eive/eive-obsw
eive/eive-obsw
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fixed some bugs
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This commit is contained in:
Robin Müller 2023-02-16 17:57:21 +01:00
parent c29d7e6f3e
commit cfad85c6c5
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GPG Key ID: 11D4952C8CCEF814
7 changed files with 31 additions and 26 deletions
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4
bsp_q7s/core/ObjectFactory.cpp
View File

@ -678,11 +678,11 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
std::array<gpioId_t, 4> rwGpioIds = {gpioIds::EN_RW1, gpioIds::EN_RW2, gpioIds::EN_RW3,
gpioIds::EN_RW4};
std::array<DeviceHandlerBase*, 4> rws = {};
new RwPollingTask(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, *gpioComIF);
new RwPollingTask(objects::RW_POLLING_TASK, q7s::SPI_RW_DEV, *gpioComIF);
for (uint8_t idx = 0; idx < rwCookies.size(); idx++) {
rwCookies[idx] = new RwCookie(idx, rwCookieParams[idx].first, rwCookieParams[idx].second,
rws::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED);
auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
auto* rwHandler = new RwHandler(rwIds[idx], objects::RW_POLLING_TASK, rwCookies[idx], gpioComIF,
rwGpioIds[idx], idx);
rwCookies[idx]->setCallbackArgs(rwHandler);
#if OBSW_TEST_RW == 1

4
bsp_q7s/core/scheduling.cpp
View File

@ -199,9 +199,9 @@ void scheduling::initTasks() {
#if OBSW_ADD_RW == 1
PeriodicTaskIF* rwPolling = factory->createPeriodicTask(
"RW_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
result = rwPolling->addComponent(objects::SPI_RW_COM_IF);
result = rwPolling->addComponent(objects::RW_POLLING_TASK);
if (result != returnvalue::OK) {
scheduling::printAddObjectError("RW_POLLING_TASK", objects::SPI_RW_COM_IF);
scheduling::printAddObjectError("RW_POLLING_TASK", objects::RW_POLLING_TASK);
}
#endif

2
fsfw

@ -1 +1 @@
Subproject commit 9de6c4b3aa20ee63c28051d486be8a12df147f22
Subproject commit fe41d73895270cbe4d80ebfbc41ff9f0b8b02126

31
linux/devices/RwPollingTask.cpp
View File

@ -32,6 +32,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
state = InternalState::IDLE;
ipcLock->unlockMutex();
semaphore->acquire();
TaskFactory::delayTask(5);
int fd = 0;
for (auto& skip : skipCommandingForRw) {
skip = false;
@ -55,7 +56,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
}
closeSpi(fd);
usleep(rws::SPI_REPLY_DELAY);
if (readAllRws(fd, rws::SET_SPEED) != returnvalue::OK) {
if (readAllRws(rws::SET_SPEED) != returnvalue::OK) {
continue;
}
prepareSimpleCommand(rws::GET_LAST_RESET_STATUS);
@ -117,7 +118,7 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
size_t sendLen) {
if (sendLen < 6) {
if (sendData == nullptr or sendLen < 8) {
return DeviceHandlerIF::INVALID_DATA;
}
int32_t speed = 0;
@ -142,7 +143,7 @@ ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendDa
rwCookie->currentRwSpeed = speed;
rwCookie->currentRampTime = rampTime;
rwCookie->specialRequest = specialRequest;
if (state == InternalState::IDLE and rwCookie->rwIdx == 3) {
if (state == InternalState::IDLE) {
state = InternalState::BUSY;
semaphore->release();
}
@ -188,13 +189,13 @@ ReturnValue_t RwPollingTask::writeAndReadAllRws(DeviceCommandId_t id) {
closeSpi(fd);
usleep(rws::SPI_REPLY_DELAY);
return readAllRws(fd, id);
return readAllRws(id);
}
ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
fd = open(spiDev, flags);
if (fd < 0) {
sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
return SpiComIF::OPENING_FILE_FAILED;
}
@ -206,27 +207,27 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
ReturnValue_t result = returnvalue::OK;
int fd = 0;
gpioId_t gpioId = rwCookie.getChipSelectPin();
pullCsLow(gpioId, spiLock, gpioIF);
uint8_t byteRead = 0;
for (unsigned idx = 0; idx < MAX_RETRIES_REPLY; idx++) {
result = openSpi(O_RDWR, fd);
if (result != returnvalue::OK) {
return result;
}
pullCsLow(gpioId, spiLock, gpioIF);
/**
* 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 < 5; idx++) {
if (read(fd, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
sif::error << "RwPollingTask: Read failed" << std::endl;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::SPI_READ_FAILURE;
}
if (idx == 0) {
if (byteRead != rws::FRAME_DELIMITER) {
sif::error << "Invalid data, expected start marker" << std::endl;
sif::error << "Invalid data, expected start marker, got " << (int)byteRead << std::endl;
pullCsHigh(gpioId, gpioIF);
closeSpi(fd);
return rws::NO_START_MARKER;
@ -257,7 +258,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
if (decodedFrameLen != 0) {
byteRead = 0;
if (read(fd, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
sif::error << "RwPollingTask: Read failed" << std::endl;
result = rws::SPI_READ_FAILURE;
break;
}
@ -268,7 +269,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
break;
} else if (byteRead == 0x7D) {
if (read(fd, &byteRead, 1) != 1) {
sif::error << "rwSpiCallback::spiCallback: Read failed" << std::endl;
sif::error << "RwPollingTask: Read failed" << std::endl;
result = rws::SPI_READ_FAILURE;
break;
}
@ -281,7 +282,7 @@ ReturnValue_t RwPollingTask::readNextReply(RwCookie& rwCookie, uint8_t* replyBuf
decodedFrameLen++;
continue;
} else {
sif::error << "rwSpiCallback::spiCallback: Invalid substitute" << std::endl;
sif::error << "RwPollingTask: Invalid substitute" << std::endl;
result = rws::INVALID_SUBSTITUTE;
break;
}
@ -327,7 +328,7 @@ ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
return returnvalue::OK;
}
ReturnValue_t RwPollingTask::readAllRws(int fd, DeviceCommandId_t id) {
ReturnValue_t RwPollingTask::readAllRws(DeviceCommandId_t id) {
// SPI dev will be opened in readNextReply on demand.
for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
if (((id == rws::SET_SPEED) and !rwCookies[idx]->setSpeed) or skipCommandingForRw[idx]) {
@ -463,14 +464,14 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, MutexIF* spiLock, GpioIF& gpioIF) {
ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
if (result != returnvalue::OK) {
sif::debug << "rwSpiCallback::spiCallback: Failed to lock mutex" << std::endl;
sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
return result;
}
// Pull SPI CS low. For now, no support for active high given
if (gpioId != gpio::NO_GPIO) {
ReturnValue_t result = gpioIF.pullLow(gpioId);
if (result != returnvalue::OK) {
sif::error << "rwSpiCallback::spiCallback: Failed to pull chip select low" << std::endl;
sif::error << "RwPollingTask::pullCsLow: Failed to pull chip select low" << std::endl;
return result;
}
}
@ -484,7 +485,7 @@ void RwPollingTask::pullCsHigh(gpioId_t gpioId, GpioIF& gpioIF) {
}
}
if (spiLock->unlockMutex() != returnvalue::OK) {
sif::error << "rwSpiCallback::closeSpi: Failed to unlock mutex" << std::endl;
sif::error << "RwPollingTask::pullCsHigh: Failed to unlock mutex" << std::endl;
;
}
}

