Merge remote-tracking branch 'origin/develop' into continue_tcs_tests

CHANGELOG.md

@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Bugfixes and improvements for SDC state machine. Internal state was not updated correctly due
+  to a regression, so commanding the SDC state machine externally lead to confusing results.
+- Heater states array in TCS controller was too small.
+
 ## Changed
 
 - TCS controller now only has an OFF mode and an ON mode
@@ -26,12 +32,31 @@ will consitute of a breaking change warranting a new major release:
   commanded, all heaters will be switched off and then no further heater
   commanding will be done.
 
+# [v1.44.0] 2023-04-07
+
+- eive-tmtc: v2.22.0
+
+## Added
+
+- Special I2C recovery handling. If the I2C bus is unavailable for whatever reason, the EIVE
+  system component will power-cycle all I2C devices by first going to the OFF/BOOT mode, then
+  power-cycling the 3V3 stack and rebooting the battery, and finally going back to safe mode.
+  If this does not restore the bus, a full reboot will be performed. This special sequence can
+  be commanded as well.
+
 ## Fixed
 
 - RW Assembly: Correctly transition back to off when more than 1 devices is OFF. Also do this
   when this was due to two devices being marked faulty.
 - RW dummy and STR dummy components: Set/Update modes correctly.
-- Heater states array in TCS controller was too small.
+- RW handlers: Bugfix for TM set retrieval and special request handling in general where the CRC
+  check always failed for special request. Also removed an unnecessary delay for special requests.
+- RW handlers: Polling is now disabled for RWs which are off.
+
+## Changed
+
+- RW shutdown now waits for the speed to be near 0 or for a OFF transition countdown to be expired
+  before going to off.
 
 # [v1.43.2] 2023-04-05
 

CMakeLists.txt

@@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 1)
-set(OBSW_VERSION_MINOR 43)
+set(OBSW_VERSION_MINOR 44)
-set(OBSW_VERSION_REVISION 2)
+set(OBSW_VERSION_REVISION 0)
 
 # set(CMAKE_VERBOSE TRUE)
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 171 translations.
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

bsp_q7s/callbacks/rwSpiCallback.cpp

@@ -252,7 +252,7 @@ ReturnValue_t openSpi(const std::string& devname, int flags, GpioIF* gpioIF, gpi
   fd = open(devname.c_str(), flags);
   if (fd < 0) {
     sif::error << "rwSpiCallback::spiCallback: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   // Pull SPI CS low. For now, no support for active high given

bsp_q7s/core/CoreController.cpp

@@ -54,7 +54,6 @@ CoreController::CoreController(object_id_t objectId, bool enableHkSet)
     // Set up state of SD card manager and own initial state.
     // Stopwatch watch;
     sdcMan->updateSdCardStateFile();
-    sdcMan->updateSdStatePair();
     SdCardManager::SdStatePair sdStates;
     sdcMan->getSdCardsStatus(sdStates);
     auto sdCard = sdcMan->getPreferredSdCard();
@@ -368,7 +367,7 @@ ReturnValue_t CoreController::initSdCardBlocking() {
   }
 
   if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-    updateSdInfoOther();
+    updateInternalSdInfo();
     sif::info << "Cold redundant SD card configuration, preferred SD card: "
               << static_cast<int>(sdInfo.active) << std::endl;
     result = sdColdRedundantBlockingInit();
@@ -404,23 +403,23 @@ ReturnValue_t CoreController::sdStateMachine() {
     } else {
       // Still update SD state file
       if (sdInfo.cfgMode == SdCfgMode::PASSIVE) {
-        sdFsmState = SdStates::UPDATE_INFO;
+        sdFsmState = SdStates::UPDATE_SD_INFO_END;
       } else {
         sdInfo.cycleCount = 0;
-        sdInfo.commandExecuted = false;
+        sdInfo.commandPending = false;
-        sdFsmState = SdStates::GET_INFO;
+        sdFsmState = SdStates::UPDATE_SD_INFO_START;
       }
     }
   }
 
-  // This lambda checks the non-blocking operation and assigns the new state on success.
+  // This lambda checks the non-blocking operation of the SD card manager and assigns the new
-  // It returns true for an operation success and false otherwise
+  // state on success. It returns true for an operation success and false otherwise
-  auto nonBlockingOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
+  auto nonBlockingSdcOpChecking = [&](SdStates newStateOnSuccess, uint16_t maxCycleCount,
                                       std::string opPrintout) {
     SdCardManager::OpStatus status = sdcMan->checkCurrentOp(operation);
     if (status == SdCardManager::OpStatus::SUCCESS) {
       sdFsmState = newStateOnSuccess;
-      sdInfo.commandExecuted = false;
+      sdInfo.commandPending = false;
       sdInfo.cycleCount = 0;
       return true;
     } else if (sdInfo.cycleCount > 4) {
@@ -431,26 +430,16 @@ ReturnValue_t CoreController::sdStateMachine() {
     return false;
   };
 
