eive/eive-obsw
eive/eive-obsw
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reaction wheels testing

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This commit is contained in:
Martin Zietz 2021-06-21 14:46:46 +02:00
parent 33a55d7114
commit d704b389e4
6 changed files with 42 additions and 9 deletions
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9
bsp_q7s/ObjectFactory.cpp
View File

@ -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 */

25
bsp_q7s/spiCallbacks/rwSpiCallback.cpp
View File

@ -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;
}

9
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
View File

@ -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,

1
mission/devices/RwHandler.cpp
View File

@ -3,7 +3,6 @@
#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <math.h>
RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
DeviceHandlerBase(objectId, comIF, comCookie), temperatureSet(this), statusSet(this) {

5
mission/devices/RwHandler.h
View File

@ -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);

2
tmtc

@ -1 +1 @@
Subproject commit 805470df6d907ba5002fcca1ae71f662a7097b0b
Subproject commit 7a4d6ee13a32119a9a9e815d32680ae7ab302699