResetStatusCommand(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::CLEAR_LAST_RESET_STATUS): { - prepareClearResetStatusCommand(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::GET_RW_STATUS): { - prepareGetStatusCmd(commandData, commandDataLen); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::INIT_RW_CONTROLLER): { - prepareInitRwCommand(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::SET_SPEED): { @@ -110,11 +110,11 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand return result; } case (RwDefinitions::GET_TEMPERATURE): { - prepareGetTemperatureCmd(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } case (RwDefinitions::GET_TM): { - prepareGetTelemetryCmd(); + prepareSimpleCommand(deviceCommand); return RETURN_OK; } default: @@ -137,6 +137,8 @@ void RwHandler::fillCommandAndReplyMap() { RwDefinitions::SIZE_GET_TEMPERATURE_REPLY); this->insertInCommandAndReplyMap(RwDefinitions::SET_SPEED, 1, nullptr, RwDefinitions::SIZE_SET_SPEED_REPLY); + this->insertInCommandAndReplyMap(RwDefinitions::GET_TM, 1, &tmDataset, + RwDefinitions::SIZE_GET_TELEMETRY_REPLY); } ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize, @@ -173,6 +175,12 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t *start, size_t remainingSize *foundId = RwDefinitions::GET_TEMPERATURE; break; } + case (static_cast(RwDefinitions::GET_TM)): { +// *foundLen = RwDefinitions::SIZE_GET_TELEMETRY_REPLY; + *foundLen = 91; + *foundId = RwDefinitions::GET_TM; + break; + } default: { sif::debug << "RwHandler::scanForReply: Reply contains invalid command code" << std::endl; return RETURN_FAILED; @@ -220,6 +228,10 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_ handleTemperatureReply(packet); break; } + case (RwDefinitions::GET_TM): { + handleGetTelemetryReply(packet); + break; + } default: { sif::debug << "RwHandler::interpretDeviceReply: Unknown device reply id" << std::endl; return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY; @@ -251,11 +263,11 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP localDataPoolMap.emplace(RwDefinitions::CURRRENT_RESET_STATUS, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::TM_LAST_RESET_STATUS, new PoolEntry( { 0 })); - localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_MCU_TEMPERATURE, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::TM_RW_STATE, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::TM_CLC_MODE, new PoolEntry( { 0 })); - localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry( { 0 })); - localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_RW_CURR_SPEED, new PoolEntry( { 0 })); + localDataPoolMap.emplace(RwDefinitions::TM_RW_REF_SPEED, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::INVALID_CRC_PACKETS, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::INVALID_LEN_PACKETS, new PoolEntry( { 0 })); localDataPoolMap.emplace(RwDefinitions::INVALID_CMD_PACKETS, new PoolEntry( { 0 })); @@ -276,33 +288,8 @@ ReturnValue_t RwHandler::initializeLocalDataPool(localpool::DataPool& localDataP return RETURN_OK; } -void RwHandler::prepareResetMcuCommand() { - commandBuffer[0] = static_cast(RwDefinitions::RESET_MCU); - rawPacket = commandBuffer; - rawPacketLen = 1; -} - -void RwHandler::prepareGetLastResetStatusCommand() { - commandBuffer[0] = static_cast(RwDefinitions::GET_LAST_RESET_STATUS); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - -void RwHandler::prepareClearResetStatusCommand() { - commandBuffer[0] = static_cast(RwDefinitions::CLEAR_LAST_RESET_STATUS); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - -void RwHandler::prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen) { - commandBuffer[0] = static_cast(RwDefinitions::GET_RW_STATUS); - +void RwHandler::prepareSimpleCommand(DeviceCommandId_t id) { + commandBuffer[0] = static_cast(id); uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); commandBuffer[1] = static_cast(crc & 0xFF); commandBuffer[2] = static_cast(crc >> 8 & 0xFF); @@ -330,15 +317,6 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_ return RETURN_OK; } -void RwHandler::prepareInitRwCommand() { - commandBuffer[0] = static_cast(RwDefinitions::INIT_RW_CONTROLLER); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen) { commandBuffer[0] = static_cast(RwDefinitions::SET_SPEED); @@ -358,24 +336,6 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa rawPacketLen = 9; } -void RwHandler::prepareGetTemperatureCmd() { - commandBuffer[0] = static_cast(RwDefinitions::GET_TEMPERATURE); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - -void RwHandler::prepareGetTelemetryCmd() { - commandBuffer[0] = static_cast(RwDefinitions::GET_TM); - uint16_t crc = CRC::crc16ccitt(commandBuffer, 1, 0xFFFF); - commandBuffer[1] = static_cast(crc & 0xFF); - commandBuffer[2] = static_cast(crc >> 8 & 0xFF); - rawPacket = commandBuffer; - rawPacketLen = 3; -} - void RwHandler::handleResetStatusReply(const uint8_t* packet) { PoolReadGuard rg(&lastResetStatusSet); uint8_t offset = 2; @@ -438,3 +398,117 @@ void RwHandler::handleTemperatureReply(const uint8_t* packet) { << temperatureSet.temperatureCelcius << " °C" << std::endl; #endif } + +void RwHandler::handleGetTelemetryReply(const uint8_t* packet) { + PoolReadGuard rg(&tmDataset); + uint8_t offset = 2; + tmDataset.lastResetStatus = *(packet + offset); + offset += 1; + tmDataset.mcuTemperature = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + offset += 8; + tmDataset.rwState = *(packet + offset); + offset += 1; + tmDataset.rwClcMode = *(packet + offset); + offset += 1; + tmDataset.rwCurrSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.rwRefSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.numOfInvalidCrcPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.numOfInvalidLenPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.numOfInvalidCmdPackets = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.numOfCmdExecutedReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.numOfCmdReplies = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfParityErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfNoiseErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfFrameErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.uartTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.spiNumOfBytesWritten = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.spiNumOfBytesRead = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.spiNumOfRegisterOverrunErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); + offset += 4; + tmDataset.spiTotalNumOfErrors = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16 + | *(packet + offset + 1) << 8 | *(packet + offset); +#if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1 + sif::info << "RwHandler::handleTemperatureReply: Last reset status: " + << static_cast(tmDataset.lastResetStatus.value) << std::endl; + sif::info << "RwHandler::handleTemperatureReply: MCU temperature: " << tmDataset.mcuTemperature + << std::endl; + sif::info << "RwHandler::handleTemperatureReply: State: " + << static_cast(tmDataset.rwState.value) << std::endl; + sif::info << "RwHandler::handleTemperatureReply: CLC mode: " + << static_cast(tmDataset.rwClcMode.value) << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Current speed: " << tmDataset.rwCurrSpeed + << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Reference speed: " << tmDataset.rwRefSpeed + << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Number of invalid CRC packets: " + << tmDataset.numOfInvalidCrcPackets << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Number of invalid length packets: " + << tmDataset.numOfInvalidLenPackets << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Number of invalid command packets: " + << tmDataset.numOfInvalidCmdPackets << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Number of command executed replies: " + << tmDataset.numOfCmdExecutedReplies << std::endl; + sif::info << "RwHandler::handleTemperatureReply: Number of command replies: " + << tmDataset.numOfCmdReplies << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of bytes written: " + << tmDataset.uartNumOfBytesWritten << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of bytes read: " + << tmDataset.uartNumOfBytesRead << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of parity errors: " + << tmDataset.uartNumOfParityErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of noise errors: " + << tmDataset.uartNumOfNoiseErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of frame errors: " + << tmDataset.uartNumOfFrameErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of register overrun errors: " + << tmDataset.uartNumOfRegisterOverrunErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: UART number of total errors: " + << tmDataset.uartTotalNumOfErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes written: " + << tmDataset.spiNumOfBytesWritten << std::endl; + sif::info << "RwHandler::handleTemperatureReply: SPI number of