-  if (sdFsmState == SdStates::GET_INFO) {
+  if (sdFsmState == SdStates::UPDATE_SD_INFO_START) {
-    if (not sdInfo.commandExecuted) {
+    if (not sdInfo.commandPending) {
       // Create updated status file
       result = sdcMan->updateSdCardStateFile();
       if (result != returnvalue::OK) {
         sif::warning << "CoreController::sdStateMachine: Updating SD card state file failed"
                      << std::endl;
       }
-      sdFsmState = SdStates::SET_STATE_SELF;
-      sdInfo.commandExecuted = false;
-      sdInfo.cycleCount = 0;
-    } else {
-      nonBlockingOpChecking(SdStates::SET_STATE_SELF, 4, "Updating SDC file");
-    }
-  }
-
-  if (sdFsmState == SdStates::SET_STATE_SELF) {
-    if (not sdInfo.commandExecuted) {
       result = sdcMan->getSdCardsStatus(sdInfo.currentState);
-      updateSdInfoOther();
+      updateInternalSdInfo();
       if (sdInfo.active != sd::SdCard::SLOT_0 and sdInfo.active != sd::SdCard::SLOT_1) {
         sif::warning << "Preferred SD card invalid. Setting to card 0.." << std::endl;
         sdInfo.active = sd::SdCard::SLOT_0;
@@ -478,12 +467,12 @@ ReturnValue_t CoreController::sdStateMachine() {
         sdFsmState = SdStates::DETERMINE_OTHER;
       } else if (sdInfo.activeState == sd::SdState::OFF) {
         sdCardSetup(sdInfo.active, sd::SdState::ON, sdInfo.activeChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else if (sdInfo.activeState == sd::SdState::ON) {
         sdFsmState = SdStates::MOUNT_SELF;
       }
     } else {
-      if (nonBlockingOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
+      if (nonBlockingSdcOpChecking(SdStates::MOUNT_SELF, 10, "Setting SDC state")) {
         sdInfo.activeState = sd::SdState::ON;
         currentStateSetter(sdInfo.active, sd::SdState::ON);
       }
@@ -491,11 +480,11 @@ ReturnValue_t CoreController::sdStateMachine() {
   }
 
   if (sdFsmState == SdStates::MOUNT_SELF) {
-    if (not sdInfo.commandExecuted) {
+    if (not sdInfo.commandPending) {
       result = sdCardSetup(sdInfo.active, sd::SdState::MOUNTED, sdInfo.activeChar);
-      sdInfo.commandExecuted = true;
+      sdInfo.commandPending = true;
     } else {
-      if (nonBlockingOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
+      if (nonBlockingSdcOpChecking(SdStates::DETERMINE_OTHER, 5, "Mounting SD card")) {
         sdcMan->setActiveSdCard(sdInfo.active);
         currMntPrefix = sdcMan->getCurrentMountPrefix();
         sdInfo.activeState = sd::SdState::MOUNTED;
@@ -532,22 +521,22 @@ ReturnValue_t CoreController::sdStateMachine() {
   if (sdFsmState == SdStates::SET_STATE_OTHER) {
     // Set state of other SD card to ON or OFF, depending on redundancy mode
     if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::OFF, sdInfo.otherChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
+        if (nonBlockingSdcOpChecking(SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE, 10,
                                      "Switching off other SD card")) {
           sdInfo.otherState = sd::SdState::OFF;
           currentStateSetter(sdInfo.other, sd::SdState::OFF);
         }
       }
     } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar, false);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
+        if (nonBlockingSdcOpChecking(SdStates::MOUNT_UNMOUNT_OTHER, 10,
                                      "Switching on other SD card")) {
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
@@ -559,21 +548,25 @@ ReturnValue_t CoreController::sdStateMachine() {
   if (sdFsmState == SdStates::MOUNT_UNMOUNT_OTHER) {
     // Mount or unmount other SD card, depending on redundancy mode
     if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::ON, sdInfo.otherChar);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::SET_STATE_OTHER, 10, "Unmounting other SD card")) {
           sdInfo.otherState = sd::SdState::ON;
           currentStateSetter(sdInfo.other, sd::SdState::ON);
+        } else {
+          sdInfo.otherState = sd::SdState::ON;
+          currentStateSetter(sdInfo.other, sd::SdState::ON);
+          sdFsmState = SdStates::SET_STATE_OTHER;
         }
       }
     } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
-      if (not sdInfo.commandExecuted) {
+      if (not sdInfo.commandPending) {
         result = sdCardSetup(sdInfo.other, sd::SdState::MOUNTED, sdInfo.otherChar);
-        sdInfo.commandExecuted = true;
+        sdInfo.commandPending = true;
       } else {
-        if (nonBlockingOpChecking(SdStates::UPDATE_INFO, 4, "Mounting other SD card")) {
+        if (nonBlockingSdcOpChecking(SdStates::UPDATE_SD_INFO_END, 4, "Mounting other SD card")) {
           sdInfo.otherState = sd::SdState::MOUNTED;
           currentStateSetter(sdInfo.other, sd::SdState::MOUNTED);
         }
@@ -582,14 +575,15 @@ ReturnValue_t CoreController::sdStateMachine() {
   }
 
