eive/eive-obsw
eive/eive-obsw
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meier/ReactionWheelHandler #51

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muellerr merged 37 commits from meier/ReactionWheelHandler into develop 2021-07-05 15:40:42 +02:00
Conversation 0 Commits 37 Files Changed 33 +29 -6
4 changed files with 29 additions and 6 deletions
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Showing only changes of commit 6257bf759d - Show all commits

17
bsp_q7s/ObjectFactory.cpp
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@ -588,8 +588,6 @@ void ObjectFactory::produce(void* args){
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev2.0",
RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
(void) rw3SpiCookie;
(void) rw4SpiCookie;
auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
gpioIds::EN_RW1);
@ -599,9 +597,22 @@ void ObjectFactory::produce(void* args){
auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
gpioIds::EN_RW2);
rwHandler2->setStartUpImmediately();
// rwHandler2->setStartUpImmediately();
(void) rwHandler2;
rw2SpiCookie->setCallbackArgs(rwHandler2);
auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
gpioIds::EN_RW3);
// rwHandler3->setStartUpImmediately();
(void) rwHandler3;
// rw3SpiCookie->setCallbackArgs(rwHandler3);
auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
gpioIds::EN_RW4);
// (void) rwHandler4;
rwHandler4->setStartUpImmediately();
rw4SpiCookie->setCallbackArgs(rwHandler4);
#endif /* TE0720 == 0 */
new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);

4
bsp_q7s/gpio/gpioCallbacks.cpp
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@ -232,12 +232,12 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value
}
case(gpioIds::CS_RW3): {
enableRwDecoder();
selectY3();
selectY2();
break;
}
case(gpioIds::CS_RW4): {
enableRwDecoder();
selectY4();
selectY3();
break;
}
default:

12
linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
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@ -413,6 +413,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
sif::error << "SPI PST initialization failed" << std::endl;
return HasReturnvaluesIF::RETURN_FAILED;

2
mission/devices/RwHandler.cpp
View File

@ -298,7 +298,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
| *(commandData + 3);
if (speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) {
if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
return INVALID_SPEED;
}