diff --git a/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h b/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h index 9924b8cb7..dc7a49146 100644 --- a/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h +++ b/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h @@ -15,159 +15,159 @@ extern "C" #define MANUALLY_CONSTRUCT_REPORT -typedef enum GroundMsgs__Status -{ - GND_MSGS__STATUS__SUCCESS = 0, /* Operation succeeded. */ - GND_MSGS__STATUS__ERROR_NULL = -1, /* A required argument or a member of an argument was NULL */ - GND_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL = -2, - GND_MSGS__STATUS__ERROR_SERIALIZATION_ERROR = -3, - GND_MSGS__STATUS__ERROR_UNKNOWN_MESSAGE_ID = -4, - GND_MSGS__STATUS__ERROR_UNKNOWN_MAGIC_NUMBER = -5, - GND_MSGS__STATUS__ERROR_WRONG_STATE = -6, - GND_MSGS__STATUS__ERROR_UNKNOWN_RESET_VALUE = -7, - - GND_MSGS__STATUS__ERROR__INTERNAL = -255 /* An unexpected internal error occurred. */ -} GroundMsgs__Status; - -typedef struct __attribute__((packed)) FlightEarthHeartbeat -{ - uint8_t magicNumber; - uint8_t batt_charge_telem : 7; - uint8_t heating : 1; - uint8_t batt_curr_telem : 7; - uint8_t battery_voltage_good : 1; - uint8_t battTemp; -} FlightEarthHeartbeat; - -typedef struct __attribute__((packed)) FullEarthHeartbeat -{ - uint8_t magicNumber; // always equal to 0xFF - uint16_t battTemp; - uint8_t raw_battery_charge[2]; - uint8_t raw_battery_voltage[2]; - uint8_t raw_battery_current[2]; - uint8_t raw_fuel_gauge_temp[2]; - uint16_t kpHeater; - uint16_t heaterSetpoint; - uint16_t heaterWindow; - uint16_t pwmLimit; - uint8_t stateAsUint; - uint8_t heating; - uint8_t heatingControlEnabled; -uint16_t pwmValue; -} FullEarthHeartbeat; - -typedef struct __attribute__((packed)) DetailedReport -{ - uint8_t magic; // Should always be 0xD5 - - uint8_t chargeStat1 : 1; - uint8_t chargeStat2 : 1; - uint8_t battStat : 1; - uint8_t latchStat : 1; - uint8_t pg12 : 1; - uint8_t pg18 : 1; - uint8_t pg33 : 1; - uint8_t pg50 : 1; - - uint8_t state; - - uint16_t deploymentStatus : 2; // 00 = not deployed, 01 = deploying, 10 = deployed - uint16_t uart0Initialized : 1; - uint16_t uart1Initialized : 1; - uint16_t adcBattRT : 12; - - uint8_t sequenceNumber; - - uint32_t outputPinStateBits; - - uint32_t lowerResetActionBits; - uint8_t upperResetActionBits; - - uint16_t vLanderSense : 7; // upper 7 bits (from 12-bit resolution data) - uint16_t battTemp : 9; // upper 9 bits (from 12-bit resolution data) - - uint32_t vSysAllSens : 5; // upper 5 bits (from 12-bit resolution data) - uint32_t iSysAllSense : 9; // LOWER 9 bits (from 12-bit resolution data) - uint32_t vBattSense : 9; // upper 9 bits (from 12-bit resolution data) - uint32_t vcc24 : 7; // upper 7 bits (from 12-bit resolution data) - uint32_t heatingControlEnabled : 1; - uint32_t heating : 1; - - uint16_t vcc2Point5 : 5; // upper 5 bits (from 12-bit resolution data) - uint16_t vcc2Point8 : 5; // upper 5 bits (from 12-bit resolution data) - uint16_t vcc28 : 6; // upper 6 bits (from 12-bit resolution data) - - uint16_t kpHeater; - - uint16_t heaterPwmLimit; - - uint16_t heaterSetpoint; - - uint16_t heaterOnValue; - - uint16_t heaterOffValue; - - uint16_t heaterDutyCyclePeriod; - - uint16_t heaterPwmValue; - - uint8_t rawBatteryCharge[2]; - - uint8_t rawBatteryVoltage[2]; - - uint8_t rawBatteryCurrent[2]; - - uint8_t rawFuelGaugeTemp[2]; - - uint8_t battChargeTelem; - - uint8_t battCurrTelem; -} DetailedReport; - -/** - * @brief Generates a transit heartbeat message for transmission to ground. - * - * Since the struct is packed, we want to serialize with little endianness, and the MSP430 has little endianness, - * serializing this message it is as simple as casting the struct to uint8_t*. - * - * @param i2cReadings - * @param adcValues - * @param hParams - * @param hb - * @return - */ -GroundMsgs__Status GroundMsgs__generateFlightEarthHeartbeat(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - HeaterParams* hParams, - FlightEarthHeartbeat* hb); - -/** - * @brief Generates a serialized full heartbeat message for transmission to ground. - * - * Since the struct is packed, we want to serialize with little endianness, and the MSP430 has little endianness, - * serializing this message it is as simple as casting the struct to uint8_t*. - * - * Note that all uint16_t values are serialized with little endianness. - * - * @param i2cReadings - * @param adcValues - * @param hParams - * @param stateAsUint - * @param hb - * @return - */ -GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - HeaterParams* hParams, - uint8_t stateAsUint, - FullEarthHeartbeat* hb); - -GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - WatchdogStateDetails* details, - DetailedReport* hb, - uint8_t* reportBuffer); + typedef enum GroundMsgs__Status + { + GND_MSGS__STATUS__SUCCESS = 0, /* Operation succeeded. */ + GND_MSGS__STATUS__ERROR_NULL = -1, /* A required argument or a member of an argument was NULL */ + GND_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL = -2, + GND_MSGS__STATUS__ERROR_SERIALIZATION_ERROR = -3, + GND_MSGS__STATUS__ERROR_UNKNOWN_MESSAGE_ID = -4, + GND_MSGS__STATUS__ERROR_UNKNOWN_MAGIC_NUMBER = -5, + GND_MSGS__STATUS__ERROR_WRONG_STATE = -6, + GND_MSGS__STATUS__ERROR_UNKNOWN_RESET_VALUE = -7, + + GND_MSGS__STATUS__ERROR__INTERNAL = -255 /* An unexpected internal error occurred. */ + } GroundMsgs__Status; + + typedef struct __attribute__((packed)) FlightEarthHeartbeat + { + uint8_t magicNumber; + uint8_t batt_charge_telem : 7; + uint8_t heating : 1; + uint8_t batt_curr_telem : 7; + uint8_t battery_voltage_good : 1; + uint8_t battTemp; + } FlightEarthHeartbeat; + + typedef struct __attribute__((packed)) FullEarthHeartbeat + { + uint8_t magicNumber; // always equal to 0xFF + uint16_t battTemp; + uint8_t raw_battery_charge[2]; + uint8_t raw_battery_voltage[2]; + uint8_t raw_battery_current[2]; + uint8_t raw_fuel_gauge_temp[2]; + uint16_t kpHeater; + uint16_t heaterSetpoint; + uint16_t heaterWindow; + uint16_t pwmLimit; + uint8_t stateAsUint; + uint8_t heating; + uint8_t heatingControlEnabled; + uint16_t pwmValue; + } FullEarthHeartbeat; + + typedef struct __attribute__((packed)) DetailedReport + { + uint8_t magic; // Should always be 0xD5 + + uint8_t chargeStat1 : 1; + uint8_t chargeStat2 : 1; + uint8_t battStat : 1; + uint8_t latchStat : 1; + uint8_t pg12 : 1; + uint8_t pg18 : 1; + uint8_t pg33 : 1; + uint8_t pg50 : 1; + + uint8_t state; + + uint16_t deploymentStatus : 2; // 00 = not deployed, 01 = deploying, 10 = deployed + uint16_t uart0Initialized : 1; + uint16_t uart1Initialized : 1; + uint16_t adcBattRT : 12; // main heater thermistor + + uint8_t sequenceNumber; + + uint32_t outputPinStateBits; + + uint32_t lowerResetActionBits; + uint8_t upperResetActionBits; + + uint16_t vLanderSense : 7; // upper 7 bits (from 12-bit resolution data) + uint16_t battTemp : 9; // upper 9 bits (from 12-bit resolution data) - charging thermistor + + uint32_t vSysAllSens : 5; // upper 5 bits (from 12-bit resolution data) + uint32_t iSysAllSense : 9; // LOWER 9 bits (from 12-bit resolution data) + uint32_t vBattSense : 9; // upper 9 bits (from 12-bit resolution data) + uint32_t vcc24 : 7; // upper 7 bits (from 12-bit resolution data) + uint32_t heatingControlEnabled : 1; + uint32_t heating : 1; + + uint16_t vcc2Point5 : 5; // upper 5 bits (from 12-bit resolution data) + uint16_t vcc2Point8 : 5; // upper 5 bits (from 12-bit resolution data) + uint16_t vcc28 : 6; // upper 6 bits (from 12-bit resolution data) + + uint16_t kpHeater; + + uint16_t heaterPwmLimit; + + uint16_t heaterSetpoint; + + uint16_t heaterOnValue; + + uint16_t heaterOffValue; + + uint16_t heaterDutyCyclePeriod; + + uint16_t heaterPwmValue; + + uint8_t rawBatteryCharge[2]; + + uint8_t rawBatteryVoltage[2]; + + uint8_t rawBatteryCurrent[2]; + + uint8_t rawFuelGaugeTemp[2]; + + uint8_t battChargeTelem; + + uint8_t battCurrTelem; + } DetailedReport; + + /** + * @brief Generates a transit heartbeat message for transmission to ground. + * + * Since the struct is packed, we want to serialize with little endianness, and the MSP430 has little endianness, + * serializing this message it is as simple as casting the struct to uint8_t*. + * + * @param i2cReadings + * @param adcValues + * @param hParams + * @param hb + * @return + */ + GroundMsgs__Status GroundMsgs__generateFlightEarthHeartbeat(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + HeaterParams *hParams, + FlightEarthHeartbeat *hb); + + /** + * @brief Generates a serialized full heartbeat message for transmission to ground. + * + * Since the struct is packed, we want to serialize with little endianness, and the MSP430 has little endianness, + * serializing this message it is as simple as casting the struct to uint8_t*. + * + * Note that all uint16_t values are serialized with little endianness. + * + * @param i2cReadings + * @param adcValues + * @param hParams + * @param stateAsUint + * @param hb + * @return + */ + GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + HeaterParams *hParams, + uint8_t stateAsUint, + FullEarthHeartbeat *hb); + + GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + WatchdogStateDetails *details, + DetailedReport *hb, + uint8_t *reportBuffer); #ifdef __cplusplus } /* close extern "C" */ diff --git a/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h b/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h index 9633efc9e..9c9b7c83f 100644 --- a/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h +++ b/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h @@ -9,714 +9,720 @@ extern "C" { #endif -/** - * @defgroup watchdogWatchdogCmdMsgs Watchdog Command Messages - * @addtogroup watchdogWatchdogCmdMsgs - * @{ - */ - -/** - * @brief Possible return statuses of CmdMsgs functions. - */ -typedef enum WdCmdMsgs__Status -{ - WD_CMD_MSGS__STATUS__SUCCESS = CMD_MSGS__STATUS__SUCCESS, //!< Operation succeeded. - /** - * @brief A required argument or a member of an argument was NULL + * @defgroup watchdogWatchdogCmdMsgs Watchdog Command Messages + * @addtogroup watchdogWatchdogCmdMsgs + * @{ */ - WD_CMD_MSGS__STATUS__ERROR_NULL = CMD_MSGS__STATUS__ERROR_NULL, /** - * @brief A given buffer was too small. + * @brief Possible return statuses of CmdMsgs functions. */ - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL = CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL, + typedef enum WdCmdMsgs__Status + { + WD_CMD_MSGS__STATUS__SUCCESS = CMD_MSGS__STATUS__SUCCESS, //!< Operation succeeded. + + /** + * @brief A required argument or a member of an argument was NULL + */ + WD_CMD_MSGS__STATUS__ERROR_NULL = CMD_MSGS__STATUS__ERROR_NULL, + + /** + * @brief A given buffer was too small. + */ + WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL = CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL, + + /** + * @brief A serialization error occurred. + */ + WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR = CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR, + WD_CMD_MSGS__STATUS__ERROR_UNKNOWN_MESSAGE_ID = -4, //!< Encountered an unknown command ID. + + /** + * An unexpected error occurred. + */ + WD_CMD_MSGS__STATUS__ERROR__INTERNAL = CMD_MSGS__STATUS__ERROR__INTERNAL + } WdCmdMsgs__Status; + + // ###################################################################################################################### + // Message Field Types + // ###################################################################################################################### /** - * @brief A serialization error occurred. + * @brief Possible response status codes. */ - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR = CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR, - WD_CMD_MSGS__STATUS__ERROR_UNKNOWN_MESSAGE_ID = -4, //!< Encountered an unknown command ID. + typedef enum WdCmdMsgs__ResponseStatusCode + { + WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS = 0, //!< Command performed successfully. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_PACKET_LENGTH = 1, //!< Wrong packet length for this command. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_CHECKSUM = 2, //!< Checksum validation failed. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_MODULE_ID = 3, //!< Unexpected module ID. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_ID = 4, //!< Unexpected command ID. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER = 5, //!< Unexpected parameter value. + WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE = 6, //!< Unexpected sequence of commands. + + WD_CMD_MSGS__RESPONSE_STATUS__DEPLOY = 96, //!< The watchdog just enabled its HDRM. + } WdCmdMsgs__ResponseStatusCode; /** - * An unexpected error occurred. + * @brief Possible watchdog command IDs */ - WD_CMD_MSGS__STATUS__ERROR__INTERNAL = CMD_MSGS__STATUS__ERROR__INTERNAL -} WdCmdMsgs__Status; + typedef enum WdCmdMsgs__CommandId + { + WD_CMD_MSGS__CMD_ID__RESET_SPECIFIC = 0x1000, //!< Reset Specific. + WD_CMD_MSGS__CMD_ID__PREP_FOR_DEPLOY = 0x1001, //!< Prepare to Deploy. + WD_CMD_MSGS__CMD_ID__DEPLOY = 0x1002, //!< Deploy. + WD_CMD_MSGS__CMD_ID__SWITCH_CONN_MODE = 0x1004, //!< Switch Connection Mode. + WD_CMD_MSGS__CMD_ID__SET_DEBUG_COMMS_STATE = 0x10AA, //!< Sets debug comms on or off. + WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_ON_VALUE = 0x10AB, //!< Set heater "ON" value used with auto heater controller. + WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_OFF_VALUE = 0x10AC, //!< Set heater "OFF" value used with auto heater controller. + WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE = 0x10AD, //!< Set duty cycle of heater PWM. + WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE_PERIOD = 0x10AE, //!< Set period of heater PWM. + WD_CMD_MSGS__CMD_ID__SET_VSAE_STATE = 0x10DA, //!< Set VSAE on or off. + WD_CMD_MSGS__CMD_ID__ENTER_SLEEP_MODE = 0x10EA, //!< Enter "Sleep" mode. + WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE = 0x10EB, //!< Enter "Keep Alive" mode. + WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE = 0x10EC, //!< Enter "Service" mode. + WD_CMD_MSGS__CMD_ID__CLEAR_RESET_MEMORY = 0x10F4, //!< Clear the reset memory used in the detailed report. + WD_CMD_MSGS__CMD_ID__DANGEROUS_FORCE_BATT_STATE = 0x10F5, //!< Dangerous: Force battery state. + WD_CMD_MSGS__CMD_ID__REQUEST_DETAILED_REPORT = 0x10F6, //!< Request a detailed report + WD_CMD_MSGS__CMD_ID__SET_CHARGE_EN_STATE = 0x10F7, //!< Set charging IC enable state. + WD_CMD_MSGS__CMD_ID__SET_CHARGE_REG_EN_STATE = 0x10F8, //!< Set charging power 28V regulator enable state. + WD_CMD_MSGS__CMD_ID__SET_BATT_EN_STATE = 0x10F9, //!< Set battery connection state. + WD_CMD_MSGS__CMD_ID__SET_BATT_CTRL_EN_STATE = 0x10FA, //!< Set battery management control state. + WD_CMD_MSGS__CMD_ID__SET_LATCH_BATT_STATE = 0x10FB, //!< Set battery latch state. + WD_CMD_MSGS__CMD_ID__LATCH_SET_PULSE_LOW = 0x10FC, //!< Pulse battery latch "SET" override low. + WD_CMD_MSGS__CMD_ID__LATCH_RESET_PULSE_LOW = 0x10FD, //!< Pulse battery latch "RESET" override low. + WD_CMD_MSGS__CMD_ID__ECHO = 0x10FF, //!< Diagnostic request to echo the given bytes back (with a header attached marking it as an echo) + } WdCmdMsgs__CommandId; -//###################################################################################################################### -// Message Field Types -//###################################################################################################################### - -/** - * @brief Possible response status codes. - */ -typedef enum WdCmdMsgs__ResponseStatusCode -{ - WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS = 0, //!< Command performed successfully. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_PACKET_LENGTH = 1, //!< Wrong packet length for this command. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_CHECKSUM = 2, //!< Checksum validation failed. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_MODULE_ID = 3, //!< Unexpected module ID. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_ID = 4, //!< Unexpected command ID. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER = 5, //!< Unexpected parameter value. - WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE = 6, //!< Unexpected sequence of commands. - - WD_CMD_MSGS__RESPONSE_STATUS__DEPLOY = 96, //!< The watchdog just enabled its HDRM. -} WdCmdMsgs__ResponseStatusCode; - -/** - * @brief Possible watchdog command IDs - */ -typedef enum WdCmdMsgs__CommandId -{ - WD_CMD_MSGS__CMD_ID__RESET_SPECIFIC = 0x1000, //!< Reset Specific. - WD_CMD_MSGS__CMD_ID__PREP_FOR_DEPLOY = 0x1001, //!< Prepare to Deploy. - WD_CMD_MSGS__CMD_ID__DEPLOY = 0x1002, //!< Deploy. - WD_CMD_MSGS__CMD_ID__SWITCH_CONN_MODE = 0x1004, //!< Switch Connection Mode. - WD_CMD_MSGS__CMD_ID__SET_DEBUG_COMMS_STATE = 0x10AA, //!< Sets debug comms on or off. - WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_ON_VALUE = 0x10AB, //!< Set heater "ON" value used with auto heater controller. - WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_OFF_VALUE = 0x10AC, //!< Set heater "OFF" value used with auto heater controller. - WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE = 0x10AD, //!< Set duty cycle of heater PWM. - WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE_PERIOD = 0x10AE, //!< Set period of heater PWM. - WD_CMD_MSGS__CMD_ID__SET_VSAE_STATE = 0x10DA, //!< Set VSAE on or off. - WD_CMD_MSGS__CMD_ID__ENTER_SLEEP_MODE = 0x10EA, //!< Enter "Sleep" mode. - WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE = 0x10EB, //!< Enter "Keep Alive" mode. - WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE = 0x10EC, //!< Enter "Service" mode. - WD_CMD_MSGS__CMD_ID__CLEAR_RESET_MEMORY = 0x10F4, //!< Clear the reset memory used in the detailed report. - WD_CMD_MSGS__CMD_ID__DANGEROUS_FORCE_BATT_STATE = 0x10F5, //!< Dangerous: Force battery state. - WD_CMD_MSGS__CMD_ID__REQUEST_DETAILED_REPORT = 0x10F6, //!< Request a detailed report - WD_CMD_MSGS__CMD_ID__SET_CHARGE_EN_STATE = 0x10F7, //!< Set charging IC enable state. - WD_CMD_MSGS__CMD_ID__SET_CHARGE_REG_EN_STATE = 0x10F8, //!< Set charging power 28V regulator enable state. - WD_CMD_MSGS__CMD_ID__SET_BATT_EN_STATE = 0x10F9, //!< Set battery connection state. - WD_CMD_MSGS__CMD_ID__SET_BATT_CTRL_EN_STATE = 0x10FA, //!< Set battery management control state. - WD_CMD_MSGS__CMD_ID__SET_LATCH_BATT_STATE = 0x10FB, //!< Set battery latch state. - WD_CMD_MSGS__CMD_ID__LATCH_SET_PULSE_LOW = 0x10FC, //!< Pulse battery latch "SET" override low. - WD_CMD_MSGS__CMD_ID__LATCH_RESET_PULSE_LOW = 0x10FD, //!< Pulse battery latch "RESET" override low. - WD_CMD_MSGS__CMD_ID__ECHO = 0x10FF, //!