   if (sdFsmState == SdStates::SKIP_CYCLE_BEFORE_INFO_UPDATE) {
-    sdFsmState = SdStates::UPDATE_INFO;
+    sdFsmState = SdStates::UPDATE_SD_INFO_END;
-  } else if (sdFsmState == SdStates::UPDATE_INFO) {
+  } else if (sdFsmState == SdStates::UPDATE_SD_INFO_END) {
     // Update status file
     result = sdcMan->updateSdCardStateFile();
     if (result != returnvalue::OK) {
-      sif::warning << "CoreController::initialize: Updating SD card state file failed" << std::endl;
+      sif::warning << "CoreController: Updating SD card state file failed" << std::endl;
     }
-    sdInfo.commandExecuted = false;
+    updateInternalSdInfo();
+    sdInfo.commandPending = false;
     sdFsmState = SdStates::IDLE;
     sdInfo.cycleCount = 0;
     sdcMan->setBlocking(false);
@@ -599,8 +593,16 @@ ReturnValue_t CoreController::sdStateMachine() {
       actionHelper.finish(true, sdCommandingInfo.commander, sdCommandingInfo.actionId,
                           returnvalue::OK);
     }
+    const char *modeStr = "UNKNOWN";
+    if (sdInfo.cfgMode == SdCfgMode::COLD_REDUNDANT) {
+      modeStr = "COLD REDUNDANT";
+    } else if (sdInfo.cfgMode == SdCfgMode::HOT_REDUNDANT) {
+      modeStr = "HOT REDUNDANT";
+    }
+    sif::info << "SD card update into " << modeStr
+              << " mode finished. Active SD: " << sdInfo.activeChar << std::endl;
     if (not sdInfo.initFinished) {
-      updateSdInfoOther();
+      updateInternalSdInfo();
       sdInfo.initFinished = true;
       sif::info << "SD card initialization finished" << std::endl;
     }
@@ -977,7 +979,7 @@ ReturnValue_t CoreController::gracefulShutdownTasks(xsc::Chip chip, xsc::Copy co
   return result;
 }
 
-void CoreController::updateSdInfoOther() {
+void CoreController::updateInternalSdInfo() {
   if (sdInfo.active == sd::SdCard::SLOT_0) {
     sdInfo.activeChar = "0";
     sdInfo.otherChar = "1";

bsp_q7s/core/CoreController.h

@@ -129,8 +129,7 @@ class CoreController : public ExtendedControllerBase {
   enum class SdStates {
     NONE,
     START,
-    GET_INFO,
+    UPDATE_SD_INFO_START,
-    SET_STATE_SELF,
     MOUNT_SELF,
     // Determine operations for other SD card, depending on redundancy configuration
     DETERMINE_OTHER,
@@ -140,7 +139,7 @@ class CoreController : public ExtendedControllerBase {
     // Skip period because the shell command used to generate the info file sometimes is
     // missing the last performed operation if executed too early
     SKIP_CYCLE_BEFORE_INFO_UPDATE,
-    UPDATE_INFO,
+    UPDATE_SD_INFO_END,
     // SD initialization done
     IDLE
   };
@@ -159,13 +158,12 @@ class CoreController : public ExtendedControllerBase {
     SdCfgMode cfgMode = SdCfgMode::COLD_REDUNDANT;
     sd::SdCard active = sd::SdCard::NONE;
     sd::SdCard other = sd::SdCard::NONE;
-    sd::SdState activeState = sd::SdState::OFF;
-    sd::SdState otherState = sd::SdState::OFF;
     std::string activeChar = "0";
     std::string otherChar = "1";
+    sd::SdState activeState = sd::SdState::OFF;
+    sd::SdState otherState = sd::SdState::OFF;
     std::pair<bool, bool> mountSwitch = {true, true};
-    // Used to track whether a command was executed
+    bool commandPending = true;
-    bool commandExecuted = true;
     bool initFinished = false;
     SdCardManager::SdStatePair currentState;
     uint16_t cycleCount = 0;
@@ -232,7 +230,7 @@ class CoreController : public ExtendedControllerBase {
   void initPrint();
 
   ReturnValue_t sdStateMachine();
-  void updateSdInfoOther();
+  void updateInternalSdInfo();
   ReturnValue_t sdCardSetup(sd::SdCard sdCard, sd::SdState targetState, std::string sdChar,
                             bool printOutput = true);
   ReturnValue_t executeSwUpdate(SwUpdateSources sourceDir, const uint8_t* data, size_t size);

bsp_q7s/core/scheduling.cpp

@@ -237,7 +237,7 @@ void scheduling::initTasks() {
 
 #if OBSW_ADD_RW == 1
   PeriodicTaskIF* rwPolling =
-      factory->createPeriodicTask("RW_POLLING_TASK", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
+      factory->createPeriodicTask("RW_POLLING_TASK", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2,
                                   0.4, missedDeadlineFunc, &RR_SCHEDULING);
   result = rwPolling->addComponent(objects::RW_POLLING_TASK);
   if (result != returnvalue::OK) {

bsp_q7s/fs/SdCardManager.cpp

@@ -309,32 +309,6 @@ void SdCardManager::resetState() {
   currentOp = Operations::IDLE;
 }
 
