better reply result handling
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@ -24,6 +24,7 @@ will consitute of a breaking change warranting a new major release:
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SD card switch from 0 to 1 and vice-versa works without errors from persistent TM stores now.
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- Add a way for the SUS polling to detect broken or off devices by checking the retrieved
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temperature for the all-ones value (0x0fff).
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- Better reply result handling for the ACS board devices.
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## Changed
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@ -127,6 +127,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
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adis.ownReply.cfgWasSet = false;
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adis.ownReply.dataWasSet = false;
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}
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adis.replyResult = returnvalue::FAILED;
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adis.mode = req->mode;
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}
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return returnvalue::OK;
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@ -145,6 +146,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
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} else {
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gyro.ownReply.cfgWasSet = false;
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}
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gyro.replyResult = returnvalue::FAILED;
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gyro.mode = req->mode;
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}
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return returnvalue::OK;
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@ -163,6 +165,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
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mgm.ownReply.dataWasSet = false;
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mgm.ownReply.temperatureWasSet = false;
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}
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mgm.replyResult = returnvalue::FAILED;
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mgm.mode = req->mode;
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}
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return returnvalue::OK;
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@ -180,6 +183,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
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} else {
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mgm.ownReply.dataWasRead = false;
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}
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mgm.replyResult = returnvalue::FAILED;
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mgm.mode = req->mode;
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}
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return returnvalue::OK;
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@ -309,18 +313,18 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
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std::memcpy(cmdBuf.data() + 1, l3g.sensorCfg, 5);
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result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
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if (result != returnvalue::OK) {
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l3g.replyResult = returnvalue::OK;
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l3g.replyResult = result;
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}
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// Ignore useless reply and red config
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cmdBuf[0] = l3gd20h::CTRL_REG_1 | l3gd20h::AUTO_INCREMENT_MASK | l3gd20h::READ_MASK;
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std::memset(cmdBuf.data() + 1, 0, 5);
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result = spiComIF.sendMessage(l3g.cookie, cmdBuf.data(), 6);
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if (result != returnvalue::OK) {
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l3g.replyResult = returnvalue::OK;
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l3g.replyResult = result;
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}
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result = spiComIF.readReceivedMessage(l3g.cookie, &rawReply, &dummy);
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if (result != returnvalue::OK) {
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l3g.replyResult = returnvalue::OK;
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l3g.replyResult = result;
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}
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MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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// Cross check configuration as verification that communication is working
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@ -331,6 +335,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
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return;
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}
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}
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l3g.replyResult = returnvalue::OK;
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l3g.performStartup = false;
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l3g.ownReply.cfgWasSet = true;
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l3g.ownReply.sensitivity = l3gd20h::ctrlReg4ToSensitivity(l3g.sensorCfg[3]);
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@ -357,6 +362,7 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
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return;
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}
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}
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l3g.replyResult = returnvalue::OK;
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l3g.ownReply.statusReg = rawReply[l3gd20h::STATUS_IDX];
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l3g.ownReply.angVelocities[0] = (rawReply[l3gd20h::OUT_X_H] << 8) | rawReply[l3gd20h::OUT_X_L];
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l3g.ownReply.angVelocities[1] = (rawReply[l3gd20h::OUT_Y_H] << 8) | rawReply[l3gd20h::OUT_Y_L];
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@ -495,6 +501,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
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gyro.ownReply.cfg.prodId = prodId;
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gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
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gyro.performStartup = false;
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gyro.replyResult = returnvalue::OK;
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}
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// Read regular registers
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std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
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@ -533,6 +540,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
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}
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MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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gyro.replyResult = returnvalue::OK;
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gyro.ownReply.dataWasSet = true;
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gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
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gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
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@ -590,6 +598,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
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}
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// Done here. We can always read back config and data during periodic handling
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mgm.performStartup = false;
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mgm.replyResult = returnvalue::OK;
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}
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cmdBuf[0] = mgmLis3::readCommand(mgmLis3::CTRL_REG1, true);
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std::memset(cmdBuf.data() + 1, 0, mgmLis3::NR_OF_DATA_AND_CFG_REGISTERS);
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@ -607,7 +616,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
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// Verify communication by re-checking config
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if (rawReply[1] != mgm.cfg[0] or rawReply[2] != mgm.cfg[1] or rawReply[3] != mgm.cfg[2] or
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rawReply[4] != mgm.cfg[3] or rawReply[5] != mgm.cfg[4]) {
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mgm.replyResult = result;
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mgm.replyResult = returnvalue::FAILED;
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return;
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}
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{
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@ -634,6 +643,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
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return;
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}
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MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
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mgm.replyResult = returnvalue::OK;
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mgm.ownReply.temperatureWasSet = true;
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mgm.ownReply.temperatureRaw = (rawReply[2] << 8) | rawReply[1];
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}
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@ -704,6 +714,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
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return;
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}
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mgm.performStartup = false;
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mgm.replyResult = returnvalue::OK;
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}
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// Regular read operation
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cmdBuf[0] = mgmRm3100::MEASUREMENT_REG_START | mgmRm3100::READ_MASK;
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@ -725,6 +736,7 @@ void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
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mgm.ownReply.scaleFactors[idx] = 1.0 / mgmRm3100::DEFAULT_GAIN;
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}
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mgm.ownReply.dataWasRead = true;
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mgm.replyResult = returnvalue::OK;
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// Bitshift trickery to account for 24 bit signed value.
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mgm.ownReply.mgmValuesRaw[0] =
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((rawReply[1] << 24) | (rawReply[2] << 16) | (rawReply[3] << 8)) >> 8;
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@ -96,7 +96,7 @@ ReturnValue_t SusPolling::readReceivedMessage(CookieIF* cookie, uint8_t** buffer
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if (susIdx < 0) {
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return FAILED;
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}
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if(susDevs[susIdx].replyResult != returnvalue::OK) {
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if (susDevs[susIdx].replyResult != returnvalue::OK) {
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return susDevs[susIdx].replyResult;
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}
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MutexGuard mg(ipcLock);
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@ -170,7 +170,7 @@ ReturnValue_t SusPolling::handleSusPolling() {
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susDevs[idx].ownReply.tempRaw = ((rawReply[0] & 0x0f) << 8) | rawReply[1];
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// Reply is all ones. Sensor is probably off or faulty when
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// it should not be.
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if(susDevs[idx].ownReply.tempRaw == 0x0fff) {
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if (susDevs[idx].ownReply.tempRaw == 0x0fff) {
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susDevs[idx].replyResult = returnvalue::FAILED;
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} else {
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susDevs[idx].replyResult = returnvalue::OK;
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