< Diagnostic request to echo the given bytes back (with a header attached marking it as an echo) -} WdCmdMsgs__CommandId; - -/** - * @brief Possible reset values, given for the reset specific command. - */ -typedef enum WdCmdMsgs__ResetSpecificId -{ /** - * @brief Don't reset anything. - * @todo What is the point of this? + * @brief Possible reset values, given for the reset specific command. */ - WD_CMD_MSGS__RESET_ID__NO_RESET = 0x00, + typedef enum WdCmdMsgs__ResetSpecificId + { + /** + * @brief Don't reset anything. + * @todo What is the point of this? + */ + WD_CMD_MSGS__RESET_ID__NO_RESET = 0x00, - WD_CMD_MSGS__RESET_ID__HERCULES_RESET = 0x01, //!< Reset the Hercules. - WD_CMD_MSGS__RESET_ID__HERCULES_POWER_ON = 0x02, //!< Power on the Hercules. - WD_CMD_MSGS__RESET_ID__HERCULES_POWER_OFF = 0x03, //!< Power off the Hercules. + WD_CMD_MSGS__RESET_ID__HERCULES_RESET = 0x01, //!< Reset the Hercules. + WD_CMD_MSGS__RESET_ID__HERCULES_POWER_ON = 0x02, //!< Power on the Hercules. + WD_CMD_MSGS__RESET_ID__HERCULES_POWER_OFF = 0x03, //!< Power off the Hercules. - WD_CMD_MSGS__RESET_ID__RADIO_RESET = 0x04, //!< Reset the radio (the WiFi). - WD_CMD_MSGS__RESET_ID__RADIO_POWER_ON = 0x05, //!< Power on the radio (the WiFi). - WD_CMD_MSGS__RESET_ID__RADIO_POWER_OFF = 0x06, //!< Power off the radio (the WiFi). + WD_CMD_MSGS__RESET_ID__RADIO_RESET = 0x04, //!< Reset the radio (the WiFi). + WD_CMD_MSGS__RESET_ID__RADIO_POWER_ON = 0x05, //!< Power on the radio (the WiFi). + WD_CMD_MSGS__RESET_ID__RADIO_POWER_OFF = 0x06, //!< Power off the radio (the WiFi). - WD_CMD_MSGS__RESET_ID__CAM_FPGA_RESET = 0x07, //!< Reset the camera FPGA. - WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_ON = 0x08, //!< Power on the camera FPGA. - WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_OFF = 0x09, //!< Power off the camera FPGA. + WD_CMD_MSGS__RESET_ID__CAM_FPGA_RESET = 0x07, //!< Reset the camera FPGA. + WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_ON = 0x08, //!< Power on the camera FPGA. + WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_OFF = 0x09, //!< Power off the camera FPGA. - WD_CMD_MSGS__RESET_ID__MOTOR_1_RESET = 0x0A, //!< Reset motor 1. - WD_CMD_MSGS__RESET_ID__MOTOR_2_RESET = 0x0B, //!< Reset motor 2. - WD_CMD_MSGS__RESET_ID__MOTOR_3_RESET = 0x0C, //!< Reset motor 3. - WD_CMD_MSGS__RESET_ID__MOTOR_4_RESET = 0x0D, //!< Reset motor 4. + WD_CMD_MSGS__RESET_ID__MOTOR_1_RESET = 0x0A, //!< Reset motor 1. + WD_CMD_MSGS__RESET_ID__MOTOR_2_RESET = 0x0B, //!< Reset motor 2. + WD_CMD_MSGS__RESET_ID__MOTOR_3_RESET = 0x0C, //!< Reset motor 3. + WD_CMD_MSGS__RESET_ID__MOTOR_4_RESET = 0x0D, //!< Reset motor 4. - WD_CMD_MSGS__RESET_ID__ALL_MOTORS_RESET = 0x0E, //!< Reset all motors. - WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_ON = 0x0F, //!< Power on all motors. - WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_OFF = 0x10, //!< Power off all motors. + WD_CMD_MSGS__RESET_ID__ALL_MOTORS_RESET = 0x0E, //!< Reset all motors. + WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_ON = 0x0F, //!< Power on all motors. + WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_OFF = 0x10, //!< Power off all motors. - WD_CMD_MSGS__RESET_ID__3_3V_EN_RESET = 0x11, //!< Reset the 3.3V line enable. - WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_ON = 0x12, //!< Power on the 3.3V line enable. - WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_OFF = 0x13, //!< Power off the 3.3V line enable. + WD_CMD_MSGS__RESET_ID__3_3V_EN_RESET = 0x11, //!< Reset the 3.3V line enable. + WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_ON = 0x12, //!< Power on the 3.3V line enable. + WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_OFF = 0x13, //!< Power off the 3.3V line enable. - WD_CMD_MSGS__RESET_ID__V_SYS_ALL_POWER_CYCLE = 0x14, //!< Reset the 24V line enable. - WD_CMD_MSGS__RESET_ID__V_SYS_ALL_ON = 0x15, //!< Power on the 24V line enable. - WD_CMD_MSGS__RESET_ID__V_SYS_ALL_OFF = 0x16, //!< Power off the 24V line enable. + WD_CMD_MSGS__RESET_ID__V_SYS_ALL_POWER_CYCLE = 0x14, //!< Reset the 24V line enable. + WD_CMD_MSGS__RESET_ID__V_SYS_ALL_ON = 0x15, //!< Power on the 24V line enable. + WD_CMD_MSGS__RESET_ID__V_SYS_ALL_OFF = 0x16, //!< Power off the 24V line enable. - WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_OFF = 0x18, //!< Power off the HDRM. + WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_OFF = 0x18, //!< Power off the HDRM. - WD_CMD_MSGS__RESET_ID__FPGA_CAM_0_SELECT = 0x19, //!< Select camera 0. - WD_CMD_MSGS__RESET_ID__FPGA_CAM_1_SELECT = 0x1A, //!< Select camera 1. + WD_CMD_MSGS__RESET_ID__FPGA_CAM_0_SELECT = 0x19, //!< Select camera 0. + WD_CMD_MSGS__RESET_ID__FPGA_CAM_1_SELECT = 0x1A, //!< Select camera 1. - WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_START = 0x1B, //!< Start charging the batteries. - WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_STOP = 0x1C, //!< Stop charging the batteries. + WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_START = 0x1B, //!< Start charging the batteries. + WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_STOP = 0x1C, //!< Stop charging the batteries. - WD_CMD_MSGS__RESET_ID__RS422_UART_ENABLE = 0x1D, //!< Enable the RS422 UART. - WD_CMD_MSGS__RESET_ID__RS422_UART_DISABLE = 0x1E, //!< Disable the RS422 UART. + WD_CMD_MSGS__RESET_ID__RS422_UART_ENABLE = 0x1D, //!< Enable the RS422 UART. + WD_CMD_MSGS__RESET_ID__RS422_UART_DISABLE = 0x1E, //!< Disable the RS422 UART. - WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_ENABLE = 0x1F, //!< Enable the automatic heater controller. - WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_DISABLE = 0x20, //!< Disable the automatic heater controller. + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_ENABLE = 0x1F, //!< Enable the automatic heater controller. + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_DISABLE = 0x20, //!< Disable the automatic heater controller. - WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_ENABLE = 0x21, //!< Enable the Hercules watchdog. - WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_DISABLE = 0x22, //!< Disable the Hercules watchdog. + WD_CMD_MSGS__RESET_ID__HEATER_FORCE_OFF = 0xC0, //!< Force the heater to always be OFF (at whatever duty cycle) + WD_CMD_MSGS__RESET_ID__HEATER_FORCE_ON = 0xC1, //!< Force the heater to always be ON (at whatever duty cycle) + WD_CMD_MSGS__RESET_ID__HEATER_FORCE_NOTHING = 0xC2, //!< Don't force the heater to do anything (let the controller work its magic) + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_RT_INPUT = 0xCF, //!< Auto Heater Controller should use BattRT as the temperature input + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT_DEACTIVATE = 0xCE, //!< Deactivate charging circuitry used to allow Auto Heater Controller to use Charger Thermistor as the temperature input (for use if returning to BATT_RT from CHRG) + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT_ACTIVATE = 0xCD, //!< Activate charging circuitry but disable charging so the Auto Heater Controller can use Charger Thermistor as the temperature input (needed for `WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT` to work) + WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT = 0xCC, //!< Auto Heater Controller should use Charger Thermistor as the temperature input - WD_CMD_MSGS__RESET_ID__BATTERIES_ENABLE = 0x23, //!< Enable the batteries. - WD_CMD_MSGS__RESET_ID__BATTERIES_DISABLE = 0x24, //!< Disable the batteries. + WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_ENABLE = 0x21, //!< Enable the Hercules watchdog. + WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_DISABLE = 0x22, //!< Disable the Hercules watchdog. - WD_CMD_MSGS__RESET_ID__CLEAR_PERSISTENT_DEPLOY = 0xDD, //!< Clear the persistent "deployed" status. - WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_ON = 0xEE //!< Power on the HDRM. + WD_CMD_MSGS__RESET_ID__BATTERIES_ENABLE = 0x23, //!< Enable the batteries. + WD_CMD_MSGS__RESET_ID__BATTERIES_DISABLE = 0x24, //!< Disable the batteries. -} WdCmdMsgs__ResetSpecificId; + WD_CMD_MSGS__RESET_ID__CLEAR_PERSISTENT_DEPLOY = 0xDD, //!< Clear the persistent "deployed" status. + WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_ON = 0xEE //!< Power on the HDRM. -/** - * @brief Possible values of the parameter of the Switch Connection Mode command. - */ -typedef enum WdCmdMsgs__SwitchConnModeSelection -{ - WD_CMD_MSGS__CONN_MODE__WIRED = 0x01, //!< Wired (RS-422): Watchdog gets data, forwards to Hercules - WD_CMD_MSGS__CONN_MODE__WIRELESS = 0x02 //!< Wireless: Hercules gets data, forwards to watchdog -} WdCmdMsgs__SwitchConnModeSelection; + } WdCmdMsgs__ResetSpecificId; -/** - * @brief Possible values of the parameter of the Dangerous Force Battery State command. - */ -typedef enum WdCmdMsgs__DangForceBattStateSelection -{ - WD_CMD_MSGS__DANG_FORCE_BATT_STATE__LOW = 0x00, //!< Force battery state low - WD_CMD_MSGS__DANG_FORCE_BATT_STATE__HIGH = 0xFF, //!< Force battery state high - WD_CMD_MSGS__DANG_FORCE_BATT_STATE__RESTORE = 0xAA //!< Restore battery state to an input -} WdCmdMsgs__DangForceBattStateSelection; + /** + * @brief Possible values of the parameter of the Switch Connection Mode command. + */ + typedef enum WdCmdMsgs__SwitchConnModeSelection + { + WD_CMD_MSGS__CONN_MODE__WIRED = 0x01, //!< Wired (RS-422): Watchdog gets data, forwards to Hercules + WD_CMD_MSGS__CONN_MODE__WIRELESS = 0x02 //!< Wireless: Hercules gets data, forwards to watchdog + } WdCmdMsgs__SwitchConnModeSelection; -/** - * @brief Possible values of the parameter of the Set Charge EN State command. - */ -typedef enum WdCmdMsgs__SetChargeEnSelection -{ - WD_CMD_MSGS__CHARGE_EN__ON = 0xFF, //!< Enable charging - WD_CMD_MSGS__CHARGE_EN__OFF = 0x00, //!< Disable charging - WD_CMD_MSGS__CHARGE_EN__FORCE_HIGH = 0x99 //!< Force high output on CHRG_EN pin -} WdCmdMsgs__SetChargeEnSelection; + /** + * @brief Possible values of the parameter of the Dangerous Force Battery State command. + */ + typedef enum WdCmdMsgs__DangForceBattStateSelection + { + WD_CMD_MSGS__DANG_FORCE_BATT_STATE__LOW = 0x00, //!< Force battery state low + WD_CMD_MSGS__DANG_FORCE_BATT_STATE__HIGH = 0xFF, //!< Force battery state high + WD_CMD_MSGS__DANG_FORCE_BATT_STATE__RESTORE = 0xAA //!< Restore battery state to an input + } WdCmdMsgs__DangForceBattStateSelection; -/** - * @brief Possible values of the parameter of the Set Charge EN State command. - */ -typedef enum WdCmdMsgs__SetChargeRegEnSelection -{ - WD_CMD_MSGS__CHARGE_REG_EN__ON = 0xFF, //!< Enable charging regulator - WD_CMD_MSGS__CHARGE_REG_EN__OFF = 0x00 //!< Disable charging regulator -} WdCmdMsgs__SetChargeRegEnSelection; + /** + * @brief Possible values of the parameter of the Set Charge EN State command. + */ + typedef enum WdCmdMsgs__SetChargeEnSelection + { + WD_CMD_MSGS__CHARGE_EN__ON = 0xFF, //!< Enable charging + WD_CMD_MSGS__CHARGE_EN__OFF = 0x00, //!< Disable charging + WD_CMD_MSGS__CHARGE_EN__FORCE_HIGH = 0x99 //!< Force high output on CHRG_EN pin + } WdCmdMsgs__SetChargeEnSelection; -/** - * @brief Possible values of the parameter of the Set Battery EN State command. - */ -typedef enum WdCmdMsgs__SetBattEnSelection -{ - WD_CMD_MSGS__BATT_EN__ON = 0xFF, //!< Enable battery connection - WD_CMD_MSGS__BATT_EN__OFF = 0x00 //!< Disable battery connection -} WdCmdMsgs__SetBattEnSelection; + /** + * @brief Possible values of the parameter of the Set Charge EN State command. + */ + typedef enum WdCmdMsgs__SetChargeRegEnSelection + { + WD_CMD_MSGS__CHARGE_REG_EN__ON = 0xFF, //!< Enable charging regulator + WD_CMD_MSGS__CHARGE_REG_EN__OFF = 0x00 //!< Disable charging regulator + } WdCmdMsgs__SetChargeRegEnSelection; -/** - * @brief Possible values of the parameter of the Set Battery Control EN State command. - */ -typedef enum WdCmdMsgs__SetBattCtrlEnSelection -{ - WD_CMD_MSGS__BATT_CTRL_EN__ON = 0xFF, //!< Enable battery connection - WD_CMD_MSGS__BATT_CTRL_EN__OFF = 0x00, //!< Disable battery connection - WD_CMD_MSGS__BATT_CTRL_EN__FORCE_HIGH = 0x99 //!< Force high output on BCTRLE pin -} WdCmdMsgs__SetBattCtrlEnSelection; + /** + * @brief Possible values of the parameter of the Set Battery EN State command. + */ + typedef enum WdCmdMsgs__SetBattEnSelection + { + WD_CMD_MSGS__BATT_EN__ON = 0xFF, //!< Enable battery connection + WD_CMD_MSGS__BATT_EN__OFF = 0x00 //!< Disable battery connection + } WdCmdMsgs__SetBattEnSelection; -/** - * @brief Possible values of the parameter of the Set Battery Control EN State command. - */ -typedef enum WdCmdMsgs__SetLatchBattSelection -{ - WD_CMD_MSGS__LATCH_BATT__ON = 0xFF, //!< Enable battery connection - WD_CMD_MSGS__LATCH_BATT__OFF = 0x00, //!< Disable battery connection - WD_CMD_MSGS__LATCH_BATT__UPDATE = 0xAA//!< Pulse latch low-high-low -} WdCmdMsgs__SetLatchBattSelection; + /** + * @brief Possible values of the parameter of the Set Battery Control EN State command. + */ + typedef enum WdCmdMsgs__SetBattCtrlEnSelection + { + WD_CMD_MSGS__BATT_CTRL_EN__ON = 0xFF, //!< Enable battery connection + WD_CMD_MSGS__BATT_CTRL_EN__OFF = 0x00, //!< Disable battery connection + WD_CMD_MSGS__BATT_CTRL_EN__FORCE_HIGH = 0x99 //!< Force high output on BCTRLE pin + } WdCmdMsgs__SetBattCtrlEnSelection; -/** - * @brief Possible values of the parameter of the Set Battery Control EN State command. - */ -typedef enum WdCmdMsgs__LatchSetResetSelection -{ - WD_CMD_MSGS__LATCH_SET_RESET__OFF = 0x00, //!< - WD_CMD_MSGS__LATCH_SET_RESET__PULSE = 0x15, //!< Pulse high-low-high as an output - WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH = 0xBB, //!< Make an output and drive high - WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW = 0xFF //!< Make an output and drive low -} WdCmdMsgs__LatchSetResetSelection; + /** + * @brief Possible values of the parameter of the Set Battery Control EN State command. + */ + typedef enum WdCmdMsgs__SetLatchBattSelection + { + WD_CMD_MSGS__LATCH_BATT__ON = 0xFF, //!< Enable battery connection + WD_CMD_MSGS__LATCH_BATT__OFF = 0x00, //!< Disable battery connection + WD_CMD_MSGS__LATCH_BATT__UPDATE = 0xAA //!< Pulse latch low-high-low + } WdCmdMsgs__SetLatchBattSelection; -/** - * @brief Possible values of the parameter of the Set Debug Comms State command. - */ -typedef enum WdCmdMsgs__SetDebugCommsSelection -{ - WD_CMD_MSGS__DEBUG_COMMS__ON = 0xFF, //!< Enable Debug Comms - WD_CMD_MSGS__DEBUG_COMMS__OFF = 0x00 //!< Disable Debug Comms -} WdCmdMsgs__SetDebugCommsSelection; + /** + * @brief Possible values of the parameter of the Set Battery Control EN State command. + */ + typedef enum WdCmdMsgs__LatchSetResetSelection + { + WD_CMD_MSGS__LATCH_SET_RESET__OFF = 0x00, //!< + WD_CMD_MSGS__LATCH_SET_RESET__PULSE = 0x15, //!< Pulse high-low-high as an output + WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH = 0xBB, //!< Make an output and drive high + WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW = 0xFF //!< Make an output and drive low + } WdCmdMsgs__LatchSetResetSelection; -/** - * @brief Possible values of the parameter of the Set VSAE State command. - */ -typedef enum WdCmdMsgs__SetVSAESelection -{ - WD_CMD_MSGS__VSAE__ON = 0xFF, //!< Enable VSAE - WD_CMD_MSGS__VSAE__OFF = 0x00, //!< Disable VSAE - WD_CMD_MSGS__VSAE__FORCE_LOW = 0x66 //!< Force VSAE low -} WdCmdMsgs__SetVSAESelection; + /** + * @brief Possible values of the parameter of the Set Debug Comms State command. + */ + typedef enum WdCmdMsgs__SetDebugCommsSelection + { + WD_CMD_MSGS__DEBUG_COMMS__ON = 0xFF, //!< Enable Debug Comms + WD_CMD_MSGS__DEBUG_COMMS__OFF = 0x00 //!< Disable Debug Comms + } WdCmdMsgs__SetDebugCommsSelection; -/** - * @brief The magic number that is expected as the parameter of all of the commands that change the mode. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER = 0x77u; + /** + * @brief Possible values of the parameter of the Set VSAE State command. + */ + typedef enum WdCmdMsgs__SetVSAESelection + { + WD_CMD_MSGS__VSAE__ON = 0xFF, //!< Enable VSAE + WD_CMD_MSGS__VSAE__OFF = 0x00, //!< Disable VSAE + WD_CMD_MSGS__VSAE__FORCE_LOW = 0x66 //!< Force VSAE low + } WdCmdMsgs__SetVSAESelection; -/** - * @brief The magic number that is expected as the parameter of the "Prepare to Deploy" and "Deploy" commands. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER = 0x60u; + /** + * @brief The magic number that is expected as the parameter of all of the commands that change the mode. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER = 0x77u; -/** - * @brief The first magic number expected as a parameter of the "Dangerous Force Battery State" command. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_ONE = 0xF0u; + /** + * @brief The magic number that is expected as the parameter of the "Prepare to Deploy" and "Deploy" commands. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER = 0x60u; -/** - * @brief The second magic number expected as a parameter of the "Dangerous Force Battery State" command. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_TWO = 0x01u; + /** + * @brief The first magic number expected as a parameter of the "Dangerous Force Battery State" command. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_ONE = 0xF0u; -/** - * @brief The first magic number expected as a parameter of the "Clear Reset Memory" command. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_ONE = 0xC7u; + /** + * @brief The second magic number expected as a parameter of the "Dangerous Force Battery State" command. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_TWO = 0x01u; -/** - * @brief The second magic number expected as a parameter of the "Clear Reset Memory" command. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_TWO = 0x19u; + /** + * @brief The first magic number expected as a parameter of the "Clear Reset Memory" command. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_ONE = 0xC7u; -/** - * @brief The magic number that is expected as the parameter of the "Request Detailed Report" command. - */ -static const uint8_t WD_CMD_MSGS__CONFIRM_REQ_DET_REPORT_MAGIC_NUMBER = 0x57u; + /** + * @brief The second magic number expected as a parameter of the "Clear Reset Memory" command. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_TWO = 0x19u; -/** - * @brief The magic number that is expected as the parameter of the "Set Debug Comms State" command. - */ -static const uint8_t WD_CMD_MSGS__SET_DEBUG_COMMS_STATE_MAGIC_NUMBER = 0xCCu; + /** + * @brief The magic number that is expected as the parameter of the "Request Detailed Report" command. + */ + static const uint8_t WD_CMD_MSGS__CONFIRM_REQ_DET_REPORT_MAGIC_NUMBER = 0x57u; -/** - * @brief The magic number that is expected as the parameter of the "Set VSAE State" command. - */ -static const uint8_t WD_CMD_MSGS__SET_VSAE_STATE_MAGIC_NUMBER = 0xBBu; + /** + * @brief The magic number that is expected as the parameter of the "Set Debug Comms State" command. + */ + static const uint8_t WD_CMD_MSGS__SET_DEBUG_COMMS_STATE_MAGIC_NUMBER = 0xCCu; -/** - * @brief The magic number expected as the first byte of the response message. - */ -static const uint8_t WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER = 0x0Au; + /** + * @brief The magic number that is expected as the parameter of the "Set VSAE State" command. + */ + static const uint8_t WD_CMD_MSGS__SET_VSAE_STATE_MAGIC_NUMBER = 0xBBu; -//###################################################################################################################### -// Message Bodies -//###################################################################################################################### + /** + * @brief The magic number expected as the first byte of the response message. + */ + static const uint8_t WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER = 0x0Au; -/** - * @brief The body of a "Reset Specific" command. - */ -typedef struct WdCmdMsgs__MsgBody__ResetSpecific -{ - WdCmdMsgs__ResetSpecificId resetId; //!< The reset value. -} WdCmdMsgs__MsgBody__ResetSpecific; + // ###################################################################################################################### + // Message Bodies + // ###################################################################################################################### -/** - * @brief The body of a "Prepare for Deploy" command. - */ -typedef struct WdCmdMsgs__MsgBody__PrepForDeploy -{ - uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. -} WdCmdMsgs__MsgBody__PrepForDeploy; + /** + * @brief The body of a "Reset Specific" command. + */ + typedef struct WdCmdMsgs__MsgBody__ResetSpecific + { + WdCmdMsgs__ResetSpecificId resetId; //!< The reset value. + } WdCmdMsgs__MsgBody__ResetSpecific; -/** - * @brief The body of a "Deploy" command. - */ -typedef struct WdCmdMsgs__MsgBody__Deploy -{ - uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. -} WdCmdMsgs__MsgBody__Deploy; + /** + * @brief The body of a "Prepare for Deploy" command. + */ + typedef struct WdCmdMsgs__MsgBody__PrepForDeploy + { + uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. + } WdCmdMsgs__MsgBody__PrepForDeploy; -/** - * @brief The body of a "Switch Connection Mode" command. - */ -typedef struct WdCmdMsgs__MsgBody__SwitchConnMode -{ - WdCmdMsgs__SwitchConnModeSelection connMode; //!< The connection mode to switch to. -} WdCmdMsgs__MsgBody__SwitchConnMode; + /** + * @brief The body of a "Deploy" command. + */ + typedef struct WdCmdMsgs__MsgBody__Deploy + { + uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. + } WdCmdMsgs__MsgBody__Deploy; -/** - * @brief The body of a "Set Debug Comms State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetDebugCommsState -{ - uint8_t magic; //!< Must be the expected number to perform this command. - WdCmdMsgs__SetDebugCommsSelection selection; -} WdCmdMsgs__MsgBody__SetDebugCommsState; + /** + * @brief The body of a "Switch Connection Mode" command. + */ + typedef struct WdCmdMsgs__MsgBody__SwitchConnMode + { + WdCmdMsgs__SwitchConnModeSelection connMode; //!< The connection mode to switch to. + } WdCmdMsgs__MsgBody__SwitchConnMode; -/** - * @brief The body of a "Set Auto Heater On Value" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetAutoHeaterOnValue -{ - uint16_t heaterOnValue; //!< The value to use as the automatic heater "on" value. -} WdCmdMsgs__MsgBody__SetAutoHeaterOnValue; + /** + * @brief The body of a "Set Debug Comms State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetDebugCommsState + { + uint8_t magic; //!< Must be the expected number to perform this command. + WdCmdMsgs__SetDebugCommsSelection selection; + } WdCmdMsgs__MsgBody__SetDebugCommsState; -/** - * @brief The body of a "Set Auto Heater Off Value" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetAutoHeaterOffValue -{ - uint16_t heaterOffValue; //!< The value to use as the automatic heater "off" value. -} WdCmdMsgs__MsgBody__SetAutoHeaterOffValue; + /** + * @brief The body of a "Set Auto Heater On Value" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetAutoHeaterOnValue + { + uint16_t heaterOnValue; //!< The value to use as the automatic heater "on" value. + } WdCmdMsgs__MsgBody__SetAutoHeaterOnValue; -/** - * @brief The body of a "Set Heater Duty Cycle Maximum" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetHeaterDutyCycle -{ - uint16_t dutyCycle; //!< The duty cycle value. -} WdCmdMsgs__MsgBody__SetHeaterDutyCycle; + /** + * @brief The body of a "Set Auto Heater Off Value" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetAutoHeaterOffValue + { + uint16_t heaterOffValue; //!< The value to use as the automatic heater "off" value. + } WdCmdMsgs__MsgBody__SetAutoHeaterOffValue; -/** - * @brief The body of a "Set Heater Duty Cycle Period" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod -{ - uint16_t dutyCyclePeriod; //!< The duty cycle period value. -} WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod; + /** + * @brief The body of a "Set Heater Duty Cycle Maximum" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetHeaterDutyCycle + { + uint16_t dutyCycle; //!< The duty cycle value. + } WdCmdMsgs__MsgBody__SetHeaterDutyCycle; -/** - * @brief The body of a "Set Thermister V Setpoint" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetVSAEState -{ - uint8_t magic; //!< Must be the expected number to perform this command. - WdCmdMsgs__SetVSAESelection selection; -} WdCmdMsgs__MsgBody__SetVSAEState; + /** + * @brief The body of a "Set Heater Duty Cycle Period" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod + { + uint16_t dutyCyclePeriod; //!< The duty cycle period value. + } WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod; -/** - * @brief The body of an "Enter Sleep Mode" command. - */ -typedef struct WdCmdMsgs__MsgBody__EnterSleepMode -{ - uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. -} WdCmdMsgs__MsgBody__EnterSleepMode; + /** + * @brief The body of a "Set Thermister V Setpoint" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetVSAEState + { + uint8_t magic; //!< Must be the expected number to perform this command. + WdCmdMsgs__SetVSAESelection selection; + } WdCmdMsgs__MsgBody__SetVSAEState; -/** - * @brief The body of an "Enter Keep Alive Mode" command. - */ -typedef struct WdCmdMsgs__MsgBody__EnterKeepAliveMode -{ - uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. -} WdCmdMsgs__MsgBody__EnterKeepAliveMode; + /** + * @brief The body of an "Enter Sleep Mode" command. + */ + typedef struct WdCmdMsgs__MsgBody__EnterSleepMode + { + uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. + } WdCmdMsgs__MsgBody__EnterSleepMode; -/** - * @brief The body of an "Enter Service Mode" command. - */ -typedef struct WdCmdMsgs__MsgBody__EnterServiceMode -{ - uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. -} WdCmdMsgs__MsgBody__EnterServiceMode; + /** + * @brief The body of an "Enter Keep Alive Mode" command. + */ + typedef struct WdCmdMsgs__MsgBody__EnterKeepAliveMode + { + uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. + } WdCmdMsgs__MsgBody__EnterKeepAliveMode; -/** - * @brief The body of an "Dangerous Force Battery State" command. - */ -typedef struct WdCmdMsgs__MsgBody__DangForceBattState -{ - uint8_t confirmationMagicNumberOne; //!< Must be the first expected magic number for this command to be performed. - uint8_t confirmationMagicNumberTwo; //!< Must be the second expected magic number for this command to be performed. - WdCmdMsgs__DangForceBattStateSelection state; //!< The state to force. -} WdCmdMsgs__MsgBody__DangForceBattState; + /** + * @brief The body of an "Enter Service Mode" command. + */ + typedef struct WdCmdMsgs__MsgBody__EnterServiceMode + { + uint8_t confirmationMagicNumber; //!< Must be the expected magic number for this command to be performed. + } WdCmdMsgs__MsgBody__EnterServiceMode; -/** - * @brief The body of an "Set Charge En State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetChargeEnState -{ - WdCmdMsgs__SetChargeEnSelection selection; //!< The charge enable state to be set. -} WdCmdMsgs__MsgBody__SetChargeEnState; + /** + * @brief The body of an "Dangerous Force Battery State" command. + */ + typedef struct WdCmdMsgs__MsgBody__DangForceBattState + { + uint8_t confirmationMagicNumberOne; //!< Must be the first expected magic number for this command to be performed. + uint8_t confirmationMagicNumberTwo; //!< Must be the second expected magic number for this command to be performed. + WdCmdMsgs__DangForceBattStateSelection state; //!< The state to force. + } WdCmdMsgs__MsgBody__DangForceBattState; -/** - * @brief The body of an "Set Charge Reg En State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetChargeRegEnState -{ - WdCmdMsgs__SetChargeRegEnSelection selection; //!< The charge regulator enable state to be set. -} WdCmdMsgs__MsgBody__SetChargeRegEnState; + /** + * @brief The body of an "Set Charge En State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetChargeEnState + { + WdCmdMsgs__SetChargeEnSelection selection; //!< The charge enable state to be set. + } WdCmdMsgs__MsgBody__SetChargeEnState; -/** - * @brief The body of an "Set Batt En State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetBattEnState -{ - WdCmdMsgs__SetBattEnSelection selection; //!< The battery enable state to be set. -} WdCmdMsgs__MsgBody__SetBattEnState; + /** + * @brief The body of an "Set Charge Reg En State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetChargeRegEnState + { + WdCmdMsgs__SetChargeRegEnSelection selection; //!< The charge regulator enable state to be set. + } WdCmdMsgs__MsgBody__SetChargeRegEnState; -/** - * @brief The body of an "Set Batt Ctrl En State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetBattCtrlEnState -{ - WdCmdMsgs__SetBattCtrlEnSelection selection; //!< The battery control enable state to be set. -} WdCmdMsgs__MsgBody__SetBattCtrlEnState; + /** + * @brief The body of an "Set Batt En State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetBattEnState + { + WdCmdMsgs__SetBattEnSelection selection; //!< The battery enable state to be set. + } WdCmdMsgs__MsgBody__SetBattEnState; -/** - * @brief The body of an "Set Latch Batt State" command. - */ -typedef struct WdCmdMsgs__MsgBody__SetLatchBattState -{ - WdCmdMsgs__SetLatchBattSelection selection; //!< The latch battery state to be set. -} WdCmdMsgs__MsgBody__SetLatchBattState; + /** + * @brief The body of an "Set Batt Ctrl En State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetBattCtrlEnState + { + WdCmdMsgs__SetBattCtrlEnSelection selection; //!< The battery control enable state to be set. + } WdCmdMsgs__MsgBody__SetBattCtrlEnState; -/** - * @brief The body of an "Latch Set Pulse Low" command. - */ -typedef struct WdCmdMsgs__MsgBody__LatchSetPulseLow -{ + /** + * @brief The body of an "Set Latch Batt State" command. + */ + typedef struct WdCmdMsgs__MsgBody__SetLatchBattState + { + WdCmdMsgs__SetLatchBattSelection selection; //!< The latch battery state to be set. + } WdCmdMsgs__MsgBody__SetLatchBattState; + + /** + * @brief The body of an "Latch Set Pulse Low" command. + */ + typedef struct WdCmdMsgs__MsgBody__LatchSetPulseLow + { WdCmdMsgs__LatchSetResetSelection selection; //!< The latch set state to be set. -} WdCmdMsgs__MsgBody__LatchSetPulseLow; + } WdCmdMsgs__MsgBody__LatchSetPulseLow; -/** - * @brief The body of an "Latch Reset Pulse Low" command. - */ -typedef struct WdCmdMsgs__MsgBody__LatchResetPulseLow -{ + /** + * @brief The body of an "Latch Reset Pulse Low" command. + */ + typedef struct WdCmdMsgs__MsgBody__LatchResetPulseLow + { WdCmdMsgs__LatchSetResetSelection selection; //!< The latch reset state to be set. -} WdCmdMsgs__MsgBody__LatchResetPulseLow; + } WdCmdMsgs__MsgBody__LatchResetPulseLow; -/** - * @brief The body of an "Clear Reset Memory" command. - */ -typedef struct WdCmdMsgs__MsgBody__ClearResetMemory -{ - uint8_t magicOne; - uint8_t magicTwo; -} WdCmdMsgs__MsgBody__ClearResetMemory; + /** + * @brief The body of an "Clear Reset Memory" command. + */ + typedef struct WdCmdMsgs__MsgBody__ClearResetMemory + { + uint8_t magicOne; + uint8_t magicTwo; + } WdCmdMsgs__MsgBody__ClearResetMemory; /** * @brief The body of an "Echo" command. */ #define MAX_ECHO_LENGTH 10 -typedef struct WdCmdMsgs__MsgBody__Echo -{ + typedef struct WdCmdMsgs__MsgBody__Echo + { - uint8_t numBytesToEcho; - uint8_t bytesToEcho[MAX_ECHO_LENGTH]; // allocate max space so we don't have to malloc and free it -} WdCmdMsgs__MsgBody__Echo; - -/** - * @brief The body of an "Request Detailed Report" command. - */ -typedef struct WdCmdMsgs__MsgBody__RequestDetailedReport -{ - uint8_t magic; -} WdCmdMsgs__MsgBody__RequestDetailedReport; + uint8_t numBytesToEcho; + uint8_t bytesToEcho[MAX_ECHO_LENGTH]; // allocate max space so we don't have to malloc and free it + } WdCmdMsgs__MsgBody__Echo; -//###################################################################################################################### -// Overall Message Structure -//###################################################################################################################### + /** + * @brief The body of an "Request Detailed Report" command. + */ + typedef struct WdCmdMsgs__MsgBody__RequestDetailedReport + { + uint8_t magic; + } WdCmdMsgs__MsgBody__RequestDetailedReport; -/** - * @brief A union of all message bodies. - * - * Only the body that corresponds to the command ID of a given command should be accessed. - */ -typedef union -{ - WdCmdMsgs__MsgBody__ResetSpecific resetSpecific; - WdCmdMsgs__MsgBody__PrepForDeploy prepForDeploy; - WdCmdMsgs__MsgBody__Deploy deploy; - WdCmdMsgs__MsgBody__SwitchConnMode switchConnMode; - WdCmdMsgs__MsgBody__SetDebugCommsState setDebugCommsState; - WdCmdMsgs__MsgBody__SetAutoHeaterOnValue setAutoHeaterOnValue; - WdCmdMsgs__MsgBody__SetAutoHeaterOffValue setAutoHeaterOffValue; - WdCmdMsgs__MsgBody__SetHeaterDutyCycle setHeaterDutyCycle; - WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod setHeaterDutyCyclePeriod; - WdCmdMsgs__MsgBody__SetVSAEState setVSAEState; - WdCmdMsgs__MsgBody__EnterSleepMode enterSleepMode; - WdCmdMsgs__MsgBody__EnterKeepAliveMode enterKeepAliveMode; - WdCmdMsgs__MsgBody__EnterServiceMode enterServiceMode; - WdCmdMsgs__MsgBody__DangForceBattState dangForceBattState; - WdCmdMsgs__MsgBody__SetChargeEnState setChargeEnState; - WdCmdMsgs__MsgBody__SetChargeRegEnState setChargeRegEnState; - WdCmdMsgs__MsgBody__SetBattEnState setBattEnState; - WdCmdMsgs__MsgBody__SetBattCtrlEnState setBattCtrlEnState; - WdCmdMsgs__MsgBody__SetLatchBattState setLatchBattState; - WdCmdMsgs__MsgBody__LatchSetPulseLow latchSetPulseLow; - WdCmdMsgs__MsgBody__LatchResetPulseLow latchResetPulseLow; - WdCmdMsgs__MsgBody__ClearResetMemory clearResetMem; - WdCmdMsgs__MsgBody__Echo echo; - WdCmdMsgs__MsgBody__RequestDetailedReport reqDetReport; -} WdCmdMsgs__MessageBody; + // ###################################################################################################################### + // Overall Message Structure + // ###################################################################################################################### -/** - * @brief A watchdog command message. - */ -typedef struct WdCmdMsgs__Message -{ - CmdMsgs__CommonHeader commonHeader; //!< The FSW common header. - WdCmdMsgs__CommandId commandId; //!< The command ID. - WdCmdMsgs__MessageBody body; //!< The message body, if `commandId` is a message with a parameter. -} WdCmdMsgs__Message; + /** + * @brief A union of all message bodies. + * + * Only the body that corresponds to the command ID of a given command should be accessed. + */ + typedef union + { + WdCmdMsgs__MsgBody__ResetSpecific resetSpecific; + WdCmdMsgs__MsgBody__PrepForDeploy prepForDeploy; + WdCmdMsgs__MsgBody__Deploy deploy; + WdCmdMsgs__MsgBody__SwitchConnMode switchConnMode; + WdCmdMsgs__MsgBody__SetDebugCommsState setDebugCommsState; + WdCmdMsgs__MsgBody__SetAutoHeaterOnValue setAutoHeaterOnValue; + WdCmdMsgs__MsgBody__SetAutoHeaterOffValue setAutoHeaterOffValue; + WdCmdMsgs__MsgBody__SetHeaterDutyCycle setHeaterDutyCycle; + WdCmdMsgs__MsgBody__SetHeaterDutyCyclePeriod setHeaterDutyCyclePeriod; + WdCmdMsgs__MsgBody__SetVSAEState setVSAEState; + WdCmdMsgs__MsgBody__EnterSleepMode enterSleepMode; + WdCmdMsgs__MsgBody__EnterKeepAliveMode enterKeepAliveMode; + WdCmdMsgs__MsgBody__EnterServiceMode enterServiceMode; + WdCmdMsgs__MsgBody__DangForceBattState dangForceBattState; + WdCmdMsgs__MsgBody__SetChargeEnState setChargeEnState; + WdCmdMsgs__MsgBody__SetChargeRegEnState setChargeRegEnState; + WdCmdMsgs__MsgBody__SetBattEnState setBattEnState; + WdCmdMsgs__MsgBody__SetBattCtrlEnState setBattCtrlEnState; + WdCmdMsgs__MsgBody__SetLatchBattState setLatchBattState; + WdCmdMsgs__MsgBody__LatchSetPulseLow latchSetPulseLow; + WdCmdMsgs__MsgBody__LatchResetPulseLow latchResetPulseLow; + WdCmdMsgs__MsgBody__ClearResetMemory clearResetMem; + WdCmdMsgs__MsgBody__Echo echo; + WdCmdMsgs__MsgBody__RequestDetailedReport reqDetReport; + } WdCmdMsgs__MessageBody; -/** - * @brief A watchdog command response message. - */ -typedef struct WdCmdMsgs__Response -{ - uint8_t magicNumber; //!< Should always be set to `WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER`. - WdCmdMsgs__CommandId commandId; //!< The command ID of the message to which this is a response. - WdCmdMsgs__ResponseStatusCode statusCode; //!< The status of performing the message to which this is a reponse. -} WdCmdMsgs__Response; + /** + * @brief A watchdog command message. + */ + typedef struct WdCmdMsgs__Message + { + CmdMsgs__CommonHeader commonHeader; //!< The FSW common header. + WdCmdMsgs__CommandId commandId; //!< The command ID. + WdCmdMsgs__MessageBody body; //!< The message body, if `commandId` is a message with a parameter. + } WdCmdMsgs__Message; -//###################################################################################################################### -// Packed Sizes -//###################################################################################################################### + /** + * @brief A watchdog command response message. + */ + typedef struct WdCmdMsgs__Response + { + uint8_t magicNumber; //!< Should always be set to `WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER`. + WdCmdMsgs__CommandId commandId; //!< The command ID of the message to which this is a response. + WdCmdMsgs__ResponseStatusCode statusCode; //!