-ReturnValue_t SdCardManager::updateSdStatePair() {
-  using namespace std;
-
-  std::error_code e;
-  if (not filesystem::exists(SD_STATE_FILE, e)) {
-    return STATUS_FILE_NEXISTS;
-  }
-
-  // Now the file should exist in any case. Still check whether it exists.
-  fstream sdStatus(SD_STATE_FILE);
-  if (not sdStatus.good()) {
-    return STATUS_FILE_NEXISTS;
-  }
-  string line;
-  uint8_t idx = 0;
-  sd::SdCard currentSd = sd::SdCard::SLOT_0;
-  // Process status file line by line
-  while (std::getline(sdStatus, line)) {
-    processSdStatusLine(line, idx, currentSd);
-  }
-  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
-    sdCardActive = false;
-  }
-  return returnvalue::OK;
-}
-
 void SdCardManager::processSdStatusLine(std::string& line, uint8_t& idx, sd::SdCard& currentSd) {
   using namespace std;
   istringstream iss(line);
@@ -407,6 +381,7 @@ ReturnValue_t SdCardManager::setPreferredSdCard(sd::SdCard sdCard) {
 }
 
 ReturnValue_t SdCardManager::updateSdCardStateFile() {
+  using namespace std;
   if (cmdExecutor.getCurrentState() == CommandExecutor::States::PENDING) {
     return CommandExecutor::COMMAND_PENDING;
   }
@@ -414,10 +389,31 @@ ReturnValue_t SdCardManager::updateSdCardStateFile() {
   std::string updateCmd = "q7hw sd info all > " + std::string(SD_STATE_FILE);
   cmdExecutor.load(updateCmd, true, printCmdOutput);
   ReturnValue_t result = cmdExecutor.execute();
-  if (blocking and result != returnvalue::OK) {
+  if (result != returnvalue::OK) {
     utility::handleSystemError(cmdExecutor.getLastError(), "SdCardManager::mountSdCard");
   }
-  return result;
+
+  std::error_code e;
+  if (not filesystem::exists(SD_STATE_FILE, e)) {
+    return STATUS_FILE_NEXISTS;
+  }
+
+  // Now the file should exist in any case. Still check whether it exists.
+  fstream sdStatus(SD_STATE_FILE);
+  if (not sdStatus.good()) {
+    return STATUS_FILE_NEXISTS;
+  }
+  string line;
+  uint8_t idx = 0;
+  sd::SdCard currentSd = sd::SdCard::SLOT_0;
+  // Process status file line by line
+  while (std::getline(sdStatus, line)) {
+    processSdStatusLine(line, idx, currentSd);
+  }
+  if (sdStates.first != sd::SdState::MOUNTED && sdStates.second != sd::SdState::MOUNTED) {
+    sdCardActive = false;
+  }
+  return returnvalue::OK;
 }
 
 const char* SdCardManager::getCurrentMountPrefix() const {

bsp_q7s/fs/SdCardManager.h

@@ -117,16 +117,6 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
   ReturnValue_t switchOffSdCard(sd::SdCard sdCard, bool doUnmountSdCard = true,
                                 SdStatePair* statusPair = nullptr);
 
-  /**
-   * Update the state file or creates one if it does not exist. You need to call this
-   * function before calling #sdCardActive
-   * @return
-   *  - returnvalue::OK if the state file was updated successfully
-   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
-   *  - returnvalue::FAILED: blocking command failed
-   */
-  ReturnValue_t updateSdCardStateFile();
-
   /**
    * Get the state of the SD cards. If the state file does not exist, this function will
    * take care of updating it. If it does not, the function will use the state file to get
@@ -234,7 +224,15 @@ class SdCardManager : public SystemObject, public SdCardMountedIF {
 
   SdCardManager();
 
-  ReturnValue_t updateSdStatePair();
+  /**
+   * Update the state file or creates one if it does not exist. You need to call this
+   * function before calling #sdCardActive
+   * @return
+   *  - returnvalue::OK if the state file was updated successfully
+   *  - CommandExecutor::COMMAND_PENDING: Non-blocking command is pending
+   *  - returnvalue::FAILED: blocking command failed
+   */
+  ReturnValue_t updateSdCardStateFile();
 
   ReturnValue_t setSdCardState(sd::SdCard sdCard, bool on);
 

fsfw

@@ -1 +1 @@
-Subproject commit e97fa5ac84db7ab5c10a31c2c78b26057cfacb71
+Subproject commit 285d327b97514946f0714e477289f67ee8bd413f

generators/bsp_hosted_returnvalues.csv

@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h

generators/bsp_q7s_returnvalues.csv

@@ -402,9 +402,12 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x4403;UXOS_CommandError;Command execution failed;3;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4404;UXOS_NoCommandLoadedOrPending;;4;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
 0x4406;UXOS_PcloseCallError;No description;6;LINUX_OSAL;fsfw/src/fsfw_hal/linux/CommandExecutor.h
-0x4500;HSPI_HalTimeoutRetval;No description;0;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4500;HSPI_OpeningFileFailed;No description;0;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
-0x4501;HSPI_HalBusyRetval;No description;1;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4501;HSPI_FullDuplexTransferFailed;No description;1;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
-0x4502;HSPI_HalErrorRetval;No description;2;HAL_SPI;fsfw/src/fsfw_hal/stm32h7/spi/spiDefinitions.h
+0x4502;HSPI_HalfDuplexTransferFailed;No description;2;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4503;HSPI_Timeout;No description;3;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4504;HSPI_Busy;No description;4;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
+0x4505;HSPI_GenericError;No description;5;HAL_SPI;fsfw/src/fsfw_hal/common/spi/spiCommon.h
 0x4601;HURT_UartReadFailure;No description;1;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4602;HURT_UartReadSizeMissmatch;No description;2;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h
 0x4603;HURT_UartRxBufferTooSmall;No description;3;HAL_UART;fsfw/src/fsfw_hal/linux/serial/SerialComIF.h

