bsp_q7s/ObjectFactory.cpp

@@ -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 */
 

bsp_q7s/spiCallbacks/rwSpiCallback.cpp

@@ -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;
     }
 

linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp

@@ -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,

mission/devices/RwHandler.cpp

@@ -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) {

mission/devices/RwHandler.h

@@ -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);

tmtc

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