< The status of performing the message to which this is a reponse. + } WdCmdMsgs__Response; -/** - * @brief The packed sizes of the body and full message for the various command types as well as the command response. - */ -typedef enum WdCmdMsgs__PackedSize -{ - WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER = CMD_MSGS__PACKED_SIZE__COMMON_HEADER, - - // Bodies - - WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__DEPLOY_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_BODY = sizeof(uint16_t), - WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_BODY = 3 * sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_BODY = sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_BODY = 2 * sizeof(uint8_t), - WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_BODY = sizeof(uint8_t) + MAX_ECHO_LENGTH, // largest possible size - WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_BODY = sizeof(uint8_t), - - - // Full Messages - - WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG = (3 * sizeof(uint8_t)), - - WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_BODY, - WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_BODY, - WD_CMD_MSGS__PACKED_SIZE__DEPLOY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__DEPLOY_BODY, - WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_BODY, - WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_BODY, - WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_BODY, - WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_BODY, - WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_BODY, - WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_BODY, - WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_BODY, - WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_BODY, // maximum possible size - WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_BODY, - - WD_CMD_MSGS__PACKED_SIZE__SMALLEST_MSG = WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_MSG, - WD_CMD_MSGS__PACKED_SIZE__LARGEST_MSG = (WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG > WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG) ? WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG : WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG -} WdCmdMsgs__PackedSize; - -//###################################################################################################################### -// Message Serialization and Deserialization Functions -//###################################################################################################################### + // ###################################################################################################################### + // Packed Sizes + // ###################################################################################################################### + /** + * @brief The packed sizes of the body and full message for the various command types as well as the command response. + */ + typedef enum WdCmdMsgs__PackedSize + { + WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER = CMD_MSGS__PACKED_SIZE__COMMON_HEADER, + + // Bodies + + WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__DEPLOY_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_BODY = sizeof(uint16_t), + WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_BODY = 3 * sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_BODY = sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_BODY = 2 * sizeof(uint8_t), + WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_BODY = sizeof(uint8_t) + MAX_ECHO_LENGTH, // largest possible size + WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_BODY = sizeof(uint8_t), + + // Full Messages + + WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG = (3 * sizeof(uint8_t)), + + WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_BODY, + WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__PREP_FOR_DEPLOY_BODY, + WD_CMD_MSGS__PACKED_SIZE__DEPLOY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__DEPLOY_BODY, + WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SWITCH_CONN_MODE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_DEBUG_COMMS_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_ON_VALUE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_AUTO_HEATER_OFF_VALUE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_HEATER_DUTY_CYCLE_PERIOD_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_VSAE_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_SLEEP_MODE_BODY, + WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_KEEPALIVE_MODE_BODY, + WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ENTER_SERVICE_MODE_BODY, + WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_EN_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_CHARGE_REG_EN_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_EN_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_BATT_CTRL_EN_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__SET_LATCH_BATT_STATE_BODY, + WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__LATCH_SET_PULSE_LOW_BODY, + WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__LATCH_RESET_PULSE_LOW_BODY, + WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__CLEAR_RESET_MEMORY_BODY, + WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_BODY, // maximum possible size + WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_MSG = WD_CMD_MSGS__PACKED_SIZE__COMMON_HEADER + sizeof(uint16_t) + WD_CMD_MSGS__PACKED_SIZE__REQUEST_DETAILED_REPORT_BODY, + + WD_CMD_MSGS__PACKED_SIZE__SMALLEST_MSG = WD_CMD_MSGS__PACKED_SIZE__RESET_SPECIFIC_MSG, + WD_CMD_MSGS__PACKED_SIZE__LARGEST_MSG = (WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG > WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG) ? WD_CMD_MSGS__PACKED_SIZE__ECHO_MAX_MSG : WD_CMD_MSGS__PACKED_SIZE__DANG_FORCE_BATT_STATE_MSG + } WdCmdMsgs__PackedSize; + + // ###################################################################################################################### + // Message Serialization and Deserialization Functions + // ###################################################################################################################### -/** - * @brief Serializes the message in `src` with system endianness into the buffer `dst` with little endianness. - * - * @param src [IN] The response to be serialized. - * @param dst [OUT] The buffer into which the message will be serialized. Must have a large enough size, as determined - * by the value of `dstLen`, of at least WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG bytes. - * @param dstLen [IN] The length of the buffer pointed to by `dst`. - * - * @return One of the following: - * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. - * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. - * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `dst` was too small to hold the serialized message. - * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. - */ -WdCmdMsgs__Status WdCmdMsgs__serializeGroundResponse(const WdCmdMsgs__Response* src, - void* dst, - size_t dstLen); + /** + * @brief Serializes the message in `src` with system endianness into the buffer `dst` with little endianness. + * + * @param src [IN] The response to be serialized. + * @param dst [OUT] The buffer into which the message will be serialized. Must have a large enough size, as determined + * by the value of `dstLen`, of at least WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG bytes. + * @param dstLen [IN] The length of the buffer pointed to by `dst`. + * + * @return One of the following: + * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. + * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. + * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `dst` was too small to hold the serialized message. + * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. + */ + WdCmdMsgs__Status WdCmdMsgs__serializeGroundResponse(const WdCmdMsgs__Response *src, + void *dst, + size_t dstLen); -/** - * @brief Deserializes the message body packed in `src` with little endianness into the struct `dst` with system - * endianness. - * - * The type of body in `src` is determined by `srcMsgId`. - * - * @param srcMsgId [IN] The message ID of the message body type packed in `src`. - * @param src [IN] The buffer containing the packed message body to be deserialized. Must have a size, as determined - * by the value of `srcLen`, that is large enough to fit the message body with the type specified by - * `srcMsgId`. The exact size required varies based on the type of the message body. - * @param srcLen [IN] The length of the buffer pointed to by `src`. - * @param dst [OUT] The struct into which the message body will be deserialized. - * - * @return One of the following: - * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. - * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. - * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `srcLen` was too small to hold the message body. - * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. - */ -WdCmdMsgs__Status -WdCmdMsgs__deserializeBody(WdCmdMsgs__CommandId srcMsgId, - const void* src, - size_t srcLen, - WdCmdMsgs__MessageBody* dst); + /** + * @brief Deserializes the message body packed in `src` with little endianness into the struct `dst` with system + * endianness. + * + * The type of body in `src` is determined by `srcMsgId`. + * + * @param srcMsgId [IN] The message ID of the message body type packed in `src`. + * @param src [IN] The buffer containing the packed message body to be deserialized. Must have a size, as determined + * by the value of `srcLen`, that is large enough to fit the message body with the type specified by + * `srcMsgId`. The exact size required varies based on the type of the message body. + * @param srcLen [IN] The length of the buffer pointed to by `src`. + * @param dst [OUT] The struct into which the message body will be deserialized. + * + * @return One of the following: + * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. + * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. + * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `srcLen` was too small to hold the message body. + * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. + */ + WdCmdMsgs__Status + WdCmdMsgs__deserializeBody(WdCmdMsgs__CommandId srcMsgId, + const void *src, + size_t srcLen, + WdCmdMsgs__MessageBody *dst); -/** - * @brief Deserializes the message packed in `src` with little endianness into the struct `dst` with system endianness. - * - * @param src [IN] The buffer containing the packed message to be deserialized. Must have a size, as determined by the - * value of `srcLen`, that is large enough to fit a message header and the message body whose type is - * specified in the message header. The exact size required varies based on the type of the message. At - * a minimum it must be WD_CMD_MSGS__PACKED_SIZE__SMALLEST_MSG, but it may need to be as large as - * WD_CMD_MSGS__PACKED_SIZE__LARGEST_MSG. - * @param srcLen [IN] The length of the buffer pointed to by `src`. - * @param dst [OUT] The struct into which the message will be deserialized. - * @param deserializeHeader [IN] Whether or not to deserialize the header into `dst->commonHeader`. This can be set to - * false if (for instance) the command header has already been deserialized prior to calling - * this function. - * - * @return One of the following: - * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. - * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. - * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `srcLen` was too small to hold the message. - * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. - */ -WdCmdMsgs__Status -WdCmdMsgs__deserializeMessage(const void* src, - size_t srcLen, - WdCmdMsgs__Message* dst, - BOOL deserializeHeader); + /** + * @brief Deserializes the message packed in `src` with little endianness into the struct `dst` with system endianness. + * + * @param src [IN] The buffer containing the packed message to be deserialized. Must have a size, as determined by the + * value of `srcLen`, that is large enough to fit a message header and the message body whose type is + * specified in the message header. The exact size required varies based on the type of the message. At + * a minimum it must be WD_CMD_MSGS__PACKED_SIZE__SMALLEST_MSG, but it may need to be as large as + * WD_CMD_MSGS__PACKED_SIZE__LARGEST_MSG. + * @param srcLen [IN] The length of the buffer pointed to by `src`. + * @param dst [OUT] The struct into which the message will be deserialized. + * @param deserializeHeader [IN] Whether or not to deserialize the header into `dst->commonHeader`. This can be set to + * false if (for instance) the command header has already been deserialized prior to calling + * this function. + * + * @return One of the following: + * - WD_CMD_MSGS__STATUS__SUCCESS: The function was successful. + * - WD_CMD_MSGS__STATUS__ERROR_NULL: `src` or `dst` was NULL. + * - WD_CMD_MSGS__STATUS__ERROR_BUFFER_TOO_SMALL: `srcLen` was too small to hold the message. + * - WD_CMD_MSGS__STATUS__ERROR_SERIALIZATION_ERROR: A Serialization function call returned an error. + */ + WdCmdMsgs__Status + WdCmdMsgs__deserializeMessage(const void *src, + size_t srcLen, + WdCmdMsgs__Message *dst, + BOOL deserializeHeader); -/** - * @} - */ + /** + * @} + */ #ifdef __cplusplus } /* close extern "C" */ diff --git a/Apps/FlightSoftware/Watchdog/include/drivers/adc.h b/Apps/FlightSoftware/Watchdog/include/drivers/adc.h index 19a71f55e..e3d370d45 100644 --- a/Apps/FlightSoftware/Watchdog/include/drivers/adc.h +++ b/Apps/FlightSoftware/Watchdog/include/drivers/adc.h @@ -16,30 +16,30 @@ extern "C" { #endif -typedef struct AdcValues -{ - volatile uint16_t vLanderSense; - volatile uint16_t battTemp; - volatile uint16_t battRT; - volatile uint16_t vSysAllSense; - volatile uint16_t iSysAllSense; - volatile uint16_t vBattSense; - volatile uint16_t vcc2Point5; - volatile uint16_t vcc2Point8; - volatile uint16_t vcc28; - volatile uint16_t vcc24; - volatile BOOL sampleComplete; -} AdcValues; - -/** - * @brief Initialize ADC hardware. - * Sets up the interrupts and whatnot for ADC. - */ -void adc_init(volatile uint16_t* watchdogFlags); - -BOOL isAdcSampleDone(void); - -BOOL adcCheckVoltageLevels(AdcValues* output); + typedef struct AdcValues + { + volatile uint16_t vLanderSense; + volatile uint16_t battTemp; // charging thermistor + volatile uint16_t battRT; // main heater thermistor + volatile uint16_t vSysAllSense; + volatile uint16_t iSysAllSense; + volatile uint16_t vBattSense; + volatile uint16_t vcc2Point5; + volatile uint16_t vcc2Point8; + volatile uint16_t vcc28; + volatile uint16_t vcc24; + volatile BOOL sampleComplete; + } AdcValues; + + /** + * @brief Initialize ADC hardware. + * Sets up the interrupts and whatnot for ADC. + */ + void adc_init(volatile uint16_t *watchdogFlags); + + BOOL isAdcSampleDone(void); + + BOOL adcCheckVoltageLevels(AdcValues *output); #ifdef __cplusplus } /* close extern "C" */ diff --git a/Apps/FlightSoftware/Watchdog/include/flags.h b/Apps/FlightSoftware/Watchdog/include/flags.h index 2059082c8..6669b76f0 100644 --- a/Apps/FlightSoftware/Watchdog/include/flags.h +++ b/Apps/FlightSoftware/Watchdog/include/flags.h @@ -15,10 +15,10 @@ extern "C" #define FLAG_UART0_RX_PACKET 0x1 #define FLAG_UART1_RX_PACKET 0x2 -#define FLAG_TIMER_TICK 0x8 -#define FLAG_TEMP_LOW 0x10 -#define FLAG_TEMP_HIGH 0x20 -#define FLAG_POWER_ISSUE 0x40 +#define FLAG_TIMER_TICK 0x8 +#define FLAG_TEMP_LOW 0x10 +#define FLAG_TEMP_HIGH 0x20 +#define FLAG_POWER_ISSUE 0x40 #define FLAG_I2C_GAUGE_READING_ACTIVE 0x80 #define WDFLAG_RADIO_KICK 0x0001 @@ -30,102 +30,124 @@ extern "C" #define WDFLAG_UNRESET_MOTOR2 0x0040 #define WDFLAG_UNRESET_MOTOR3 0x0080 #define WDFLAG_UNRESET_MOTOR4 0x0100 -#define WDFLAG_UNRESET_FPGA 0x0200 -#define WDFLAG_UNRESET_3V3 0x0400 -#define WDFLAG_POWER_ON_V_SYS_ALL 0x0800 -#define WDFLAG_HERCULES_KICK 0x1000 -#define WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE 0x2000 +#define WDFLAG_UNRESET_FPGA 0x0200 +#define WDFLAG_UNRESET_3V3 0x0400 +#define WDFLAG_POWER_ON_V_SYS_ALL 0x0800 +#define WDFLAG_HERCULES_KICK 0x1000 +#define WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE 0x2000 -#define WDOPT_MONITOR_HERCULES 0x0001 +#define WDOPT_MONITOR_HERCULES 0x0001 #define ENTER_DEFAULT_LPM LPM1 #define EXIT_DEFAULT_LPM LPM1_EXIT -typedef struct HeaterParams -{ - uint16_t m_kpHeater; - uint16_t m_pwmLimit; - uint16_t m_heaterSetpoint; - uint16_t m_heaterWindow; - uint16_t m_heaterOnVal; - uint16_t m_heaterOffVal; - BOOL m_heating; - BOOL m_heatingControlEnabled; - uint16_t m_heaterDutyCyclePeriod; - uint16_t m_heaterDutyCycle; -} HeaterParams; - -#define DEFAULT_KP_HEATER 500 -#define DEFAULT_PWM_LIMIT 8500 -#define DEFAULT_HEATER_SETPOINT 3325 -#define DEFAULT_HEATER_WINDOW 60 -// 3670 is the -5 deg C thermistor voltage ADC reading -#define DEFAULT_HEATER_ON_VAL 3670 -// 3670 is the 0 deg C thermistor voltage ADC reading -#define DEFAULT_HEATER_OFF_VAL 3352 + typedef enum Heater_ForceState + { + // force the heater to always be on or off (at whatever duty) + // - using specific enums to make it hard to be bitflipped + // into this state. + HEATER_FORCE_ALWAYS_ON = 0xAA, // heater always ON + HEATER_FORCE_ALWAYS_OFF = 0x55, // heater always OFF + HEATER_FORCE_NOTHING = 0xFF // let heater control do its thing + } Heater_ForceState; + + typedef enum HeaterControl_InputSource + { + // force the heater to always be on or off (at whatever duty) + // - using specific enums to make it hard to be bitflipped + // into this state. + HEATER_CONTROL_INPUT_BATT_RT = 0xAA, // Use Normal Battery RT Thermistor (Default) + HEATER_CONTROL_INPUT_CHARGER = 0x55, // Power up the Charging IC, Don't Charge, and use the Charging Thermistor (only as a last ditch effort) + } HeaterControl_InputSource; + + typedef struct HeaterParams + { + uint16_t m_kpHeater; + uint16_t m_pwmLimit; + uint16_t m_heaterSetpoint; + uint16_t m_heaterWindow; + uint16_t m_heaterOnVal; // heater transitions to ON when T ADC < this value + uint16_t m_heaterOffVal; // heater transitions to OFF when T ADC > this value + BOOL m_heating; + BOOL m_heatingControlEnabled; + uint16_t m_heaterDutyCyclePeriod; + uint16_t m_heaterDutyCycle; + BOOL m_thresholdsChanged; // flag that the on or off thresholds have changed since they were last checked + Heater_ForceState m_forceState; // force the heater to always be on or off (at whatever duty) - using specific enums to make it hard to be bitflipped into this state. + HeaterControl_InputSource m_inputSource; // what sensor should drive the heater controller (note, changing this should be accompanied by changing thresholds) + } HeaterParams; + +#define DEFAULT_KP_HEATER 500 // deprecated +#define DEFAULT_PWM_LIMIT 9999 // deprecated +#define DEFAULT_HEATER_SETPOINT 3325 // deprecated +#define DEFAULT_HEATER_WINDOW 60 // deprecated +// 3670 is the -5 deg C thermistor voltage ADC reading - heater transitions to ON when T ADC < this value: +#define DEFAULT_HEATER_ON_VAL 2781 +// 3670 is the 0 deg C thermistor voltage ADC reading - heater transitions to OFF when T ADC > this value: +#define DEFAULT_HEATER_OFF_VAL 2291 #define DEFAULT_HEATING_CONTROL_ENABLED TRUE #define DEFAULT_HEATER_DUTY_CYCLE_PERIOD 10000 -#define DEFAULT_HEATER_DUTY_CYCLE 0 +#define DEFAULT_HEATER_DUTY_CYCLE 8500 -#define GENERIC_BIT_INDEX_TO_TYPE_MASK(type, index) (((type) 1) << ((type) (index))) +#define GENERIC_BIT_INDEX_TO_TYPE_MASK(type, index) (((type)1) << ((type)(index))) #define GENERIC_BIT_INDEX_TO_UINT8_MASK(index) GENERIC_BIT_INDEX_TO_TYPE_MASK(uint8_t, index) #define GENERIC_BIT_INDEX_TO_UINT16_MASK(index) GENERIC_BIT_INDEX_TO_TYPE_MASK(uint16_t, index) #define GENERIC_BIT_INDEX_TO_UINT32_MASK(index) GENERIC_BIT_INDEX_TO_TYPE_MASK(uint32_t, index) #define GENERIC_BIT_INDEX_TO_UINT64_MASK(index) GENERIC_BIT_INDEX_TO_TYPE_MASK(uint64_t, index) #define GENERIC_SET_BIT_IN_UINT8(uintVal, index) \ - uintVal |= ((uint8_t) GENERIC_BIT_INDEX_TO_UINT8_MASK(index)) + uintVal |= ((uint8_t)GENERIC_BIT_INDEX_TO_UINT8_MASK(index)) #define GENERIC_SET_BIT_IN_UINT16(uintVal, index) \ - uintVal |= ((uint16_t) GENERIC_BIT_INDEX_TO_UINT16_MASK(index)) + uintVal |= ((uint16_t)GENERIC_BIT_INDEX_TO_UINT16_MASK(index)) #define GENERIC_SET_BIT_IN_UINT32(uintVal, index) \ - uintVal |= ((uint32_t) GENERIC_BIT_INDEX_TO_UINT32_MASK(index)) + uintVal |= ((uint32_t)GENERIC_BIT_INDEX_TO_UINT32_MASK(index)) #define GENERIC_SET_BIT_IN_UINT64(uintVal, index) \ - uintVal |= ((uint64_t) GENERIC_BIT_INDEX_TO_UINT64_MASK(index)) + uintVal |= ((uint64_t)GENERIC_BIT_INDEX_TO_UINT64_MASK(index)) #define GENERIC_CLEAR_BIT_IN_UINT8(uintVal, index) \ - uintVal &= ~((uint8_t) GENERIC_BIT_INDEX_TO_UINT8_MASK(index)) + uintVal &= ~((uint8_t)GENERIC_BIT_INDEX_TO_UINT8_MASK(index)) #define GENERIC_CLEAR_BIT_IN_UINT16(uintVal, index) \ - uintVal &= ~((uint16_t) GENERIC_BIT_INDEX_TO_UINT16_MASK(index)) + uintVal &= ~((uint16_t)GENERIC_BIT_INDEX_TO_UINT16_MASK(index)) #define GENERIC_CLEAR_BIT_IN_UINT32(uintVal, index) \ - uintVal &= ~((uint32_t) GENERIC_BIT_INDEX_TO_UINT32_MASK(index)) + uintVal &= ~((uint32_t)GENERIC_BIT_INDEX_TO_UINT32_MASK(index)) #define GENERIC_CLEAR_BIT_IN_UINT64(uintVal, index) \ - uintVal &= ~((uint64_t) GENERIC_BIT_INDEX_TO_UINT64_MASK(index)) - -typedef enum OutputPinStatusBitIndices -{ - // These are digital outputs. If the corresponding bit is set, these should be high - OPSBI__V_LANDER_REG_EN = 0, - OPSBI__HEATER, - OPSBI__DEPLOYMENT, - OPSBI__FPGA_KICK_AKA_CAM_SELECT, - OPSBI__LATCH_BATT, - OPSBI__3V3_EN, - OPSBI__HERCULES_ON, - OPSBI__FPGA_ON, - OPSBI__MOTOR_ON, - OPSBI__CHRG_EN, - OPSBI__CHRG_EN_FORCE_HIGH, - OPSBI__BATTERY_EN, - OPSBI__V_SYS_ALL_EN, - OPSBI__V_SYS_ALL_EN_FORCE_LOW, - OPSBI__HERCULES_N_RST, - OPSBI__HERCULES_N_PORRST, - OPSBI__FPGA_N_RST, - OPSBI__RADIO_N_RST, - OPSBI__RADIO_ON, - OPSBI__BMS_BOOT, - OPSBI__LATCH_SET, - OPSBI__LATCH_RESET, - OPSBI__BATT_STAT, - - OPSBI__RADIO_N_RESET_IS_INPUT, - OPSBI__HERCULES_N_RST_IS_INPUT, - OPSBI__HERCULES_N_PORRST_IS_INPUT, - OPSBI__FPGA_N_RST_IS_INPUT, - OPSBI__LATCH_SET_IS_INPUT, - OPSBI__LATCH_RESET_IS_INPUT, - OPSBI__BATT_STAT_IS_INPUT, -} OutputPinStatusBitIndices; + uintVal &= ~((uint64_t)GENERIC_BIT_INDEX_TO_UINT64_MASK(index)) + + typedef enum OutputPinStatusBitIndices + { + // These are digital outputs. If the corresponding bit is set, these should be high + OPSBI__V_LANDER_REG_EN = 0, + OPSBI__HEATER, + OPSBI__DEPLOYMENT, + OPSBI__FPGA_KICK_AKA_CAM_SELECT, + OPSBI__LATCH_BATT, + OPSBI__3V3_EN, + OPSBI__HERCULES_ON, + OPSBI__FPGA_ON, + OPSBI__MOTOR_ON, + OPSBI__CHRG_EN, + OPSBI__CHRG_EN_FORCE_HIGH, + OPSBI__BATTERY_EN, + OPSBI__V_SYS_ALL_EN, + OPSBI__V_SYS_ALL_EN_FORCE_LOW, + OPSBI__HERCULES_N_RST, + OPSBI__HERCULES_N_PORRST, + OPSBI__FPGA_N_RST, + OPSBI__RADIO_N_RST, + OPSBI__RADIO_ON, + OPSBI__BMS_BOOT, + OPSBI__LATCH_SET, + OPSBI__LATCH_RESET, + OPSBI__BATT_STAT, + + OPSBI__RADIO_N_RESET_IS_INPUT, + OPSBI__HERCULES_N_RST_IS_INPUT, + OPSBI__HERCULES_N_PORRST_IS_INPUT, + OPSBI__FPGA_N_RST_IS_INPUT, + OPSBI__LATCH_SET_IS_INPUT, + OPSBI__LATCH_RESET_IS_INPUT, + OPSBI__BATT_STAT_IS_INPUT, + } OutputPinStatusBitIndices; #define OPSBI_MASK(opsbi_index_enum) GENERIC_BIT_INDEX_TO_UINT32_MASK(opsbi_index_enum) #define SET_OPSBI_IN_UINT(opsbiUint, opsbi_index_enum) GENERIC_SET_BIT_IN_UINT32(opsbiUint, opsbi_index_enum) @@ -133,24 +155,24 @@ typedef enum OutputPinStatusBitIndices #define CLEAR_OPSBI_IN_UINT(opsbiUint, opsbi_index_enum) GENERIC_CLEAR_BIT_IN_UINT32(opsbiUint, opsbi_index_enum) #define CLEAR_OPSBI_IN_UINT_PTR(opsbiUintPtr, opsbi_index_enum) CLEAR_OPSBI_IN_UINT(*opsbiUintPtr, opsbi_index_enum) -typedef enum InputPinAndStateBitIndices -{ - // State related things - IPASBI__UART0_INITIALIZED = 0, - IPASBI__UART1_INITIALIZED, - IPASBI__DEPLOYED, - IPASBI__DEPLOYING, - - // These are digital inputs. If the corresponding bit is set, then the input reads high - IPASBI__CHARGE_STAT1, - IPASBI__CHARGE_STAT2, - IPASBI__BATT_STAT, - IPASBI__LATCH_STAT, - IPASBI__PG12, - IPASBI__PG18, - IPASBI__PG33, - IPASBI__PG50, -} InputPinAndStateBitIndices; + typedef enum InputPinAndStateBitIndices + { + // State related things + IPASBI__UART0_INITIALIZED = 0, + IPASBI__UART1_INITIALIZED, + IPASBI__DEPLOYED, + IPASBI__DEPLOYING, + + // These are digital inputs. If the corresponding bit is set, then the input reads high + IPASBI__CHARGE_STAT1, + IPASBI__CHARGE_STAT2, + IPASBI__BATT_STAT, + IPASBI__LATCH_STAT, + IPASBI__PG12, + IPASBI__PG18, + IPASBI__PG33, + IPASBI__PG50, + } InputPinAndStateBitIndices; #define IPASBI_MASK(ipasbi_index_enum) GENERIC_BIT_INDEX_TO_UINT16_MASK(ipasbi_index_enum) #define SET_IPASBI_IN_UINT(ipasbiUint, ipasbi_index_enum) GENERIC_SET_BIT_IN_UINT16(ipasbiUint, ipasbi_index_enum) @@ -158,47 +180,47 @@ typedef enum InputPinAndStateBitIndices #define CLEAR_IPASBI_IN_UINT(ipasbiUint, ipasbi_index_enum) GENERIC_CLEAR_BIT_IN_UINT16(ipasbiUint, ipasbi_index_enum) #define CLEAR_IPASBI_IN_UINT_PTR(ipasbiUintPtr, ipasbi_index_enum) CLEAR_IPASBI_IN_UINT(*ipasbiUintPtr, ipasbi_index_enum) -typedef enum ResetActionBitIndices -{ - RABI__NO_RESET = 0, - RABI__HERCULES_RESET, - RABI__HERCULES_UNRESET, - RABI__HERCULES_POWER_ON, - RABI__HERCULES_POWER_OFF, - RABI__RADIO_RESET, - RABI__RADIO_UNRESET, - RABI__RADIO_POWER_ON, - RABI__RADIO_POWER_OFF, - RABI__CAM_FPGA_RESET, - RABI__CAM_FPGA_UNRESET, - RABI__CAM_FPGA_POWER_ON, - RABI__CAM_FPGA_POWER_OFF, - RABI__ALL_MOTORS_POWER_ON, - RABI__ALL_MOTORS_POWER_OFF, - RABI__3V3_EN_RESET, - RABI__3V3_EN_UNRESET, - RABI__3V3_EN_POWER_ON, - RABI__3V3_EN_POWER_OFF, - RABI__V_SYS_ALL_OFF__RESET, - RABI__V_SYS_ALL_ON__UNRESET, - RABI__V_SYS_ALL_POWER_ON, - RABI__V_SYS_ALL_POWER_OFF, - RABI__HDRM_DEPLOY_SIGNAL_POWER_OFF, - RABI__FPGA_CAM_0_SELECT, - RABI__FPGA_CAM_1_SELECT, - RABI__BATTERY_CHARGE_START, - RABI__BATTERY_CHARGE_STOP, - RABI__RS422_UART_ENABLE, - RABI__RS422_UART_DISABLE, - RABI__AUTO_HEATER_CONTROLLER_ENABLE, - RABI__AUTO_HEATER_CONTROLLER_DISABLE, - RABI__HERCULES_WATCHDOG_ENABLE, - RABI__HERCULES_WATCHDOG_DISABLE, - RABI__BATTERIES_ENABLE, - RABI__BATTERIES_DISABLE, - RABI__HDRM_DEPLOY_SIGNAL_POWER_ON, - RABI__HERCULES_WATCHDOG_RESET -} ResetActionBitIndices; + typedef enum ResetActionBitIndices + { + RABI__NO_RESET = 0, + RABI__HERCULES_RESET, + RABI__HERCULES_UNRESET, + RABI__HERCULES_POWER_ON, + RABI__HERCULES_POWER_OFF, + RABI__RADIO_RESET, + RABI__RADIO_UNRESET, + RABI__RADIO_POWER_ON, + RABI__RADIO_POWER_OFF, + RABI__CAM_FPGA_RESET, + RABI__CAM_FPGA_UNRESET, + RABI__CAM_FPGA_POWER_ON, + RABI__CAM_FPGA_POWER_OFF, + RABI__ALL_MOTORS_POWER_ON, + RABI__ALL_MOTORS_POWER_OFF, + RABI__3V3_EN_RESET, + RABI__3V3_EN_UNRESET, + RABI__3V3_EN_POWER_ON, + RABI__3V3_EN_POWER_OFF, + RABI__V_SYS_ALL_OFF__RESET, + RABI__V_SYS_ALL_ON__UNRESET, + RABI__V_SYS_ALL_POWER_ON, + RABI__V_SYS_ALL_POWER_OFF, + RABI__HDRM_DEPLOY_SIGNAL_POWER_OFF, + RABI__FPGA_CAM_0_SELECT, + RABI__FPGA_CAM_1_SELECT, + RABI__BATTERY_CHARGE_START, + RABI__BATTERY_CHARGE_STOP, + RABI__RS422_UART_ENABLE, + RABI__RS422_UART_DISABLE, + RABI__AUTO_HEATER_CONTROLLER_ENABLE, + RABI__AUTO_HEATER_CONTROLLER_DISABLE, + RABI__HERCULES_WATCHDOG_ENABLE, + RABI__HERCULES_WATCHDOG_DISABLE, + RABI__BATTERIES_ENABLE, + RABI__BATTERIES_DISABLE, + RABI__HDRM_DEPLOY_SIGNAL_POWER_ON, + RABI__HERCULES_WATCHDOG_RESET + } ResetActionBitIndices; #define RABI_MASK(rabi_index_enum) GENERIC_BIT_INDEX_TO_UINT64_MASK(rabi_index_enum) #define SET_RABI_IN_UINT(rabiUint, rabi_index_enum) GENERIC_SET_BIT_IN_UINT64(rabiUint, rabi_index_enum) @@ -206,14 +228,14 @@ typedef enum ResetActionBitIndices #define CLEAR_RABI_IN_UINT(rabiUint, rabi_index_enum) GENERIC_CLEAR_BIT_IN_UINT64(rabiUint, rabi_index_enum) #define CLEAR_RABI_IN_UINT_PTR(rabiUintPtr, rabi_index_enum) CLEAR_RABI_IN_UINT(*rabiUintPtr, rabi_index_enum) -typedef struct WatchdogStateDetails -{ - uint32_t m_outputPinBits; - uint16_t m_inputPinAndStateBits; - uint64_t m_resetActionBits; - uint8_t m_stateAsUint; - HeaterParams m_hParams; -} WatchdogStateDetails; + typedef struct WatchdogStateDetails + { + uint32_t m_outputPinBits; + uint16_t m_inputPinAndStateBits; + uint64_t m_resetActionBits; + uint8_t m_stateAsUint; + HeaterParams m_hParams; + } WatchdogStateDetails; #ifdef __cplusplus } /* close extern "C" */ diff --git a/Apps/FlightSoftware/Watchdog/include/stateMachine/RoverStateBase.hpp b/Apps/FlightSoftware/Watchdog/include/stateMachine/RoverStateBase.hpp index 8083bed00..9e9b1b4f6 100644 --- a/Apps/FlightSoftware/Watchdog/include/stateMachine/RoverStateBase.hpp +++ b/Apps/FlightSoftware/Watchdog/include/stateMachine/RoverStateBase.hpp @@ -11,251 +11,251 @@ namespace iris { class RoverStateBase { - public: - explicit RoverStateBase(RoverState state); + public: + explicit RoverStateBase(RoverState state); - RoverState getState(); + RoverState getState(); - virtual bool canEnterLowPowerMode(RoverContext& theContext); + virtual bool canEnterLowPowerMode(RoverContext &theContext); - // The functions to handle events - virtual RoverState handleLanderData(RoverContext& theContext); - virtual RoverState handleHerculesData(RoverContext& theContext); - virtual RoverState handleHighTemp(RoverContext& theContext); - virtual RoverState handleWdIntRisingEdge(RoverContext& theContext); - virtual RoverState handleWdIntFallingEdge(RoverContext& theContext); + // The functions to handle events + virtual RoverState handleLanderData(RoverContext &theContext); + virtual RoverState handleHerculesData(RoverContext &theContext); + virtual RoverState handleHighTemp(RoverContext &theContext); + virtual RoverState handleWdIntRisingEdge(RoverContext &theContext); + virtual RoverState handleWdIntFallingEdge(RoverContext &theContext); - virtual RoverState handleTimerTick(RoverContext& theContext) = 0; - virtual RoverState handlePowerIssue(RoverContext& theContext) = 0; - virtual RoverState spinOnce(RoverContext& theContext) = 0; + virtual RoverState handleTimerTick(RoverContext &theContext) = 0; + virtual RoverState handlePowerIssue(RoverContext &theContext) = 0; + virtual RoverState spinOnce(RoverContext &theContext) = 0; - virtual RoverState transitionTo(RoverContext& theContext) = 0; + virtual RoverState transitionTo(RoverContext &theContext) = 0; - virtual void enableHerculesComms(RoverContext& theContext); + virtual void enableHerculesComms(RoverContext &theContext); - static void herculesMsgCallback(HercMsgs__Header* header, - uint8_t* payloadBuffer, - size_t payloadSize, - void* userArg); + static void herculesMsgCallback(HercMsgs__Header *header, + uint8_t *payloadBuffer, + size_t payloadSize, + void *userArg); - static void landerMsgCallback(uint8_t* rxDataBuffer, size_t rxDataLen, void* userArg); - - protected: - virtual LanderComms__Status txDownlinkData(RoverContext& theContext, void* data, size_t dataSize, - bool fromHercules=false); - - virtual RoverState handleWdIntEdge(bool rising, RoverContext& theContext); - - virtual void initiateNextI2cAction(RoverContext& theContext); - - virtual void heaterControl(RoverContext& theContext); - - virtual RoverState performWatchdogCommand(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState performResetCommand(RoverContext& theContext, - WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response) = 0; - - virtual RoverState handleUplinkFromLander(RoverContext& theContext, - uint8_t* rxDataBuffer, - size_t rxDataLen); - - virtual RoverState handleStrokeFromHercules(RoverContext& theContext, - HercMsgs__Header* header); - - virtual RoverState handleDownlinkFromHercules(RoverContext& theContext, - HercMsgs__Header* header, - uint8_t* payloadBuffer, - size_t payloadSize); - - virtual RoverState handleDebugFromHercules(RoverContext& theContext, - HercMsgs__Header* header, - uint8_t* payloadBuffer, - size_t payloadSize); - - virtual RoverState handleResetFromHercules(RoverContext& theContext, - HercMsgs__Header* header); - - virtual RoverState pumpMsgsFromLander(RoverContext& theContext); - - virtual RoverState pumpMsgsFromHercules(RoverContext& theContext); - - void sendLanderResponse(RoverContext& theContext, WdCmdMsgs__Response& response); - - // Specific watchdog command handling - virtual RoverState doGndCmdResetSpecific(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdPrepForDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSwitchConnMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetDebugCommsState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetAutoHeaterOnValue(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetAutoHeaterOffValue(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetHeaterDutyCycle(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetHeaterDutyCyclePeriod(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetVSAEState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdEnterSleepMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdEnterKeepAliveMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdEnterServiceMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdDangForceBattState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetChargeEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetChargeRegEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetBattEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetBattCtrlEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdSetLatchBattState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdLatchSetPulseLow(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdLatchResetPulseLow(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdClearResetMemory(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdEcho(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual RoverState doGndCmdRequestDetailedReport(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse); - - virtual void echoToLander(RoverContext& theContext, uint8_t numBytesToEcho, const uint8_t* bytesToEcho); - - virtual void sendDetailedReportToLander(RoverContext& theContext); - - // Specific reset command handling - void doConditionalResetSpecific(RoverContext& theContext, - WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response, - bool allowPowerOn, - bool allowDisableRs422, - bool allowDeploy, - bool allowUndeploy, - bool& needToWriteIoExpander); - - - virtual RoverState handleRadioPowerCycleRadioCommand(RoverContext& theContext); - virtual RoverState handleRadioPowerCycleHerculesCommand(RoverContext& theContext); - virtual RoverState handleRadioExitStasisCommand(RoverContext& theContext); - virtual RoverState handleRadioEnterStasisCommand(RoverContext& theContext); - virtual RoverState handleRadioGotWifiCommand(RoverContext& theContext); - private: - RoverState m_state; - - RoverState m_pumpMsgsFromLanderReturnState; - RoverState m_pumpMsgsFromHerculesReturnState; + static void landerMsgCallback(uint8_t *rxDataBuffer, size_t rxDataLen, void *userArg); + + protected: + virtual LanderComms__Status txDownlinkData(RoverContext &theContext, void *data, size_t dataSize, + bool fromHercules = false); + + virtual RoverState handleWdIntEdge(bool rising, RoverContext &theContext); + + virtual void initiateNextI2cAction(RoverContext &theContext); + + virtual void heaterControl(RoverContext &theContext); + + virtual RoverState performWatchdogCommand(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState performResetCommand(RoverContext &theContext, + WdCmdMsgs__ResetSpecificId resetValue, + WdCmdMsgs__Response *response) = 0; + + virtual RoverState handleUplinkFromLander(RoverContext &theContext, + uint8_t *rxDataBuffer, + size_t rxDataLen); + + virtual RoverState handleStrokeFromHercules(RoverContext &theContext, + HercMsgs__Header *header); + + virtual RoverState handleDownlinkFromHercules(RoverContext &theContext, + HercMsgs__Header *header, + uint8_t *payloadBuffer, + size_t payloadSize); + + virtual RoverState handleDebugFromHercules(RoverContext &theContext, + HercMsgs__Header *header, + uint8_t *payloadBuffer, + size_t payloadSize); + + virtual RoverState handleResetFromHercules(RoverContext &theContext, + HercMsgs__Header *header); + + virtual RoverState pumpMsgsFromLander(RoverContext &theContext); + + virtual RoverState pumpMsgsFromHercules(RoverContext &theContext); + + void sendLanderResponse(RoverContext &theContext, WdCmdMsgs__Response &response); + + // Specific watchdog command handling + virtual RoverState doGndCmdResetSpecific(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdPrepForDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSwitchConnMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetDebugCommsState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetAutoHeaterOnValue(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetAutoHeaterOffValue(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetHeaterDutyCycle(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetHeaterDutyCyclePeriod(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetVSAEState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdEnterSleepMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdEnterKeepAliveMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdEnterServiceMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdDangForceBattState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetChargeEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetChargeRegEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetBattEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetBattCtrlEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdSetLatchBattState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdLatchSetPulseLow(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdLatchResetPulseLow(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdClearResetMemory(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdEcho(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual RoverState doGndCmdRequestDetailedReport(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse); + + virtual void echoToLander(RoverContext &theContext, uint8_t numBytesToEcho, const uint8_t *bytesToEcho); + + virtual void sendDetailedReportToLander(RoverContext &theContext, bool alsoSendHeartbeats = false); + + // Specific reset command handling + void doConditionalResetSpecific(RoverContext &theContext, + WdCmdMsgs__ResetSpecificId resetValue, + WdCmdMsgs__Response *response, + bool allowPowerOn, + bool allowDisableRs422, + bool allowDeploy, + bool allowUndeploy, + bool &needToWriteIoExpander); + + virtual RoverState handleRadioPowerCycleRadioCommand(RoverContext &theContext); + virtual RoverState handleRadioPowerCycleHerculesCommand(RoverContext &theContext); + virtual RoverState handleRadioExitStasisCommand(RoverContext &theContext); + virtual RoverState handleRadioEnterStasisCommand(RoverContext &theContext); + virtual RoverState handleRadioGotWifiCommand(RoverContext &theContext); + + private: + RoverState m_state; + + RoverState m_pumpMsgsFromLanderReturnState; + RoverState m_pumpMsgsFromHerculesReturnState; }; } diff --git a/Apps/FlightSoftware/Watchdog/src/comms/ground_msgs.c b/Apps/FlightSoftware/Watchdog/src/comms/ground_msgs.c index 0dc915785..4cc798035 100644 --- a/Apps/FlightSoftware/Watchdog/src/comms/ground_msgs.c +++ b/Apps/FlightSoftware/Watchdog/src/comms/ground_msgs.c @@ -15,40 +15,48 @@ #define ENABLE_DEBUGGING_PRINT_OF_FAKE_REPORT 0 #define ENABLE_FORMATTED_DEBUG_PRINT 0 -#define CHECK_SERIALIZATION_RESULT(RESULT_VAR) \ - if (0 > RESULT_VAR) { \ +#define CHECK_SERIALIZATION_RESULT(RESULT_VAR) \ + if (0 > RESULT_VAR) \ + { \ return GND_MSGS__STATUS__ERROR__INTERNAL; \ } -GroundMsgs__Status GroundMsgs__generateFlightEarthHeartbeat(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - HeaterParams* hParams, - FlightEarthHeartbeat* hb) +GroundMsgs__Status GroundMsgs__generateFlightEarthHeartbeat(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + HeaterParams *hParams, + FlightEarthHeartbeat *hb) { - if (NULL == i2cReadings || NULL == adcValues || NULL == hb) { + if (NULL == i2cReadings || NULL == adcValues || NULL == hb) + { return GND_MSGS__STATUS__ERROR_NULL; } hb->magicNumber = 0xFF; - hb->batt_charge_telem = (uint8_t) (i2cReadings->batt_charge_telem & 0x7F); + hb->batt_charge_telem = (uint8_t)(i2cReadings->batt_charge_telem & 0x7F); hb->heating = hParams->m_heating ? 