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

linux/acs/AcsBoardPolling.cpp

@@ -373,7 +373,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
   std::string device = spiComIF.getSpiDev();
   UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -416,7 +416,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
     retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
     if (retval < 0) {
       utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-      result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
     }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
     comIf->performSpiWiretapping(cookie);

linux/acs/RwPollingTask.cpp

@@ -11,6 +11,7 @@
 #include <unistd.h>
 
 #include "devConf.h"
+#include "mission/acs/defs.h"
 #include "mission/acs/rwHelpers.h"
 
 RwPollingTask::RwPollingTask(object_id_t objectId, const char* spiDev, GpioIF& gpioIF)
@@ -35,6 +36,7 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     semaphore->acquire();
     // This loop takes 50 ms on a debug build.
     // Stopwatch watch;
+    // Give all device handlers some time to submit requests.
     TaskFactory::delayTask(5);
     int fd = 0;
     for (auto& skip : skipCommandingForRw) {
@@ -45,13 +47,24 @@ ReturnValue_t RwPollingTask::performOperation(uint8_t operationCode) {
     if (result != returnvalue::OK) {
       continue;
     }
+    acs::SimpleSensorMode currentMode;
+    rws::SpecialRwRequest specialRequest;
+
     for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
-      if (rwCookies[idx]->specialRequest == rws::SpecialRwRequest::RESET_MCU) {
+      {
+        MutexGuard mg(ipcLock);
+        currentMode = rwRequests[idx].mode;
+        specialRequest = rwRequests[idx].specialRequest;
+        skipSetSpeedReply[idx] = rwRequests[idx].setSpeed;
+      }
+      if (currentMode == acs::SimpleSensorMode::OFF) {
+        skipCommandingForRw[idx] = true;
+      } else if (specialRequest == rws::SpecialRwRequest::RESET_MCU) {
         prepareSimpleCommand(rws::RESET_MCU);
         // No point in commanding that specific RW for the cycle.
         skipCommandingForRw[idx] = true;
         writeOneRwCmd(idx, fd);
-      } else if (rwCookies[idx]->setSpeed) {
+      } else if (skipSetSpeedReply[idx]) {
         prepareSetSpeedCmd(idx);
         if (writeOneRwCmd(idx, fd) != returnvalue::OK) {
           continue;
@@ -121,31 +134,14 @@ ReturnValue_t RwPollingTask::initializeInterface(CookieIF* cookie) {
 
 ReturnValue_t RwPollingTask::sendMessage(CookieIF* cookie, const uint8_t* sendData,
                                          size_t sendLen) {
-  if (sendData == nullptr or sendLen < 8) {
+  if (sendData == nullptr or sendLen != sizeof(rws::RwRequest)) {
     return DeviceHandlerIF::INVALID_DATA;
   }
-  int32_t speed = 0;
+  const rws::RwRequest* rwRequest = reinterpret_cast<const rws::RwRequest*>(sendData);
-  uint16_t rampTime = 0;
+  uint8_t rwIdx = rwRequest->rwIdx;
-  const uint8_t* currentBuf = sendData;
-  bool setSpeed = currentBuf[0];
-  currentBuf += 1;
-  sendLen -= 1;
-  SerializeAdapter::deSerialize(&speed, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
-  SerializeAdapter::deSerialize(&rampTime, &currentBuf, &sendLen, SerializeIF::Endianness::MACHINE);
-  rws::SpecialRwRequest specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
-  if (sendLen == 8 and sendData[7] < static_cast<uint8_t>(rws::SpecialRwRequest::NUM_REQUESTS)) {
-    specialRequest = static_cast<rws::SpecialRwRequest>(sendData[7]);
-  }
-  RwCookie* rwCookie = dynamic_cast<RwCookie*>(cookie);
-  if (rwCookie == nullptr) {
-    return returnvalue::FAILED;
-  }
   {
     MutexGuard mg(ipcLock);
-    rwCookie->setSpeed = setSpeed;
+    std::memcpy(&rwRequests[rwIdx], rwRequest, sizeof(rws::RwRequest));
-    rwCookie->currentRwSpeed = speed;
-    rwCookie->currentRampTime = rampTime;
-    rwCookie->specialRequest = specialRequest;
     if (state == InternalState::IDLE) {
       state = InternalState::IS_BUSY;
       semaphore->release();
@@ -202,7 +198,7 @@ ReturnValue_t RwPollingTask::openSpi(int flags, int& fd) {
   fd = open(spiDev, flags);
   if (fd < 0) {
     sif::error << "RwPollingTask::openSpi: Failed to open device file" << std::endl;
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
 