bytes read: " + << tmDataset.spiNumOfBytesRead << std::endl; + sif::info << "RwHandler::handleTemperatureReply: SPI number of register overrun errors: " + << tmDataset.spiNumOfRegisterOverrunErrors << std::endl; + sif::info << "RwHandler::handleTemperatureReply: SPI number of register total errors: " + << tmDataset.spiTotalNumOfErrors << std::endl; +#endif +} diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h index e447932d..cd753be0 100644 --- a/mission/devices/RwHandler.h +++ b/mission/devices/RwHandler.h @@ -105,26 +105,11 @@ private: size_t sizeOfReply = 0; /** - * @brief This function fills the command buffer with the data to reset the MCU on a reaction - * wheel. + * @brief This function can be used to build commands which do not contain any data apart + * from the command id and the CRC. + * @param commandId The command id of the command to build. */ - void prepareResetMcuCommand(); - - /** - * @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. - */ - void prepareGetStatusCmd(const uint8_t * commandData, size_t commandDataLen); + void prepareSimpleCommand(DeviceCommandId_t id); /** * @brief This function checks if the receiced speed and ramp time to set are in a valid @@ -133,24 +118,12 @@ 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. */ void prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDataLen); - /** - * @brief This function fills the commandBuffer with the data to request the temperature. - */ - void prepareGetTemperatureCmd(); - /** * @brief This function writes the last reset status retrieved with the get last reset status * command into the reset status dataset. @@ -170,6 +143,12 @@ private: * @brief This function fills the status set with the data from the get-status-reply. */ void handleGetRwStatusReply(const uint8_t* packet); + + /** + * @brief This function fills the tmDataset with the reply data requested with get telemetry + * command. + */ + void handleGetTelemetryReply(const uint8_t* packet); }; #endif /* MISSION_DEVICES_RWHANDLER_H_ */ diff --git a/mission/devices/devicedefinitions/RwDefinitions.h b/mission/devices/devicedefinitions/RwDefinitions.h index a477f47c..d87c09fd 100644 --- a/mission/devices/devicedefinitions/RwDefinitions.h +++ b/mission/devices/devicedefinitions/RwDefinitions.h @@ -87,7 +87,11 @@ static const size_t SIZE_GET_TELEMETRY_REPLY = 83; /** Set speed command has maximum size */ static const size_t MAX_CMD_SIZE = 9; -static const size_t MAX_REPLY_SIZE = SIZE_GET_TELEMETRY_REPLY; +/** + * Max reply is reached when each byte is replaced by its substitude which should normally never + * happen. + */ +static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY; static const uint8_t LAST_RESET_ENTRIES = 2; static const uint8_t TEMPERATURE_SET_ENTRIES = 1; @@ -178,7 +182,7 @@ public: lp_var_t lastResetStatus = lp_var_t(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this); - lp_var_t mcuTemperature = lp_var_t(sid.objectId, + lp_var_t mcuTemperature = lp_var_t(sid.objectId, PoolIds::TM_MCU_TEMPERATURE, this); lp_var_t rwState = lp_var_t(sid.objectId, PoolIds::TM_RW_STATE, this); @@ -196,7 +200,7 @@ public: PoolIds::INVALID_CMD_PACKETS, this); lp_var_t numOfCmdExecutedReplies = lp_var_t(sid.objectId, PoolIds::EXECUTED_REPLIES, this); - lp_var_t numOfCmdeplies = lp_var_t(sid.objectId, + lp_var_t numOfCmdReplies = lp_var_t(sid.objectId, PoolIds::COMMAND_REPLIES, this); lp_var_t uartNumOfBytesWritten = lp_var_t(sid.objectId, PoolIds::UART_BYTES_WRITTEN, this); From 0e31c6fa7cbda748cb7dfcdb5ea27739d29a31dd Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Wed, 30 Jun 2021 15:46:58 +0200 Subject: [PATCH 42/43] added tmtc --- tmtc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tmtc b/tmtc index 78b68307..7a15062e 160000 --- a/tmtc +++ b/tmtc @@ -1 +1 @@ -Subproject commit 78b68307825754b468404ee4ff006ee87e0bdd5f +Subproject commit 7a15062efe696802e8a602a7b3b675265d75dac8 From 3cb6f77b62194196e3c8cb3752e7b29c8c672f79 Mon Sep 17 00:00:00 2001 From: "Jakob.Meier" Date: Thu, 1 Jul 2021 07:25:28 +0200 Subject: [PATCH 43/43] comment in readme --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 53c1cfad..69aa4dc1 100644 --- a/README.md +++ b/README.md @@ -626,6 +626,9 @@ gpioget Example to get state: gpioget gpiochip7 14 +Both the MIOs and EMIOs can be accessed via the zynq_gpio instance which comprises 118 pins +(54 MIOs and 64 EMIOs). + ## Running the EIVE OBSW on a Raspberry Pi Special section for running the EIVE OBSW on the Raspberry Pi.