eive/eive-obsw
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RW fixes and test

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This commit is contained in:
Robin Müller
2023-04-07 17:02:37 +02:00
parent d98873c9a6
commit cd8bbaf1f9
7 changed files with 84 additions and 69 deletions
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6
linux/acs/RwPollingTask.h
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@ -8,6 +8,7 @@
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <mission/acs/defs.h>
#include "mission/acs/rwHelpers.h"
@ -26,10 +27,6 @@ class RwCookie : public SpiCookie {
std::array<uint8_t, REPLY_BUF_LEN> replyBuf{};
std::array<uint8_t, REPLY_BUF_LEN> exchangeBuf{};
MutexIF* bufLock;
bool setSpeed = true;
int32_t currentRwSpeed = 0;
uint16_t currentRampTime = 0;
rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
uint8_t rwIdx;
};
@ -52,6 +49,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
std::array<bool, 4> skipCommandingForRw;
std::array<DeviceCommandId_t, 4> specialRequestIds;
std::array<RwCookie*, 4> rwCookies;
std::array<rws::RwRequest, 4> rwRequests{};
std::array<uint8_t, rws::MAX_CMD_SIZE> writeBuffer;
std::array<uint8_t, rws::MAX_CMD_SIZE * 2> encodedBuffer;