   return returnvalue::OK;
@@ -332,7 +328,7 @@ ReturnValue_t RwPollingTask::writeOneRwCmd(uint8_t rwIdx, int fd) {
 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]) {
+    if (((id == rws::SET_SPEED) and !skipSetSpeedReply[idx]) or skipCommandingForRw[idx]) {
       continue;
     }
     uint8_t* replyBuf;
@@ -395,7 +391,7 @@ void RwPollingTask::fillSpecialRequestArray() {
       specialRequestIds[idx] = DeviceHandlerIF::NO_COMMAND_ID;
       continue;
     }
-    switch (rwCookies[idx]->specialRequest) {
+    switch (rwRequests[idx].specialRequest) {
       case (rws::SpecialRwRequest::GET_TM): {
         specialRequestIds[idx] = rws::GET_TM;
         break;
@@ -426,14 +422,14 @@ void RwPollingTask::handleSpecialRequests() {
     writeOneRwCmd(idx, fd);
   }
   closeSpi(fd);
-  usleep(rws::SPI_REPLY_DELAY);
   for (unsigned idx = 0; idx < rwCookies.size(); idx++) {
     if (specialRequestIds[idx] == DeviceHandlerIF::NO_COMMAND_ID) {
       continue;
     }
     uint8_t* replyBuf;
     size_t maxReadLen = idAndIdxToReadBuffer(specialRequestIds[idx], idx, &replyBuf);
-    result = readNextReply(*rwCookies[idx], replyBuf, maxReadLen);
+    // Skip first byte for actual read buffer: Valid byte
+    result = readNextReply(*rwCookies[idx], replyBuf + 1, maxReadLen);
     if (result == returnvalue::OK) {
       // The first byte is always a flag which shows whether the value was read
       // properly at least once.
@@ -455,17 +451,12 @@ void RwPollingTask::setAllReadFlagsFalse() {
   }
 }
 
-// This closes the SPI
+void RwPollingTask::closeSpi(int fd) { close(fd); }
-void RwPollingTask::closeSpi(int fd) {
-  // This will perform the function to close the SPI
-  close(fd);
-  // The SPI is now closed.
-}
 
 ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   gpioId_t gpioId = rwCookie.getChipSelectPin();
   if (spiLock == nullptr) {
-    sif::debug << "rwSpiCallback::spiCallback: Mutex or GPIO interface invalid" << std::endl;
+    sif::warning << "RwPollingTask: Mutex or GPIO interface invalid" << std::endl;
     return returnvalue::FAILED;
   }
   // Add datalinklayer like specified in the datasheet.
@@ -473,7 +464,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
   rws::encodeHdlc(writeBuffer.data(), writeLen, encodedBuffer.data(), lenToSend);
   pullCsLow(gpioId, gpioIF);
   if (write(fd, encodedBuffer.data(), lenToSend) != static_cast<ssize_t>(lenToSend)) {
-    sif::error << "rwSpiCallback::spiCallback: Write failed!" << std::endl;
+    sif::error << "RwPollingTask: Write failed!" << std::endl;
     pullCsHigh(gpioId, gpioIF);
     return rws::SPI_WRITE_FAILURE;
   }
@@ -484,7 +475,7 @@ ReturnValue_t RwPollingTask::sendOneMessage(int fd, RwCookie& rwCookie) {
 ReturnValue_t RwPollingTask::pullCsLow(gpioId_t gpioId, GpioIF& gpioIF) {
   ReturnValue_t result = spiLock->lockMutex(TIMEOUT_TYPE, TIMEOUT_MS);
   if (result != returnvalue::OK) {
-    sif::debug << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
+    sif::warning << "RwPollingTask::pullCsLow: Failed to lock mutex" << std::endl;
     return result;
   }
   // Pull SPI CS low. For now, no support for active high given
@@ -525,8 +516,8 @@ ReturnValue_t RwPollingTask::prepareSetSpeedCmd(uint8_t rwIdx) {
   uint16_t rampTimeToSet = 10;
   {
     MutexGuard mg(ipcLock);
-    speedToSet = rwCookies[rwIdx]->currentRwSpeed;
+    speedToSet = rwRequests[rwIdx].currentRwSpeed;
-    rampTimeToSet = rwCookies[rwIdx]->currentRampTime;
+    rampTimeToSet = rwRequests[rwIdx].currentRampTime;
   }
   size_t serLen = 1;
   SerializeAdapter::serialize(&speedToSet, &serPtr, &serLen, writeBuffer.size(),

linux/acs/RwPollingTask.h

@@ -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;
 };
 
@@ -50,8 +47,10 @@ class RwPollingTask : public SystemObject, public ExecutableObjectIF, public Dev
   const char* spiDev;
   GpioIF& gpioIF;
   std::array<bool, 4> skipCommandingForRw;
+  std::array<bool, 4> skipSetSpeedReply;
   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;
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 285 translations.
  * @details
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateEvents.h"
 

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2023-04-07 11:06:14
+ * Generated on: 2023-04-07 17:42:57
  */
 #include "translateObjects.h"
 

mission/acs/RwHandler.cpp

@@ -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"
 
