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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66
mission/acs/RwHandler.cpp
View File

@ -4,6 +4,7 @@
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/globalfunctions/arrayprinter.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <mission/acs/defs.h>
#include "OBSWConfig.h"
@ -23,7 +24,9 @@ RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCooki
if (gpioComIF == nullptr) {
sif::error << "RwHandler: Invalid gpio communication interface" << std::endl;
}
currentRequest.rwIdx = rwIdx;
}
RwHandler::~RwHandler() {}
void RwHandler::doStartUp() {
@ -32,6 +35,7 @@ void RwHandler::doStartUp() {
if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin high for startup";
}
currentRequest.mode = acs::SimpleSensorMode::NORMAL;
updatePeriodicReply(true, rws::REPLY_ID);
statusSet.setReportingEnabled(true);
setMode(_MODE_TO_ON);
@ -40,11 +44,11 @@ void RwHandler::doStartUp() {
void RwHandler::doShutDown() {
if (internalState != InternalState::SHUTDOWN) {
internalState = InternalState::SHUTDOWN;
commandExecuted = false;
shutdownState = ShutdownState::SET_SPEED_ZERO;
offTransitionCountdown.resetTimer();
}
if (((internalState == InternalState::SHUTDOWN) and commandExecuted) or
offTransitionCountdown.hasTimedOut()) {
if ((internalState == InternalState::SHUTDOWN) and
(shutdownState == ShutdownState::DONE or offTransitionCountdown.hasTimedOut())) {
if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
sif::error << "RW Handler " << rwIdx << ": Failed to pull ENABLE pin low for shutdown";
}
@ -61,8 +65,8 @@ void RwHandler::doShutDown() {
PoolReadGuard pg(&tmDataset);
tmDataset.setValidity(false, true);
}
commandExecuted = false;
internalState = InternalState::DEFAULT;
shutdownState = ShutdownState::NONE;
// The power switch is handled by the assembly, so we can go off here directly.
setMode(MODE_OFF);
}
@ -83,12 +87,18 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
if (internalState == InternalState::SHUTDOWN) {
{
PoolReadGuard pg(&rwSpeedActuationSet);
rwSpeedActuationSet.setRwSpeed(0, 10);
if (shutdownState == ShutdownState::SET_SPEED_ZERO) {
{
PoolReadGuard pg(&rwSpeedActuationSet);
rwSpeedActuationSet.setRwSpeed(0, 10);
}
*id = rws::REQUEST_ID;
return buildCommandFromCommand(*id, nullptr, 0);
} else if (shutdownState == ShutdownState::STOP_POLLING) {
currentRequest.mode = acs::SimpleSensorMode::OFF;
*id = rws::REQUEST_ID;
return buildCommandFromCommand(*id, nullptr, 0);
}
*id = rws::REQUEST_ID;
return buildCommandFromCommand(*id, nullptr, 0);
}
return NOTHING_TO_SEND;
}
@ -132,32 +142,36 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
return result;
}
// set speed flag.
commandBuffer[0] = true;
rawPacketLen = 1;
uint8_t* currentCmdBuf = commandBuffer + 1;
rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
SerializeIF::Endianness::MACHINE);
commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
rawPacket = commandBuffer;
currentRequest.setSpeed = true;
rwSpeedActuationSet.getRwSpeed(currentRequest.currentRwSpeed, currentRequest.currentRampTime);
currentRequest.specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
rawPacketLen = sizeof(rws::RwRequest);
return returnvalue::OK;
}
case (rws::RESET_MCU): {
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
currentRequest.setSpeed = false;
currentRequest.specialRequest = rws::SpecialRwRequest::RESET_MCU;
internalState = InternalState::RESET_MCU;
rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
rawPacketLen = sizeof(rws::RwRequest);
return returnvalue::OK;
}
case (rws::INIT_RW_CONTROLLER): {
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
currentRequest.setSpeed = false;
currentRequest.specialRequest = rws::SpecialRwRequest::INIT_RW_CONTROLLER;
internalState = InternalState::INIT_RW_CONTROLLER;
rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
rawPacketLen = sizeof(rws::RwRequest);
return returnvalue::OK;
}
case (rws::GET_TM): {
commandBuffer[0] = false;
commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
currentRequest.setSpeed = false;
currentRequest.specialRequest = rws::SpecialRwRequest::GET_TM;
internalState = InternalState::GET_TM;
rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
rawPacketLen = sizeof(rws::RwRequest);
return returnvalue::OK;
}
default:
@ -185,6 +199,9 @@ ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize
*foundLen = remainingSize;
*foundId = rws::REPLY_ID;
}
if (internalState == InternalState::SHUTDOWN and shutdownState == ShutdownState::STOP_POLLING) {
shutdownState = ShutdownState::DONE;
}
return returnvalue::OK;
}
@ -394,9 +411,10 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
statusSet.setValidity(true, true);
if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2) {
if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2 and
shutdownState == ShutdownState::SET_SPEED_ZERO) {
// Finish transition to off.
commandExecuted = true;
shutdownState = ShutdownState::STOP_POLLING;
}
if (statusSet.state == rws::STATE_ERROR) {

8
mission/acs/RwHandler.h
View File

@ -75,8 +75,8 @@ class RwHandler : public DeviceHandlerBase {
GpioIF* gpioComIF = nullptr;
gpioId_t enableGpio = gpio::NO_GPIO;
bool debugMode = false;
bool commandExecuted = false;
Countdown offTransitionCountdown = Countdown(5000);
rws::RwRequest currentRequest;
rws::StatusSet statusSet;
rws::LastResetSatus lastResetStatusSet;
@ -90,6 +90,12 @@ class RwHandler : public DeviceHandlerBase {
PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
enum class ShutdownState {
NONE,
SET_SPEED_ZERO,
STOP_POLLING,
DONE,
} shutdownState = ShutdownState::NONE;
InternalState internalState = InternalState::DEFAULT;

10
mission/acs/rwHelpers.h
View File

@ -4,6 +4,7 @@
#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <mission/acs/defs.h>
#include "eive/resultClassIds.h"
#include "events/subsystemIdRanges.h"
@ -36,6 +37,15 @@ enum class SpecialRwRequest : uint8_t {
NUM_REQUESTS
};
struct RwRequest {
acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
bool setSpeed = true;
int32_t currentRwSpeed = 0;
uint16_t currentRampTime = 0;
rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
uint8_t rwIdx = 0;
};
static const uint8_t INTERFACE_ID = CLASS_ID::RW_HANDLER;
static const ReturnValue_t SPI_WRITE_FAILURE = MAKE_RETURN_CODE(0xB0);