2
linux/devices/RwPollingTask.h
View File

@ -58,7 +58,7 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
ReturnValue_t writeAndReadAllRws(DeviceCommandId_t id);
ReturnValue_t writeOneRwCmd(uint8_t rwIdx, int fd);
ReturnValue_t readAllRws(int fd, DeviceCommandId_t id);
ReturnValue_t readAllRws(DeviceCommandId_t id);
ReturnValue_t sendOneMessage(int fd, RwCookie& rwCookie);
ReturnValue_t readNextReply(RwCookie& rwCookie, uint8_t* replyBuf, size_t maxReplyLen);

2
linux/fsfwconfig/objects/systemObjectList.h
View File

@ -47,7 +47,7 @@ enum sourceObjects : uint32_t {
GPIO_IF = 0x49010005,
/* Custom device handler */
SPI_RW_COM_IF = 0x49020005,
RW_POLLING_TASK = 0x49020005,
/* 0x54 ('T') for test handlers */
TEST_TASK = 0x54694269,

12
mission/devices/RwHandler.cpp
View File

@ -125,8 +125,9 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
uint8_t* currentCmdBuf = commandBuffer + 1;
rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
SerializeIF::Endianness::MACHINE);
commandBuffer[rawPacketLen] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
break;
commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
rawPacket = commandBuffer;
return returnvalue::OK;
}
case (rws::RESET_MCU): {
commandBuffer[0] = false;
@ -236,7 +237,10 @@ void RwHandler::fillCommandAndReplyMap() {
ReturnValue_t RwHandler::scanForReply(const uint8_t* start, size_t remainingSize,
DeviceCommandId_t* foundId, size_t* foundLen) {
// uint8_t replyByte = *start;
if (getMode() == _MODE_WAIT_OFF) {
return IGNORE_FULL_PACKET;
}
// sif::debug << "base mode: " << baseMode << std::endl;
if (remainingSize > 0) {
*foundLen = remainingSize;
*foundId = rws::REPLY_ID;
@ -293,7 +297,7 @@ ReturnValue_t RwHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_
auto packetLen = rws::idToPacketLen(id);
uint16_t replyCrc = (*(packet + packetLen - 1) << 8) | *(packet + packetLen - 2);
if (CRC::crc16ccitt(packet, packetLen - 2, 0xFFFF) != replyCrc) {
sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
// sif::error << "RwHandler::interpretDeviceReply: CRC error for ID " << id << std::endl;
return CRC_ERROR;
}
if (packetPtr[1] == rws::STATE_ERROR) {