@@ -23,25 +24,34 @@ 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() {
   internalState = InternalState::DEFAULT;
 
   if (gpioComIF->pullHigh(enableGpio) != returnvalue::OK) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to high";
+    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);
 }
 
 void RwHandler::doShutDown() {
-  if (gpioComIF->pullLow(enableGpio) != returnvalue::OK) {
+  if (internalState != InternalState::SHUTDOWN) {
-    sif::debug << "RwHandler::doStartUp: Failed to pull enable gpio to low";
+    internalState = InternalState::SHUTDOWN;
+    shutdownState = ShutdownState::SET_SPEED_ZERO;
+    offTransitionCountdown.resetTimer();
+  }
+  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";
     }
-  internalState = InternalState::DEFAULT;
     updatePeriodicReply(false, rws::REPLY_ID);
     {
       PoolReadGuard pg(&statusSet);
@@ -55,13 +65,12 @@ void RwHandler::doShutDown() {
       PoolReadGuard pg(&tmDataset);
       tmDataset.setValidity(false, true);
     }
-  {
+    internalState = InternalState::DEFAULT;
-    PoolReadGuard pg(&rwSpeedActuationSet);
+    shutdownState = ShutdownState::NONE;
-    rwSpeedActuationSet.setRwSpeed(0, 10);
-  }
     // The power switch is handled by the assembly, so we can go off here directly.
     setMode(MODE_OFF);
   }
+}
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
@@ -77,6 +86,20 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
 }
 
 ReturnValue_t RwHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+  if (internalState == InternalState::SHUTDOWN) {
+    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);
+    }
+  }
   return NOTHING_TO_SEND;
 }
 
@@ -119,32 +142,36 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
         return result;
       }
       // set speed flag.
-      commandBuffer[0] = true;
+      currentRequest.setSpeed = true;
-      rawPacketLen = 1;
+      rwSpeedActuationSet.getRwSpeed(currentRequest.currentRwSpeed, currentRequest.currentRampTime);
-      uint8_t* currentCmdBuf = commandBuffer + 1;
+      currentRequest.specialRequest = rws::SpecialRwRequest::REQUEST_NONE;
-      rwSpeedActuationSet.serialize(&currentCmdBuf, &rawPacketLen, sizeof(commandBuffer),
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
-                                    SerializeIF::Endianness::MACHINE);
+      rawPacketLen = sizeof(rws::RwRequest);
-      commandBuffer[rawPacketLen++] = static_cast<uint8_t>(rws::SpecialRwRequest::REQUEST_NONE);
-      rawPacket = commandBuffer;
       return returnvalue::OK;
     }
     case (rws::RESET_MCU): {
-      commandBuffer[0] = false;
+      currentRequest.setSpeed = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::RESET_MCU);
+      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;
+      currentRequest.setSpeed = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::INIT_RW_CONTROLLER);
+      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;
+      currentRequest.setSpeed = false;
-      commandBuffer[7] = static_cast<uint8_t>(rws::SpecialRwRequest::GET_TM);
+      currentRequest.specialRequest = rws::SpecialRwRequest::GET_TM;
       internalState = InternalState::GET_TM;
+      rawPacket = reinterpret_cast<uint8_t*>(&currentRequest);
+      rawPacketLen = sizeof(rws::RwRequest);
       return returnvalue::OK;
     }
     default:
@@ -172,6 +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;
 }
 
@@ -381,6 +411,12 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 
   statusSet.setValidity(true, true);
 
+  if (internalState == InternalState::SHUTDOWN and std::abs(tmDataset.rwCurrSpeed.value) <= 2 and
+      shutdownState == ShutdownState::SET_SPEED_ZERO) {
+    // Finish transition to off.
+    shutdownState = ShutdownState::STOP_POLLING;
+  }
+
   if (statusSet.state == rws::STATE_ERROR) {
     // Trigger FDIR reaction, first recovery, then faulty if it doesnt fix the issue.
     triggerEvent(DeviceHandlerIF::DEVICE_WANTS_HARD_REBOOT, statusSet.state.value, 0);

mission/acs/RwHandler.h

@@ -75,6 +75,8 @@ class RwHandler : public DeviceHandlerBase {
   GpioIF* gpioComIF = nullptr;
   gpioId_t enableGpio = gpio::NO_GPIO;
   bool debugMode = false;
+  Countdown offTransitionCountdown = Countdown(5000);
+  rws::RwRequest currentRequest;
 
   rws::StatusSet statusSet;
   rws::LastResetSatus lastResetStatusSet;
@@ -87,27 +89,16 @@ class RwHandler : public DeviceHandlerBase {
   PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
   PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
-  enum class InternalState {
+  enum class InternalState { DEFAULT, GET_TM, INIT_RW_CONTROLLER, RESET_MCU, SHUTDOWN };
-    DEFAULT,
+  enum class ShutdownState {
-    GET_TM,
+    NONE,
-    INIT_RW_CONTROLLER,
+    SET_SPEED_ZERO,
-    RESET_MCU,
+    STOP_POLLING,
-    // GET_RESET_STATUS,
+    DONE,
-    // CLEAR_RESET_STATUS,
+  } shutdownState = ShutdownState::NONE;
-    // READ_TEMPERATURE,
-    // SET_SPEED,
-    // GET_RW_SATUS
-  };
 
   InternalState internalState = InternalState::DEFAULT;
 
-  /**
-   * @brief   This function can be used to build commands which do not contain any data apart
-   *          from the command id and the CRC.
-   * @param commandId The command id of the command to build.
-   */
-  // void prepareSimpleCommand(DeviceCommandId_t id);
-
   /**
    * @brief   This function checks if the receiced speed and ramp time to set are in a valid
    *          range.
@@ -115,13 +106,6 @@ class RwHandler : public DeviceHandlerBase {
    */
   ReturnValue_t checkSpeedAndRampTime();
 
