bsp_q7s/obsw.cpp

@@ -75,7 +75,6 @@ int obsw::obsw() {
   scheduling::initMission();
 
   // Command the EIVE system to safe mode
-  /*
   auto sysQueueId = satsystem::EIVE_SYSTEM.getCommandQueue();
   CommandMessage msg;
   ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
@@ -84,7 +83,6 @@ int obsw::obsw() {
   if (result != returnvalue::OK) {
     sif::error << "Sending safe mode command to EIVE system failed" << std::endl;
   }
-  */
 
   for (;;) {
     /* Suspend main thread by sleeping it. */

common/config/devConf.h

@@ -47,11 +47,11 @@ static constexpr spi::SpiModes DEFAULT_ADIS16507_MODE = spi::SpiModes::MODE_3;
 static constexpr uint32_t RW_SPEED = 300'000;
 static constexpr spi::SpiModes RW_MODE = spi::SpiModes::MODE_0;
 
-static constexpr dur_millis_t RTD_CS_TIMEOUT = 50;
+static constexpr dur_millis_t RTD_CS_TIMEOUT = 100;
 static constexpr uint32_t RTD_SPEED = 2'000'000;
 static constexpr spi::SpiModes RTD_MODE = spi::SpiModes::MODE_3;
 
-static constexpr dur_millis_t SUS_CS_TIMEOUT = 50;
+static constexpr dur_millis_t SUS_CS_TIMEOUT = 100;
 
 }  // namespace spi
 

fsfw

@@ -1 +1 @@
-Subproject commit 7fae6cbd6db588d69fc00198e4b2a9d8a7c12f59
+Subproject commit 8b4f73a97b15f27e314932538d468707c57f965a

linux/devices/Max31865RtdLowlevelHandler.cpp

@@ -73,11 +73,12 @@ bool Max31865RtdReader::periodicInitHandling() {
       ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
       if (mg.lockResult != returnvalue::OK or mg.gpioResult != returnvalue::OK) {
         sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
-        break;
+        continue;
       }
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
+        continue;
       }
       if (rtd->writeLowThreshold) {
         result = writeLowThreshold(rtd->spiCookie, rtd->lowThreshold);
@@ -152,16 +153,22 @@ ReturnValue_t Max31865RtdReader::periodicReadHandling() {
       return returnvalue::FAILED;
     }
     if (rtdIsActive(rtd->idx)) {
+      ManualCsLockWrapper mg(csLock, gpioIF, rtd->spiCookie, csTimeoutType, csTimeoutMs);
+      if (mg.lockResult != returnvalue::OK or mg.gpioResult != returnvalue::OK) {
+        sif::error << "Max31865RtdReader::periodicInitHandling: Manual CS lock failed" << std::endl;
+        continue;
+      }
       uint16_t rtdVal = 0;
       bool faultBitSet = false;
       result = writeCfgReg(rtd->spiCookie, BASE_CFG);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "writeCfgReg");
+        continue;
       }
       result = readRtdVal(rtd->spiCookie, rtdVal, faultBitSet);
       if (result != returnvalue::OK) {
         handleSpiError(rtd, result, "readRtdVal");
-        return returnvalue::FAILED;
+        continue;
       }
       if (faultBitSet) {
         rtd->db.faultBitSet = faultBitSet;

linux/devices/Max31865RtdLowlevelHandler.h

@@ -3,9 +3,11 @@
 
 #include <fsfw/ipc/MutexIF.h>
 #include <fsfw/tasks/ExecutableObjectIF.h>
+#include <fsfw/timemanager/clockDefinitions.h>
 #include <fsfw_hal/linux/spi/SpiComIF.h>
 #include <fsfw_hal/linux/spi/SpiCookie.h>
 
+#include "devConf.h"
 #include "fsfw/devicehandlers/DeviceCommunicationIF.h"
 #include "mission/devices/devicedefinitions/Max31865Definitions.h"
 
@@ -50,8 +52,8 @@ class Max31865RtdReader : public SystemObject,
 
   SpiComIF* comIF;
   GpioIF* gpioIF;
-  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::BLOCKING;
+  MutexIF::TimeoutType csTimeoutType = MutexIF::TimeoutType::WAITING;
-  uint32_t csTimeoutMs = 0;
+  uint32_t csTimeoutMs = spi::RTD_CS_TIMEOUT;
   MutexIF* csLock = nullptr;
 
   bool periodicInitHandling();

mission/system/tree/acsModeTree.cpp

@@ -118,7 +118,8 @@ Subsystem& satsystem::acs::init() {
 
   // Build SUS board transition
   iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
-  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)), ctxc);
+  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
+        ctxc);
 
   buildOffSequence(ACS_SUBSYSTEM, entry);
   buildSafeSequence(ACS_SUBSYSTEM, entry);