-  /**
-   * @brief   This function prepares the set speed command from the dataSet received with
-   *          an action message or set in the software.
-   * @return  returnvalue::OK if successful, otherwise error code.
-   */
-  // ReturnValue_t prepareSetSpeedCmd();
-
   /**
    * @brief   This function writes the last reset status retrieved with the get last reset status
    *          command into the reset status dataset.

mission/acs/rwHelpers.h

@@ -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);

mission/payload/PayloadPcduHandler.cpp

@@ -726,7 +726,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   int fileDescriptor = 0;
   UnixFileGuard fileHelper(comIf->getSpiDev(), fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
   if (fileHelper.getOpenResult() != returnvalue::OK) {
-    return SpiComIF::OPENING_FILE_FAILED;
+    return spi::OPENING_FILE_FAILED;
   }
   spi::SpiModes spiMode = spi::SpiModes::MODE_0;
   uint32_t spiSpeed = 0;
@@ -782,7 +782,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);
@@ -804,7 +804,7 @@ ReturnValue_t PayloadPcduHandler::transferAsTwo(SpiComIF* comIf, SpiCookie* cook
   retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
   if (retval < 0) {
     utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
-    result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
+    result = spi::FULL_DUPLEX_TRANSFER_FAILED;
   }
 #if FSFW_HAL_SPI_WIRETAPPING == 1
   comIf->performSpiWiretapping(cookie);

mission/system/EiveSystem.cpp

@@ -144,9 +144,6 @@ ReturnValue_t EiveSystem::executeAction(ActionId_t actionId, MessageQueueId_t co
     case (EXECUTE_I2C_REBOOT): {
       triggerEvent(core::TRYING_I2C_RECOVERY);
       performI2cReboot = true;
-      // This flag is more related to autonomous recovery handling, so we reset it here if this
-      // reboot sequence is commanded manually.
-      alreadyTriedI2cRecovery = false;
       i2cRebootState = I2cRebootState::SYSTEM_MODE_BOOT;
       this->actionCommandedBy = commandedBy;
       return returnvalue::OK;
@@ -264,11 +261,11 @@ void EiveSystem::commandSelfToSafe() { startTransition(satsystem::Mode::SAFE, 0)
 void EiveSystem::commonI2cRecoverySequenceFinish() {
   alreadyTriedI2cRecovery = true;
   performI2cReboot = false;
-  i2cRecoveryClearCountdown.resetTimer();
   i2cRebootState = I2cRebootState::NONE;
-  // Reset this counter. If I2C devices are still problematic, we will get a full reboot
+  // Reset this counter and the recovery clear countdown. If I2C devices are still problematic,
-  // next time this count goes above 5.
+  // we will get a full reboot next time this count goes above 5.
   i2cErrors = 0;
+  i2cRecoveryClearCountdown.resetTimer();
   // This should always be accepted
   commandSelfToSafe();
 }

mission/system/EiveSystem.h

@@ -41,7 +41,6 @@ class EiveSystem : public Subsystem, public HasActionsIF {
   MessageQueueId_t coreCtrlQueueId = MessageQueueIF::NO_QUEUE;
   MessageQueueId_t actionCommandedBy = MessageQueueIF::NO_QUEUE;
   Countdown i2cRebootHandlingCountdown = Countdown(10000);
-  // Countdown i2cUnavailableCountdown = Countdown(30000);
   //  After 1 minute, clear the flag to avoid full reboots on I2C issues.
   Countdown i2cRecoveryClearCountdown = Countdown(60000);
   ReturnValue_t initialize() override;

mission/system/com/ComSubsystem.cpp

@@ -228,3 +228,27 @@ bool ComSubsystem::isTxMode(Mode_t mode) {
   }
   return false;
 }
+
+void ComSubsystem::announceMode(bool recursive) {
+  const char *modeStr = "UNKNOWN";
+  switch (mode) {
+    case (com::RX_ONLY): {
+      modeStr = "RX_ONLY";
+      break;
+    }
+    case (com::RX_AND_TX_LOW_DATARATE): {
+      modeStr = "RX_AND_TX_LOW_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_HIGH_DATARATE): {
+      modeStr = "RX_AND_TX_HIGH_DATARATE";
+      break;
+    }
+    case (com::RX_AND_TX_DEFAULT_DATARATE): {
+      modeStr = "RX_AND_TX_DEFAULT_DATARATE";
+      break;
+    }
+  }
+  sif::info << "COM subsystem is now in " << modeStr << " mode" << std::endl;
+  return Subsystem::announceMode(recursive);
+}

mission/system/com/ComSubsystem.h

@@ -47,6 +47,7 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
   ReturnValue_t initialize() override;
 
   void startTransition(Mode_t mode, Submode_t submode) override;
+  void announceMode(bool recursive) override;
 
   void readEventQueue();
   void handleEventMessage(EventMessage *eventMessage);

tmtc

@@ -1 +1 @@
-Subproject commit 91a8a2e89519ac20d9ddabec2d8eaeb7707718d5
+Subproject commit 43b530cdb7dfe6774962bf4b8a880e1c9a6e6580