1 : 0; - hb->batt_curr_telem = (uint8_t) (i2cReadings->batt_curr_telem & 0x7F); + hb->batt_curr_telem = (uint8_t)(i2cReadings->batt_curr_telem & 0x7F); // send voltage nominal status (1=good, 0=too low) // check if batt voltage is above 16.59 V (~10% above discharge cutoff) - /** @todo Update this threshold **/ - hb->battery_voltage_good = (i2cReadings->raw_battery_voltage[0] > 0x3B) ? 1 : 0; - hb->battTemp = (uint8_t) (adcValues->battTemp >> 4); + // 16.59 * 4095.0 / 3.3 / (274.0+2000.0)*274.0 (NOTE: this thresh is likely + // too high since FM1 RC testing on Earth showed that at 23.80V-VBS, the + // divider was reading low by a factor of 2928/3560, meaning the voltage + // could actually be as high as 20.17V when this alarm sounds). + // Also, note, this is mostly meaningless in KA since the battery is + // disconnected anyway, so we won't be able to read it. + hb->battery_voltage_good = (adcValues->vBattSense > 2480) ? 1 : 0; + hb->battTemp = (uint8_t)(adcValues->battRT >> 4); return GND_MSGS__STATUS__SUCCESS; } -GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - HeaterParams* hParams, +GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + HeaterParams *hParams, uint8_t stateAsUint, - FullEarthHeartbeat* hb) + FullEarthHeartbeat *hb) { - if (NULL == i2cReadings || NULL == adcValues || NULL == hParams || NULL == hb) { + if (NULL == i2cReadings || NULL == adcValues || NULL == hParams || NULL == hb) + { return GND_MSGS__STATUS__ERROR_NULL; } @@ -56,7 +64,7 @@ GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings* hb->magicNumber = 0xFF; // send adc value temperature - hb->battTemp = adcValues->battTemp; + hb->battTemp = adcValues->battRT; // send adc value temperature hb->raw_battery_charge[0] = i2cReadings->raw_battery_charge[0]; @@ -100,32 +108,33 @@ GroundMsgs__Status GroundMsgs__generateFullEarthHeartbeat(I2C_Sensors__Readings* } #define BYTE_TO_BINARY_PATTERN "%c%c%c%c%c%c%c%c" -#define BYTE_TO_BINARY(byte) \ - (byte & 0x80 ? '1' : '0'), \ - (byte & 0x40 ? '1' : '0'), \ - (byte & 0x20 ? '1' : '0'), \ - (byte & 0x10 ? '1' : '0'), \ - (byte & 0x08 ? '1' : '0'), \ - (byte & 0x04 ? '1' : '0'), \ - (byte & 0x02 ? '1' : '0'), \ - (byte & 0x01 ? '1' : '0') - -GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2cReadings, - AdcValues* adcValues, - WatchdogStateDetails* details, - DetailedReport* report, - uint8_t* reportBuffer) +#define BYTE_TO_BINARY(byte) \ + (byte & 0x80 ? '1' : '0'), \ + (byte & 0x40 ? '1' : '0'), \ + (byte & 0x20 ? '1' : '0'), \ + (byte & 0x10 ? '1' : '0'), \ + (byte & 0x08 ? '1' : '0'), \ + (byte & 0x04 ? '1' : '0'), \ + (byte & 0x02 ? '1' : '0'), \ + (byte & 0x01 ? '1' : '0') + +GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings *i2cReadings, + AdcValues *adcValues, + WatchdogStateDetails *details, + DetailedReport *report, + uint8_t *reportBuffer) { static uint8_t sequenceNumber = 0; - if (NULL == i2cReadings || NULL == adcValues || NULL == details || NULL == report) { + if (NULL == i2cReadings || NULL == adcValues || NULL == details || NULL == report) + { return GND_MSGS__STATUS__ERROR_NULL; } // Update values read from digital inputs on WD chip itself (not on I/O expander) readOnChipInputs(); - uint8_t* dstIntPtr = (uint8_t*) reportBuffer; + uint8_t *dstIntPtr = (uint8_t *)reportBuffer; report->magic = 0xD5; @@ -144,14 +153,14 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c report->pg50 = (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG50)) ? 1 : 0; uint8_t data = 0; - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__CHARGE_STAT1)) ? 1 : 0) & 0x1) << 7); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__CHARGE_STAT2)) ? 1 : 0) & 0x1) << 6); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__BATT_STAT)) ? 1 : 0) & 0x1) << 5); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__LATCH_STAT)) ? 1 : 0) & 0x1) << 4); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG12)) ? 1 : 0) & 0x1) << 3); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG18)) ? 1 : 0) & 0x1) << 2); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG33)) ? 1 : 0) & 0x1) << 1); - data |= (uint8_t) ((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG50)) ? 1 : 0) & 0x1) << 0); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__CHARGE_STAT1)) ? 1 : 0) & 0x1) << 7); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__CHARGE_STAT2)) ? 1 : 0) & 0x1) << 6); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__BATT_STAT)) ? 1 : 0) & 0x1) << 5); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__LATCH_STAT)) ? 1 : 0) & 0x1) << 4); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG12)) ? 1 : 0) & 0x1) << 3); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG18)) ? 1 : 0) & 0x1) << 2); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG33)) ? 1 : 0) & 0x1) << 1); + data |= (uint8_t)((((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__PG50)) ? 1 : 0) & 0x1) << 0); serializationResult = Serialization__serializeAs8Bit(&(data), dstIntPtr, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); @@ -163,28 +172,32 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c CHECK_SERIALIZATION_RESULT(serializationResult); dstIntPtr += sizeof(details->m_stateAsUint); - uint8_t deploymentStatus; - if (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__DEPLOYED)) { + if (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__DEPLOYED)) + { report->deploymentStatus = 2; deploymentStatus = 2; - } else if (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__DEPLOYING)) { + } + else if (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__DEPLOYING)) + { report->deploymentStatus = 1; deploymentStatus = 1; - } else { + } + else + { report->deploymentStatus = 0; deploymentStatus = 0; } report->uart0Initialized = (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART0_INITIALIZED)) ? 1 : 0; report->uart1Initialized = (details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART1_INITIALIZED)) ? 1 : 0; - report->adcBattRT = (uint16_t) (adcValues->battRT && 0x0FFF); + report->adcBattRT = (uint16_t)(adcValues->battRT && 0x0FFF); uint16_t data16 = 0; - data16 |= (uint16_t) (((uint16_t) (((uint8_t) deploymentStatus) & 0x3)) << 14); - data16 |= (uint16_t) (((uint16_t) (((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART0_INITIALIZED)) ? 1 : 0) & 0x1)) << 13); - data16 |= (uint16_t) (((uint16_t) (((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART1_INITIALIZED)) ? 1 : 0) & 0x1)) << 12); - data16 |= (uint16_t) (adcValues->battRT && 0x0FFF); + data16 |= (uint16_t)(((uint16_t)(((uint8_t)deploymentStatus) & 0x3)) << 14); + data16 |= (uint16_t)(((uint16_t)(((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART0_INITIALIZED)) ? 1 : 0) & 0x1)) << 13); + data16 |= (uint16_t)(((uint16_t)(((details->m_inputPinAndStateBits & IPASBI_MASK(IPASBI__UART1_INITIALIZED)) ? 1 : 0) & 0x1)) << 12); + data16 |= (uint16_t)(adcValues->battRT && 0x0FFF); serializationResult = Serialization__serializeAs16Bit(&(data16), dstIntPtr, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); @@ -202,56 +215,57 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c CHECK_SERIALIZATION_RESULT(serializationResult); dstIntPtr += sizeof(details->m_outputPinBits); - report->lowerResetActionBits = (uint32_t) (0xFFFFFFFF & (details->m_resetActionBits)); - report->upperResetActionBits = (uint8_t) (((details->m_resetActionBits) >> 32) & 0xFF); + report->lowerResetActionBits = (uint32_t)(0xFFFFFFFF & (details->m_resetActionBits)); + report->upperResetActionBits = (uint8_t)(((details->m_resetActionBits) >> 32) & 0xFF); - uint8_t buffer64bit[8] = { 0 }; + uint8_t buffer64bit[8] = {0}; serializationResult = Serialization__serializeAs64Bit(&(details->m_resetActionBits), buffer64bit, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); - for (int i = 5; i >= 0; i--) { + for (int i = 5; i >= 0; i--) + { *dstIntPtr = buffer64bit[i]; dstIntPtr++; } - report->vLanderSense = (uint8_t) (((adcValues->vLanderSense) >> 5) & 0x7F); // Top 7 bits of 12 - report->battTemp = (uint16_t) (((adcValues->battTemp) >> 3) & 0x1FF); // Top 9 bits of 12 + report->vLanderSense = (uint8_t)(((adcValues->vLanderSense) >> 5) & 0x7F); // Top 7 bits of 12 + report->battTemp = (uint16_t)(((adcValues->battTemp) >> 3) & 0x1FF); // Top 9 bits of 12 data16 = 0; - data16 |= (uint16_t) (((uint16_t) (((adcValues->vLanderSense) >> 5) & 0x7F)) << 9); - data16 |= (uint16_t) (((adcValues->battTemp) >> 3) & 0x1FF); + data16 |= (uint16_t)(((uint16_t)(((adcValues->vLanderSense) >> 5) & 0x7F)) << 9); + data16 |= (uint16_t)(((adcValues->battTemp) >> 3) & 0x1FF); serializationResult = Serialization__serializeAs16Bit(&(data16), dstIntPtr, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); dstIntPtr += sizeof(data16); - report->vSysAllSens = (uint8_t) (((adcValues->vSysAllSense) >> 7) & 0x1F); // Top 5 bits of 12 - report->iSysAllSense = (uint16_t) ((adcValues->iSysAllSense) & 0x1FF); // Bottom 9 bits of 12 - report->vBattSense = (uint16_t) (((adcValues->vBattSense) >> 3) & 0x1FF); // Top 9 bits of 12 - report->vcc24 = (uint8_t) (((adcValues->vcc24) >> 5) & 0x7F); // Top 7 bits of 12 + report->vSysAllSens = (uint8_t)(((adcValues->vSysAllSense) >> 7) & 0x1F); // Top 5 bits of 12 + report->iSysAllSense = (uint16_t)((adcValues->iSysAllSense) & 0x1FF); // Bottom 9 bits of 12 + report->vBattSense = (uint16_t)(((adcValues->vBattSense) >> 3) & 0x1FF); // Top 9 bits of 12 + report->vcc24 = (uint8_t)(((adcValues->vcc24) >> 5) & 0x7F); // Top 7 bits of 12 report->heatingControlEnabled = (details->m_hParams.m_heatingControlEnabled) ? 1 : 0; report->heating = (details->m_hParams.m_heating) ? 1 : 0; uint32_t data32 = 0; - data32 |= (uint32_t) (((uint32_t) (((adcValues->vSysAllSense) >> 7) & 0x1F)) << 27); - data32 |= (uint32_t) (((uint32_t) ((adcValues->iSysAllSense) & 0x1FF)) << 18); - data32 |= (uint32_t) (((uint32_t) (((adcValues->vBattSense) >> 3) & 0x1FF)) << 9); - data32 |= (uint32_t) (((uint32_t) (((adcValues->vcc24) >> 5) & 0x7F)) << 2); - data32 |= (uint32_t) (((details->m_hParams.m_heatingControlEnabled) ? 1 : 0) << 1); - data32 |= (uint32_t) ((details->m_hParams.m_heating) ? 1 : 0); + data32 |= (uint32_t)(((uint32_t)(((adcValues->vSysAllSense) >> 7) & 0x1F)) << 27); + data32 |= (uint32_t)(((uint32_t)((adcValues->iSysAllSense) & 0x1FF)) << 18); + data32 |= (uint32_t)(((uint32_t)(((adcValues->vBattSense) >> 3) & 0x1FF)) << 9); + data32 |= (uint32_t)(((uint32_t)(((adcValues->vcc24) >> 5) & 0x7F)) << 2); + data32 |= (uint32_t)(((details->m_hParams.m_heatingControlEnabled) ? 1 : 0) << 1); + data32 |= (uint32_t)((details->m_hParams.m_heating) ? 1 : 0); serializationResult = Serialization__serializeAs32Bit(&(data32), dstIntPtr, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); dstIntPtr += sizeof(data32); - report->vcc2Point5 = (uint8_t) (((adcValues->vcc2Point5) >> 7) & 0x1F); // Top 5 bits of 12 - report->vcc2Point8 = (uint8_t) (((adcValues->vcc2Point8) >> 7) & 0x1F); // Top 5 bits of 12 - report->vcc28 = (uint8_t) (((adcValues->vcc28) >> 6) & 0x3F); // Top 6 bits of 12 + report->vcc2Point5 = (uint8_t)(((adcValues->vcc2Point5) >> 7) & 0x1F); // Top 5 bits of 12 + report->vcc2Point8 = (uint8_t)(((adcValues->vcc2Point8) >> 7) & 0x1F); // Top 5 bits of 12 + report->vcc28 = (uint8_t)(((adcValues->vcc28) >> 6) & 0x3F); // Top 6 bits of 12 data16 = 0; - data16 |= (uint16_t) (((uint16_t) (((adcValues->vcc2Point5) >> 7) & 0x1F)) << 11); - data16 |= (uint16_t) (((uint16_t) (((adcValues->vcc2Point8) >> 7) & 0x1F)) << 6); - data16 |= (uint16_t) (((adcValues->vcc28) >> 6) & 0x3F); + data16 |= (uint16_t)(((uint16_t)(((adcValues->vcc2Point5) >> 7) & 0x1F)) << 11); + data16 |= (uint16_t)(((uint16_t)(((adcValues->vcc2Point8) >> 7) & 0x1F)) << 6); + data16 |= (uint16_t)(((adcValues->vcc28) >> 6) & 0x3F); serializationResult = Serialization__serializeAs16Bit(&(data16), dstIntPtr, SERIALIZATION__LITTLE_ENDIAN); CHECK_SERIALIZATION_RESULT(serializationResult); @@ -319,7 +333,7 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c dstIntPtr += sizeof(i2cReadings->batt_curr_telem); #if defined(ENABLE_DEBUG_ONLY_CODE) && ENABLE_DEBUGGING_PRINT_OF_FAKE_REPORT - DetailedReport report2 = { 0 }; + DetailedReport report2 = {0}; report2.magic = 0xD5; report2.chargeStat1 = 1; @@ -345,18 +359,18 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c report2.upperResetActionBits = 0; report2.vLanderSense = 0b1111111; // Top 7 bits of 12 - report2.battTemp = 0b110010011; // Top 9 bits of 12 + report2.battTemp = 0b110010011; // Top 9 bits of 12 - report2.vSysAllSens = 0b01110; // Top 5 bits of 12 + report2.vSysAllSens = 0b01110; // Top 5 bits of 12 report2.iSysAllSense = 0b100000111; // Bottom 9 bits of 12 - report2.vBattSense = 0b001100110; // Top 9 bits of 12 - report2.vcc24 = 0b0011100; // Top 7 bits of 12 + report2.vBattSense = 0b001100110; // Top 9 bits of 12 + report2.vcc24 = 0b0011100; // Top 7 bits of 12 report2.heatingControlEnabled = 0; report2.heating = 0; report2.vcc2Point5 = 0b10101; // Top 5 bits of 12 report2.vcc2Point8 = 0b01010; // Top 5 bits of 12 - report2.vcc28 = 0b110011; // Top 6 bits of 12 + report2.vcc28 = 0b110011; // Top 6 bits of 12 report2.kpHeater = 0x0A0B; report2.heaterPwmLimit = 0x0C0D; @@ -381,21 +395,25 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c report2.battChargeTelem = 0x5A; report2.battCurrTelem = 0x5B; - uint8_t *reportView = (uint8_t*) &report2; + uint8_t *reportView = (uint8_t *)&report2; size_t rowLen = 4; size_t numRows = sizeof(report2) / rowLen; - if (sizeof(report2) % rowLen > 0) { + if (sizeof(report2) % rowLen > 0) + { numRows++; } - for (size_t r = 0; r < numRows; ++r) { - DPRINTF_ERR("%s%d: ", (((rowLen * r) <= 9) ? "0" : ""), (int) (rowLen * r)); + for (size_t r = 0; r < numRows; ++r) + { + DPRINTF_ERR("%s%d: ", (((rowLen * r) <= 9) ? "0" : ""), (int)(rowLen * r)); - for (size_t c = 0; c < rowLen; ++c) { + for (size_t c = 0; c < rowLen; ++c) + { size_t i = (rowLen * r) + c; - if (i >= sizeof(report2)) { + if (i >= sizeof(report2)) + { break; } @@ -405,13 +423,16 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c } DPRINTF_ERR("\n"); - for (size_t r = 0; r < numRows; ++r) { - DPRINTF_ERR("%s%d: ", (((rowLen * r) <= 9) ? "0" : ""), (int) (rowLen * r)); + for (size_t r = 0; r < numRows; ++r) + { + DPRINTF_ERR("%s%d: ", (((rowLen * r) <= 9) ? "0" : ""), (int)(rowLen * r)); - for (size_t c = 0; c < rowLen; ++c) { + for (size_t c = 0; c < rowLen; ++c) + { size_t i = (rowLen * r) + c; - if (i >= sizeof(report2)) { + if (i >= sizeof(report2)) + { break; } @@ -425,4 +446,3 @@ GroundMsgs__Status GroundMsgs__generateDetailedReport(I2C_Sensors__Readings* i2c return GND_MSGS__STATUS__SUCCESS; } - diff --git a/Apps/FlightSoftware/Watchdog/src/drivers/adc.c b/Apps/FlightSoftware/Watchdog/src/drivers/adc.c index deceaa80a..cbaeddb1f 100644 --- a/Apps/FlightSoftware/Watchdog/src/drivers/adc.c +++ b/Apps/FlightSoftware/Watchdog/src/drivers/adc.c @@ -30,10 +30,11 @@ * 12-bit: LSB = 0.0008056640625V */ -static AdcValues* outputValues = NULL; -static volatile uint16_t* watchdogFlagsPtr = NULL; +static AdcValues *outputValues = NULL; +static volatile uint16_t *watchdogFlagsPtr = NULL; -void adc_init(volatile uint16_t* watchdogFlags) { +void adc_init(volatile uint16_t *watchdogFlags) +{ watchdogFlagsPtr = watchdogFlags; // configure the ADC module @@ -59,6 +60,7 @@ void adc_init(volatile uint16_t* watchdogFlags) { ADC12CTL3 = 0; // MEM0: P1.4 == V_LANDER_SENS == A4. Use VR+ = VeRef+ buffered, VR- = VeRef- + // ADC12VRSEL_15 is listed in `adc12_b.h` as `ADC12_B_VREFPOS_EXTBUF_VREFNEG_EXTNEG`, so seems right... ADC12MCTL0 = ADC12INCH_4 | ADC12VRSEL_15; // MEM1: P2.4 == BATT_TEMP == A7. Use VR+ = VeRef+ buffered, VR- = VeRef- @@ -100,14 +102,16 @@ BOOL isAdcSampleDone(void) /** * @brief take one sample of the ADC */ -BOOL adcCheckVoltageLevels(AdcValues* output) +BOOL adcCheckVoltageLevels(AdcValues *output) { - if (NULL == output) { + if (NULL == output) + { return FALSE; } // If existing sample isn't done, then we can't trigger a new sample - if (!isAdcSampleDone()) { + if (!isAdcSampleDone()) + { return FALSE; } @@ -126,37 +130,35 @@ BOOL adcCheckVoltageLevels(AdcValues* output) #pragma vector = ADC12_VECTOR __interrupt void ADC12_ISR(void) #elif defined(__GNUC__) -void __attribute__ ((interrupt(ADC12_VECTOR))) ADC12_ISR (void) +void __attribute__((interrupt(ADC12_VECTOR))) ADC12_ISR(void) #else #error Compiler not supported! #endif { - if (NULL == outputValues) { + if (NULL == outputValues) + { return; } - switch (__even_in_range(ADC12IV, ADC12IV_ADC12RDYIFG)) { - case ADC12IV_ADC12IFG9: // ADC12IE9 interrupt - outputValues->vLanderSense = ADC12MEM0; - outputValues->battTemp = ADC12MEM1; - outputValues->battRT = ADC12MEM2; - outputValues->vSysAllSense = ADC12MEM3; - outputValues->iSysAllSense = ADC12MEM4; - outputValues->vBattSense = ADC12MEM5; - outputValues->vcc2Point5 = ADC12MEM6; - outputValues->vcc2Point8 = ADC12MEM7; - outputValues->vcc28 = ADC12MEM8; - outputValues->vcc24 = ADC12MEM9; - outputValues->sampleComplete = TRUE; // update output struct to signal sample is complete. - - *watchdogFlagsPtr |= WDFLAG_ADC_READY; // signal ready to main loop - __low_power_mode_off_on_exit(); - break; - default: - break; + switch (__even_in_range(ADC12IV, ADC12IV_ADC12RDYIFG)) + { + case ADC12IV_ADC12IFG9: // ADC12IE9 interrupt + outputValues->vLanderSense = ADC12MEM0; + outputValues->battTemp = ADC12MEM1; + outputValues->battRT = ADC12MEM2; + outputValues->vSysAllSense = ADC12MEM3; + outputValues->iSysAllSense = ADC12MEM4; + outputValues->vBattSense = ADC12MEM5; + outputValues->vcc2Point5 = ADC12MEM6; + outputValues->vcc2Point8 = ADC12MEM7; + outputValues->vcc28 = ADC12MEM8; + outputValues->vcc24 = ADC12MEM9; + outputValues->sampleComplete = TRUE; // update output struct to signal sample is complete. + + *watchdogFlagsPtr |= WDFLAG_ADC_READY; // signal ready to main loop + __low_power_mode_off_on_exit(); + break; + default: + break; } } - - - - diff --git a/Apps/FlightSoftware/Watchdog/src/drivers/bsp.c b/Apps/FlightSoftware/Watchdog/src/drivers/bsp.c index 0e442b2c7..02ee63d7b 100644 --- a/Apps/FlightSoftware/Watchdog/src/drivers/bsp.c +++ b/Apps/FlightSoftware/Watchdog/src/drivers/bsp.c @@ -8,7 +8,7 @@ #include // uncomment to program MC -//#define PROGRAM_MOTOR_CONTROLLERS +// #define PROGRAM_MOTOR_CONTROLLERS #define PORT1_ENABLED 1 #define PORT2_ENABLED 1 @@ -16,48 +16,70 @@ #define PORT4_ENABLED 1 #define PORTJ_ENABLED 1 -static WatchdogStateDetails* detailsPtr = NULL; +static WatchdogStateDetails *detailsPtr = NULL; -const char* getResetReasonString(void) +const char *getResetReasonString(void) { switch (__even_in_range(SYSRSTIV, SYSRSTIV_MPUSEG3IFG)) { - case SYSRSTIV_NONE: return "None"; - case SYSRSTIV_BOR: return "Brownout (BOR)"; - case SYSRSTIV_RSTNMI: return "RSTIFG RST/NMI (BOR)"; - case SYSRSTIV_DOBOR: return "PMMSWBOR software BOR (BOR)"; - case SYSRSTIV_LPM5WU: return "LPMx.5 wake up (BOR)"; - case SYSRSTIV_SECYV: return "Security violation (BOR)"; - case SYSRSTIV_SVSHIFG: return "SCSHIFG SVSH event (BOR)"; - case SYSRSTIV_DOPOR: return "PMMSWPOR software POR (POR)"; - case SYSRSTIV_WDTTO: return "WDTIFG watchdog timeout (PUC)"; - case SYSRSTIV_WDTPW: return "WDTPW password violation (PUC)"; - case SYSRSTIV_FRCTLPW: return "FRCTLPW password violation (PUC)"; - case SYSRSTIV_UBDIFG: return "Uncorrectable FRAM bit error detection (PUC)"; - case SYSRSTIV_PERF: return "Peripheral area fetch (PUC)"; - case SYSRSTIV_PMMPW: return "PMMPW PMM password violation (PUC)"; - case SYSRSTIV_MPUPW: return "MPUPW MPU password violation (PUC)"; - case SYSRSTIV_CSPW: return "CSPW CS password violation (PUC)"; - case SYSRSTIV_MPUSEGPIFG: return "MPUSEGIPIFG encapsulated IP memory segment violation (PUC)"; - case SYSRSTIV_MPUSEGIIFG: return "MPUSEGIIFG information memory segment violation (PUC)"; - case SYSRSTIV_MPUSEG1IFG: return "MPUSEG1IFG segment 1 memory violation (PUC)"; - case SYSRSTIV_MPUSEG2IFG: return "MPUSEG2IFG segment 2 memory violation (PUC)"; - case SYSRSTIV_MPUSEG3IFG: return "MPUSEG3IFG segment 3 memory violation (PUC)"; - default: return "Unknown"; + case SYSRSTIV_NONE: + return "None"; + case SYSRSTIV_BOR: + return "Brownout (BOR)"; + case SYSRSTIV_RSTNMI: + return "RSTIFG RST/NMI (BOR)"; + case SYSRSTIV_DOBOR: + return "PMMSWBOR software BOR (BOR)"; + case SYSRSTIV_LPM5WU: + return "LPMx.5 wake up (BOR)"; + case SYSRSTIV_SECYV: + return "Security violation (BOR)"; + case SYSRSTIV_SVSHIFG: + return "SCSHIFG SVSH event (BOR)"; + case SYSRSTIV_DOPOR: + return "PMMSWPOR software POR (POR)"; + case SYSRSTIV_WDTTO: + return "WDTIFG watchdog timeout (PUC)"; + case SYSRSTIV_WDTPW: + return "WDTPW password violation (PUC)"; + case SYSRSTIV_FRCTLPW: + return "FRCTLPW password violation (PUC)"; + case SYSRSTIV_UBDIFG: + return "Uncorrectable FRAM bit error detection (PUC)"; + case SYSRSTIV_PERF: + return "Peripheral area fetch (PUC)"; + case SYSRSTIV_PMMPW: + return "PMMPW PMM password violation (PUC)"; + case SYSRSTIV_MPUPW: + return "MPUPW MPU password violation (PUC)"; + case SYSRSTIV_CSPW: + return "CSPW CS password violation (PUC)"; + case SYSRSTIV_MPUSEGPIFG: + return "MPUSEGIPIFG encapsulated IP memory segment violation (PUC)"; + case SYSRSTIV_MPUSEGIIFG: + return "MPUSEGIIFG information memory segment violation (PUC)"; + case SYSRSTIV_MPUSEG1IFG: + return "MPUSEG1IFG segment 1 memory violation (PUC)"; + case SYSRSTIV_MPUSEG2IFG: + return "MPUSEG2IFG segment 2 memory violation (PUC)"; + case SYSRSTIV_MPUSEG3IFG: + return "MPUSEG3IFG segment 3 memory violation (PUC)"; + default: + return "Unknown"; } } /** * @brief Initializes the gpios. */ -void initializeGpios(WatchdogStateDetails* details) +void initializeGpios(WatchdogStateDetails *details) { DEBUG_LOG_NULL_CHECK_RETURN(details, "Parameter is NULL", /* nothing, b/c void return */); detailsPtr = details; - //######################################################################## - // P1 configuration. - //######################################################################## + // ######################################################################## + // P1 configuration. + // ######################################################################## #if PORT1_ENABLED // Start with all as GPIO output (which is the recommended default config for unused pins) P1DIR = 0xFFu; @@ -87,7 +109,6 @@ void initializeGpios(WatchdogStateDetails* details) // Used when the Radio wants to send information to the Watchdog. P1DIR &= ~BIT3; - // P1.4 is connected to the V_LANDER_SENS signal (output of voltage divider for measuring lander voltage being // supplied to us), and is used as an ADC analog input (specifically it is ADC analog input A4). This is the // tertiary function (SEL1 and SEL0 are 1). @@ -113,9 +134,9 @@ void initializeGpios(WatchdogStateDetails* details) P1SEL1 |= BIT7; #endif // PORT1_ENABLED - //######################################################################## - // P2 configuration. - //######################################################################## + // ######################################################################## + // P2 configuration. + // ######################################################################## #if PORT2_ENABLED // Start with all as GPIO input. Unused pins are supposed to be configured as outputs, but due to current draw // issues with P2.0, we initialize all as inputs so that they are high-z and don't allow current draw. We configure @@ -132,7 +153,7 @@ void initializeGpios(WatchdogStateDetails* details) // // TODO >> Don't set this here, as we see large current draw when this mode is set and Hercules is off. << // - //P2SEL1 |= BIT0; + // P2SEL1 |= BIT0; CLEAR_IPASBI_IN_UINT(detailsPtr->m_inputPinAndStateBits, IPASBI__UART0_INITIALIZED); // P2.1 is used as the UART0 (UCA0) RX data line (RXD). This is the secondary function (SEL1 is 1 and SEL0 is 0). @@ -170,7 +191,7 @@ void initializeGpios(WatchdogStateDetails* details) // TODO >> Don't set this here, as we could see large current draw if this mode is set while disconnected from // lander. << // - //P2SEL1 |= BIT5; + // P2SEL1 |= BIT5; CLEAR_IPASBI_IN_UINT(detailsPtr->m_inputPinAndStateBits, IPASBI__UART1_INITIALIZED); // P2.6 is used as the UART1 (UCA1) RX data line (RXD). This is the secondary function (SEL1 is 1 and SEL0 is 0). @@ -187,9 +208,9 @@ void initializeGpios(WatchdogStateDetails* details) P2REN &= ~BIT7; #endif // PORT2_ENABLED - //######################################################################## - // P3 configuration. - //######################################################################## + // ######################################################################## + // P3 configuration. + // ######################################################################## #if PORT3_ENABLED // Start with all as GPIO output (which is the recommended default config for unused pins) P3DIR = 0xFFu; @@ -248,9 +269,9 @@ void initializeGpios(WatchdogStateDetails* details) CLEAR_OPSBI_IN_UINT(detailsPtr->m_outputPinBits, OPSBI__3V3_EN); #endif // PORT3_ENABLED - //######################################################################## - // P4 configuration. - //######################################################################## + // ######################################################################## + // P4 configuration. + // ######################################################################## #if PORT4_ENABLED // Start with all as GPIO output (which is the recommended default config for unused pins) P4DIR = 0xFFu; @@ -317,9 +338,9 @@ void initializeGpios(WatchdogStateDetails* details) P4REN &= ~BIT7; #endif // PORT4_ENABLED - //######################################################################## - // PJ configuration. - //######################################################################## + // ######################################################################## + // PJ configuration. + // ######################################################################## #if PORTJ_ENABLED // Start with all as GPIO output (which is the recommended default config for unused pins) PJDIR = 0xFFu; @@ -410,7 +431,8 @@ void disableWdIntInterrupt(void) } // Return the *current* state of the WD_INT pin: -uint8_t getWdIntState(void){ +uint8_t getWdIntState(void) +{ return P1IN & BIT3; } @@ -525,10 +547,19 @@ void clockInit(void) /** * @brief Enables the heater. (HI = ON) - * TB0CCTL2 is register that toggles PWM output on heater pin + * Lets the TB0.2 timer take control (SEL0=1, SEL1=0) + * TB0CCTL2 is register that toggles PWM output on heater pin. + * Per Table 9-23 in https://www.ti.com/lit/ds/symlink/msp430fr5994.pdf. */ inline void enableHeater(void) { + // For safety against some register having been bitflipped, just reaffirm + // all heater (P2.2) related settings when turning on: + TB0CCR0 = detailsPtr->m_hParams.m_heaterDutyCyclePeriod - 1; + TB0CCTL2 = OUTMOD_7; + TB0CCR2 = detailsPtr->m_hParams.m_heaterDutyCycle; + TB0CTL |= MC__UP; + P2DIR |= BIT2; P2OUT &= ~BIT2; P2SEL0 |= BIT2; P2SEL1 &= ~BIT2; @@ -538,6 +569,7 @@ inline void enableHeater(void) /** * @brief Disables the heater. (LO = OFF) + * Sets pin back to GPIO output (SEL0=0, SEL1=0) low (OFF). */ inline void disableHeater(void) { @@ -883,7 +915,8 @@ inline void startChargingBatteries(void) { // Turn on batteries before charging if not on yet: // (not safe to start charging on an open circuit) - if(!blimp_batteryState()){ + if (!blimp_batteryState()) + { blimp_battEnOn(); } // Enable the charging regulator: @@ -903,15 +936,18 @@ inline void stopChargingBatteries(void) blimp_regEnOff(); } -#define UPDATE_INPUT(detPtr, ipasbi_enum, port, bit) \ - do { \ - if (port & bit) { \ - SET_IPASBI_IN_UINT(detPtr->m_inputPinAndStateBits, ipasbi_enum); \ - } else { \ - CLEAR_IPASBI_IN_UINT(detPtr->m_inputPinAndStateBits, ipasbi_enum); \ - } \ - } while (0) - +#define UPDATE_INPUT(detPtr, ipasbi_enum, port, bit) \ + do \ + { \ + if (port & bit) \ + { \ + SET_IPASBI_IN_UINT(detPtr->m_inputPinAndStateBits, ipasbi_enum); \ + } \ + else \ + { \ + CLEAR_IPASBI_IN_UINT(detPtr->m_inputPinAndStateBits, ipasbi_enum); \ + } \ + } while (0) void readOnChipInputs(void) { diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateBase.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateBase.cpp index 8f7566ebf..5ccc131f9 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateBase.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateBase.cpp @@ -9,6 +9,7 @@ #include "drivers/uart.h" #include "event/event.h" #include "event/event_queue.h" +#include "utils/time.h" #include "comms/ground_msgs.h" #include "watchdog.h" @@ -26,17 +27,17 @@ namespace iris struct CallbackUserArg { - RoverStateBase& m_state; - RoverContext& m_context; + RoverStateBase &m_state; + RoverContext &m_context; - explicit CallbackUserArg(RoverStateBase& state, RoverContext& context) - : m_state(state), m_context(context) - { - } + explicit CallbackUserArg(RoverStateBase &state, RoverContext &context) + : m_state(state), m_context(context) + { + } }; RoverStateBase::RoverStateBase(RoverState state) - : m_state(state) + : m_state(state) { } @@ -45,49 +46,49 @@ namespace iris return m_state; } - bool RoverStateBase::canEnterLowPowerMode(RoverContext& /*theContext*/) + bool RoverStateBase::canEnterLowPowerMode(RoverContext & /*theContext*/) { return true; } - RoverState RoverStateBase::handleHighTemp(RoverContext& theContext) + RoverState RoverStateBase::handleHighTemp(RoverContext &theContext) { return getState(); } - RoverState RoverStateBase::handleWdIntEdge(bool rising, RoverContext& theContext) + RoverState RoverStateBase::handleWdIntEdge(bool rising, RoverContext &theContext) { uint16_t flatDuration = watchdog_get_wd_int_flat_duration(); WdIntMpsm__Status status = WdIntMpsm__processEdge(rising ? TRUE : FALSE, flatDuration); switch (status) { - case WD_INT_MPSM__STATUS__POWER_CYCLE_RADIO: - return handleRadioPowerCycleRadioCommand(theContext); - case WD_INT_MPSM__STATUS__POWER_CYCLE_HERCULES: - return handleRadioPowerCycleHerculesCommand(theContext); - case WD_INT_MPSM__STATUS__PARSED_EXIT_STASIS: - return handleRadioExitStasisCommand(theContext); - case WD_INT_MPSM__STATUS__PARSED_ENTER_STASIS: - return handleRadioEnterStasisCommand(theContext); - case WD_INT_MPSM__STATUS__PARSED_GOT_WIFI: - return handleRadioGotWifiCommand(theContext); + case WD_INT_MPSM__STATUS__POWER_CYCLE_RADIO: + return handleRadioPowerCycleRadioCommand(theContext); + case WD_INT_MPSM__STATUS__POWER_CYCLE_HERCULES: + return handleRadioPowerCycleHerculesCommand(theContext); + case WD_INT_MPSM__STATUS__PARSED_EXIT_STASIS: + return handleRadioExitStasisCommand(theContext); + case WD_INT_MPSM__STATUS__PARSED_ENTER_STASIS: + return handleRadioEnterStasisCommand(theContext); + case WD_INT_MPSM__STATUS__PARSED_GOT_WIFI: + return handleRadioGotWifiCommand(theContext); } return getState(); } - RoverState RoverStateBase::handleWdIntRisingEdge(RoverContext& theContext) + RoverState RoverStateBase::handleWdIntRisingEdge(RoverContext &theContext) { return handleWdIntEdge(true, theContext); } - RoverState RoverStateBase::handleWdIntFallingEdge(RoverContext& theContext) + RoverState RoverStateBase::handleWdIntFallingEdge(RoverContext &theContext) { return handleWdIntEdge(false, theContext); } - RoverState RoverStateBase::handleRadioPowerCycleRadioCommand(RoverContext&) + RoverState RoverStateBase::handleRadioPowerCycleRadioCommand(RoverContext &) { setRadioReset(); powerOffRadio(); @@ -99,7 +100,7 @@ namespace iris return getState(); } - RoverState RoverStateBase::handleRadioPowerCycleHerculesCommand(RoverContext&) + RoverState RoverStateBase::handleRadioPowerCycleHerculesCommand(RoverContext &) { setHerculesReset(); powerOffHercules(); @@ -111,41 +112,42 @@ namespace iris return getState(); } - RoverState RoverStateBase::handleRadioExitStasisCommand(RoverContext&) + RoverState RoverStateBase::handleRadioExitStasisCommand(RoverContext &) { return getState(); } - RoverState RoverStateBase::handleRadioEnterStasisCommand(RoverContext&) + RoverState RoverStateBase::handleRadioEnterStasisCommand(RoverContext &) { return RoverState::ENTERING_STASIS; } - RoverState RoverStateBase::handleRadioGotWifiCommand(RoverContext& theContext) + RoverState RoverStateBase::handleRadioGotWifiCommand(RoverContext &theContext) { DPRINTF("Got WiFi Event.\n"); theContext.gotWifi = true; return getState(); } - LanderComms__Status RoverStateBase::txDownlinkData(RoverContext& theContext, void* data, size_t dataSize, + LanderComms__Status RoverStateBase::txDownlinkData(RoverContext &theContext, void *data, size_t dataSize, bool fromHercules) { LanderComms__Status lcStatus = LANDER_COMMS__STATUS__SUCCESS; // !! TODO !!: Is this the condition we want here? - if (*(theContext.m_persistentDeployed) && HerculesComms__isInitialized(theContext.m_hcState) && !fromHercules) { + if (*(theContext.m_persistentDeployed) && HerculesComms__isInitialized(theContext.m_hcState) && !fromHercules) + { HerculesComms__Status hcStatus = HerculesComms__txDownlinkData(theContext.m_hcState, - (uint8_t *) data, + (uint8_t *)data, dataSize); - lcStatus = (LanderComms__Status) hcStatus; + lcStatus = (LanderComms__Status)hcStatus; } - LanderComms__Status lcStatus2 = LanderComms__txData(theContext.m_lcState, (uint8_t *) data, dataSize); + LanderComms__Status lcStatus2 = LanderComms__txData(theContext.m_lcState, (uint8_t *)data, dataSize); return lcStatus; } - void RoverStateBase::initiateNextI2cAction(RoverContext& theContext) + void RoverStateBase::initiateNextI2cAction(RoverContext &theContext) { // A static value so that we remember the index of the last action we performed. By doing this, we can rotate // through all possibles actions to make sure that a single action repeated with a high frequency doesn't @@ -153,80 +155,87 @@ namespace iris static size_t i = static_cast(I2C_SENSORS__ACTIONS__INACTIVE); // Exit early if we have no queued actions - if (theContext.m_queuedI2cActions == 0) { + if (theContext.m_queuedI2cActions == 0) + { return; } // See what, if anything, is the next action to be performed - for (size_t j = 0; j < static_cast(I2C_SENSORS__ACTIONS__COUNT); ++j) { + for (size_t j = 0; j < static_cast(I2C_SENSORS__ACTIONS__COUNT); ++j) + { size_t actionIndex = i + j; // Wrap around if necessary (in theory only an if should be necessary, but a while loop seems safer) - while (actionIndex >= static_cast(I2C_SENSORS__ACTIONS__COUNT)) { + while (actionIndex >= static_cast(I2C_SENSORS__ACTIONS__COUNT)) + { actionIndex -= static_cast(I2C_SENSORS__ACTIONS__COUNT); } uint16_t actionMask = 1 << actionIndex; // If the corresponding bit in m_queuedI2cActions is set, then we want to perform that action - if ((theContext.m_queuedI2cActions & actionMask) != 0) { + if ((theContext.m_queuedI2cActions & actionMask) != 0) + { // First, initiate the action I2C_Sensors__Action actionEnum = static_cast(actionIndex); I2C_Sensors__Status i2cStatus = I2C_SENSORS__STATUS__SUCCESS_DONE; - switch (actionEnum) { - case I2C_SENSORS__ACTIONS__INACTIVE: - // This is always false in this case, but rechecking this condition makes the resulting output - // more descriptive. - DEBUG_ASSERT_NOT_EQUAL(actionEnum, I2C_SENSORS__ACTIONS__INACTIVE); - break; - - case I2C_SENSORS__ACTIONS__GAUGE_READING: - i2cStatus = I2C_Sensors__initiateGaugeReadings(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__GAUGE_INIT: - i2cStatus = I2C_Sensors__initiateFuelGaugeInitialization(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__WRITE_GAUGE_LOW_POWER: - i2cStatus = I2C_Sensors__initiateWriteLowPower(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__READ_GAUGE_CONTROL_REGISTER: - i2cStatus = I2C_Sensors__initiateReadControl(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__INIT_IO_EXPANDER: - i2cStatus = I2C_Sensors__initiateIoExpanderInitialization(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER: - if (theContext.m_writeCustomIoExpanderValues) { - i2cStatus = I2C_Sensors__initiateWriteIoExpander(theContext.m_queuedIOWritePort0Value, - theContext.m_queuedIOWritePort1Value); - } else { - i2cStatus = I2C_Sensors__initiateWriteIoExpanderCurrentValues(); - } - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - case I2C_SENSORS__ACTIONS__READ_IO_EXPANDER: - i2cStatus = I2C_Sensors__initiateReadIoExpander(); - DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); - break; - - default: - // This is always false in this case, but rechecking this condition makes the resulting output - // more descriptive. - DEBUG_ASSERT(actionEnum >= I2C_SENSORS__ACTIONS__INACTIVE - && actionEnum < I2C_SENSORS__ACTIONS__COUNT); + switch (actionEnum) + { + case I2C_SENSORS__ACTIONS__INACTIVE: + // This is always false in this case, but rechecking this condition makes the resulting output + // more descriptive. + DEBUG_ASSERT_NOT_EQUAL(actionEnum, I2C_SENSORS__ACTIONS__INACTIVE); + break; + + case I2C_SENSORS__ACTIONS__GAUGE_READING: + i2cStatus = I2C_Sensors__initiateGaugeReadings(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__GAUGE_INIT: + i2cStatus = I2C_Sensors__initiateFuelGaugeInitialization(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__WRITE_GAUGE_LOW_POWER: + i2cStatus = I2C_Sensors__initiateWriteLowPower(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__READ_GAUGE_CONTROL_REGISTER: + i2cStatus = I2C_Sensors__initiateReadControl(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__INIT_IO_EXPANDER: + i2cStatus = I2C_Sensors__initiateIoExpanderInitialization(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER: + if (theContext.m_writeCustomIoExpanderValues) + { + i2cStatus = I2C_Sensors__initiateWriteIoExpander(theContext.m_queuedIOWritePort0Value, + theContext.m_queuedIOWritePort1Value); + } + else + { + i2cStatus = I2C_Sensors__initiateWriteIoExpanderCurrentValues(); + } + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + case I2C_SENSORS__ACTIONS__READ_IO_EXPANDER: + i2cStatus = I2C_Sensors__initiateReadIoExpander(); + DEBUG_ASSERT_EQUAL(i2cStatus, I2C_SENSORS__STATUS__SUCCESS_DONE); + break; + + default: + // This is always false in this case, but rechecking this condition makes the resulting output + // more descriptive. + DEBUG_ASSERT(actionEnum >= I2C_SENSORS__ACTIONS__INACTIVE && actionEnum < I2C_SENSORS__ACTIONS__COUNT); } // Then, clear the queued action bit so we don't repeat this action until it is requeued elsewhere @@ -243,26 +252,113 @@ namespace iris } } - void RoverStateBase::heaterControl(RoverContext& theContext) + void RoverStateBase::heaterControl(RoverContext &theContext) { - // voltage, where LSB = 0.0008056640625V - unsigned short thermReading = theContext.m_adcValues.battRT; - HeaterParams& hParams = theContext.m_details.m_hParams; + HeaterParams &hParams = theContext.m_details.m_hParams; + unsigned short thermReading; + if (hParams.m_inputSource == HEATER_CONTROL_INPUT_CHARGER) + { + thermReading = theContext.m_adcValues.battTemp; + } + else + { + // Default case (in case of bitflips, etc.), use normal thermistor: + thermReading = theContext.m_adcValues.battRT; + } - if (thermReading > hParams.m_heaterOnVal) { - // Start heating when temperature drops low enough, which we detect via the ADC reading rising above a - // configured (either via the default value or a value commanded from ground) ADC reading. - enableHeater(); - } else if (thermReading < hParams.m_heaterOffVal) { - // Start heating when temperature rises high enough, which we detect via the ADC reading falling below a - // configured (either via the default value or a value commanded from ground) ADC reading. - disableHeater(); + // Process force states and eject early (nothing more to do): + if (hParams.m_forceState == HEATER_FORCE_ALWAYS_ON) + { + if (!hParams.m_heating) + { + enableHeater(); + } + return; + } + else if (hParams.m_forceState == HEATER_FORCE_ALWAYS_OFF) + { + if (hParams.m_heating) + { + disableHeater(); + } + return; + } + + // Check for threshold changes that need to be handled first: + if (hParams.m_thresholdsChanged) + { + // Ground operators changed the thresholds. Re-evaluate against + // thresholds: + if (thermReading > hParams.m_heaterOnVal) + { + enableHeater(); + } + else if (thermReading < hParams.m_heaterOffVal) + { + disableHeater(); + } + else + { + // We're somewhere in the middle, in which case, for safety, we + // should default to ON. + // NOTE: unless the settings were intentionally configured + // weirdly during mission, there should be no middle ground + // because Toff should be > Ton (that is ADCoff < ADCon b/c NTC) + enableHeater(); + } + hParams.m_thresholdsChanged = false; + } + + // Check for failure cases, in which case, turn the heater ON: + if (thermReading < 5 && Time__getTimeInCentiseconds() > 6000) + { + // if the sensor is giving an ADC reading of basically 0, we + // probably have an open circuit (at max T for the thermistor + // (+155C), we only go as low as ~45). + // NOTE: We provide a 60s grace period for everything to initialize. + // This is way longer than necessary but it's relatively short on + // thermal time-scales so this is fine. + // For safety, enable the heater (unless told explicitly not to do + // so via a force state): + if (!hParams.m_heating) + { + // Let Earth know we're turning on the Heat (this might be during an LOS): + DebugComms__tryPrintfToLanderNonblocking("POSSIBLE BATT_RT THERMISTOR FAILURE DETECTED. ADC < 5. ENABLING HEATER FOR SAFETY. RECOMMEND MANUAL HEATER CONTROL."); + enableHeater(); + } + } + else + { + // Normal controller state machine operation: + if (hParams.m_heating) + { + // In the HEATER_ON state... + if (thermReading < hParams.m_heaterOffVal) + { + // if we should turn OFF and we're not being forced ON, transition to HEATER_OFF + // Start heating when temperature rises high enough, which we detect via the ADC reading falling below a + // configured (either via the default value or a value commanded from ground) ADC reading. + disableHeater(); + } + } + else + { + // In the HEATER_OFF state... + if (thermReading > hParams.m_heaterOnVal) + { + // if we should turn ON and we're not being forced OFF, transition to HEATER_ON + // Start heating when temperature drops low enough, which we detect via the ADC reading rising above a + // configured (either via the default value or a value commanded from ground) ADC reading. + enableHeater(); + } + } } } - void RoverStateBase::enableHerculesComms(RoverContext& theContext) + void RoverStateBase::enableHerculesComms(RoverContext &theContext) { - if (!UART__isInitialized(theContext.m_uart0State)) { + if (!UART__isInitialized(theContext.m_uart0State)) + { UART__Status uartStatus = UART__init0(&(theContext.m_uartConfig), &(theContext.m_uart0State)); @@ -270,7 +366,8 @@ namespace iris DEBUG_ASSERT_EQUAL(UART__STATUS__SUCCESS, uartStatus); } - if (!HerculesComms__isInitialized(theContext.m_hcState)) { + if (!HerculesComms__isInitialized(theContext.m_hcState)) + { HerculesComms__Status hcStatus = HerculesComms__init(&(theContext.m_hcState), theContext.m_uart0State); DEBUG_LOG_CHECK_STATUS(HERCULES_COMMS__STATUS__SUCCESS, hcStatus, "Failed to init Hercules Comms"); DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus); @@ -279,69 +376,72 @@ namespace iris DebugComms__registerHerculesComms(theContext.m_hcState); } - RoverState RoverStateBase::handleLanderData(RoverContext& theContext) + RoverState RoverStateBase::handleLanderData(RoverContext &theContext) { return pumpMsgsFromLander(theContext); } - RoverState RoverStateBase::handleHerculesData(RoverContext& theContext) + RoverState RoverStateBase::handleHerculesData(RoverContext &theContext) { return pumpMsgsFromHercules(theContext); } - void RoverStateBase::herculesMsgCallback(HercMsgs__Header* header, - uint8_t* payloadBuffer, + void RoverStateBase::herculesMsgCallback(HercMsgs__Header *header, + uint8_t *payloadBuffer, size_t payloadSize, - void* userArg) + void *userArg) { - if (nullptr == userArg || nullptr == header || (payloadSize > 0 && NULL == payloadBuffer)) { + if (nullptr == userArg || nullptr == header || (payloadSize > 0 && NULL == payloadBuffer)) + { return; } - CallbackUserArg* args = reinterpret_cast(userArg); + CallbackUserArg *args = reinterpret_cast(userArg); args->m_context.m_watchdogFlags |= WDFLAG_HERCULES_KICK; - switch (header->lowerOpCode) { - case HERCULES_COMMS__MSG_OPCODE__STROKE: - args->m_state.handleStrokeFromHercules(args->m_context, header); - break; - - case HERCULES_COMMS__MSG_OPCODE__DOWNLINK: - args->m_state.handleDownlinkFromHercules(args->m_context, - header, - payloadBuffer, - payloadSize); - break; - - case HERCULES_COMMS__MSG_OPCODE__DEBUG: - args->m_state.handleDebugFromHercules(args->m_context, - header, - payloadBuffer, - payloadSize); - break; - - default: // We assume this is a reset command - args->m_state.handleResetFromHercules(args->m_context, header); - break; + switch (header->lowerOpCode) + { + case HERCULES_COMMS__MSG_OPCODE__STROKE: + args->m_state.handleStrokeFromHercules(args->m_context, header); + break; + + case HERCULES_COMMS__MSG_OPCODE__DOWNLINK: + args->m_state.handleDownlinkFromHercules(args->m_context, + header, + payloadBuffer, + payloadSize); + break; + + case HERCULES_COMMS__MSG_OPCODE__DEBUG: + args->m_state.handleDebugFromHercules(args->m_context, + header, + payloadBuffer, + payloadSize); + break; + + default: // We assume this is a reset command + args->m_state.handleResetFromHercules(args->m_context, header); + break; } } - void RoverStateBase::landerMsgCallback(uint8_t* rxDataBuffer, size_t rxDataLen, void* userArg) + void RoverStateBase::landerMsgCallback(uint8_t *rxDataBuffer, size_t rxDataLen, void *userArg) { // Statically allocate the message structure so that it's not allocated on the stack - static WdCmdMsgs__Message wdMessage = { 0 }; - static WdCmdMsgs__Response response = { 0 }; - static WdCmdMsgs__Response deployNotificationResponse = { 0 }; + static WdCmdMsgs__Message wdMessage = {0}; + static WdCmdMsgs__Response response = {0}; + static WdCmdMsgs__Response deployNotificationResponse = {0}; #pragma diag_push #pragma diag_suppress 770 DEBUG_ASSERT_NOT_EQUAL(nullptr, userArg); #pragma diag_pop - CallbackUserArg* args = reinterpret_cast(userArg); + CallbackUserArg *args = reinterpret_cast(userArg); - if (nullptr == rxDataBuffer) { + if (nullptr == rxDataBuffer) + { //!< @todo reply to lander with this error return; } @@ -351,7 +451,8 @@ namespace iris CmdMsgs__Status cmdStatus = CmdMsgs__deserializeHeader(rxDataBuffer, rxDataLen, &(wdMessage.commonHeader)); DEBUG_ASSERT_EQUAL(CMD_MSGS__STATUS__SUCCESS, cmdStatus); - if (CMD_MSGS__STATUS__SUCCESS != cmdStatus) { + if (CMD_MSGS__STATUS__SUCCESS != cmdStatus) + { // This should only really happen if rxDataLen is the wrong size //!< @todo reply to lander with this error return; @@ -360,7 +461,8 @@ namespace iris // We identify a ground command for WD by checking the "Type Magic" field in the FSW common header. // If the magic number in that field indicates the command is for Watchdog, then it is a ground // command for us. - if (HEADER__TYPE_MAGIC_NUM__WATCHDOG_COMMAND == wdMessage.commonHeader.typeMagicNumber) { + if (HEADER__TYPE_MAGIC_NUM__WATCHDOG_COMMAND == wdMessage.commonHeader.typeMagicNumber) + { // This is a watchdog command. Parse it as such WdCmdMsgs__Status wdCmdStatus = WdCmdMsgs__deserializeMessage(rxDataBuffer, rxDataLen, @@ -368,7 +470,8 @@ namespace iris FALSE); // Don't reparse the header DEBUG_ASSERT_EQUAL(WD_CMD_MSGS__STATUS__SUCCESS, wdCmdStatus); - if (WD_CMD_MSGS__STATUS__SUCCESS != wdCmdStatus) { + if (WD_CMD_MSGS__STATUS__SUCCESS != wdCmdStatus) + { // This should only really happen if rxDataLen is the wrong size //!< @todo reply to lander with this error return; @@ -376,18 +479,21 @@ namespace iris bool sendDeployNotificationResponse = false; args->m_state.m_pumpMsgsFromLanderReturnState = - args->m_state.performWatchdogCommand(args->m_context, - wdMessage, - response, - deployNotificationResponse, - sendDeployNotificationResponse); + args->m_state.performWatchdogCommand(args->m_context, + wdMessage, + response, + deployNotificationResponse, + sendDeployNotificationResponse); - if (sendDeployNotificationResponse) { + if (sendDeployNotificationResponse) + { args->m_state.sendLanderResponse(args->m_context, deployNotificationResponse); } args->m_state.sendLanderResponse(args->m_context, response); - } else { + } + else + { // Anything with "Type Magic" field value that isn't for Watchdog is treated as uplink for Hercules args->m_state.m_pumpMsgsFromLanderReturnState = args->m_state.handleUplinkFromLander(args->m_context, rxDataBuffer, @@ -395,11 +501,11 @@ namespace iris } } - RoverState RoverStateBase::performWatchdogCommand(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::performWatchdogCommand(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // Make sure that by default we don't want to send the deploy notification response sendDeployNotificationResponse = false; @@ -408,256 +514,283 @@ namespace iris response.magicNumber = WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER; response.commandId = msg.commandId; - switch (msg.commandId) { - case WD_CMD_MSGS__CMD_ID__RESET_SPECIFIC: - return doGndCmdResetSpecific(theContext, + switch (msg.commandId) + { + case WD_CMD_MSGS__CMD_ID__RESET_SPECIFIC: + return doGndCmdResetSpecific(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__PREP_FOR_DEPLOY: + /* power on all systems */ + if (msg.body.prepForDeploy.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdPrepForDeploy(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__PREP_FOR_DEPLOY: - /* power on all systems */ - if (msg.body.prepForDeploy.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdPrepForDeploy(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; + case WD_CMD_MSGS__CMD_ID__DEPLOY: + if (msg.body.deploy.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdDeploy(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__DEPLOY: - if (msg.body.deploy.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_DEPLOYMENT_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdDeploy(theContext, + case WD_CMD_MSGS__CMD_ID__SWITCH_CONN_MODE: + return doGndCmdSwitchConnMode(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); - } - break; - - case WD_CMD_MSGS__CMD_ID__SWITCH_CONN_MODE: - return doGndCmdSwitchConnMode(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - case WD_CMD_MSGS__CMD_ID__SET_DEBUG_COMMS_STATE: - if (msg.body.setDebugCommsState.magic != WD_CMD_MSGS__SET_DEBUG_COMMS_STATE_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdSetDebugCommsState(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; - - case WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_ON_VALUE: - return doGndCmdSetAutoHeaterOnValue(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - - case WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_OFF_VALUE: - return doGndCmdSetAutoHeaterOffValue(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - - case WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE: - return doGndCmdSetHeaterDutyCycle(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); + case WD_CMD_MSGS__CMD_ID__SET_DEBUG_COMMS_STATE: + if (msg.body.setDebugCommsState.magic != WD_CMD_MSGS__SET_DEBUG_COMMS_STATE_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdSetDebugCommsState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE_PERIOD: - return doGndCmdSetHeaterDutyCyclePeriod(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - - case WD_CMD_MSGS__CMD_ID__SET_VSAE_STATE: - if (msg.body.setVSAEState.magic != WD_CMD_MSGS__SET_VSAE_STATE_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdSetVSAEState(theContext, + case WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_ON_VALUE: + return doGndCmdSetAutoHeaterOnValue(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); - } - break; - case WD_CMD_MSGS__CMD_ID__ENTER_SLEEP_MODE: - /* Enter sleep mode */ - if (msg.body.enterSleepMode.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdEnterSleepMode(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; + case WD_CMD_MSGS__CMD_ID__SET_AUTO_HEATER_OFF_VALUE: + return doGndCmdSetAutoHeaterOffValue(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); - case WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE: - /* Enter keepalive mode */ - if (msg.body.enterKeepAliveMode.confirmationMagicNumber - != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdEnterKeepAliveMode(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; + case WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE: + return doGndCmdSetHeaterDutyCycle(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); - case WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE: - /* Enter service mode */ - if (msg.body.enterServiceMode.confirmationMagicNumber - != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdEnterServiceMode(theContext, + case WD_CMD_MSGS__CMD_ID__SET_HEATER_DUTY_CYCLE_PERIOD: + return doGndCmdSetHeaterDutyCyclePeriod(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); - } - break; - case WD_CMD_MSGS__CMD_ID__CLEAR_RESET_MEMORY: - if ((msg.body.clearResetMem.magicOne != WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_ONE) || - (msg.body.clearResetMem.magicTwo != WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_TWO)) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdClearResetMemory(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; - - case WD_CMD_MSGS__CMD_ID__DANGEROUS_FORCE_BATT_STATE: - if ((msg.body.dangForceBattState.confirmationMagicNumberOne - != WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_ONE) || - (msg.body.dangForceBattState.confirmationMagicNumberTwo - != WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_TWO)) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdDangForceBattState(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; - - case WD_CMD_MSGS__CMD_ID__ECHO: - return doGndCmdEcho(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - - case WD_CMD_MSGS__CMD_ID__REQUEST_DETAILED_REPORT: - /* Enter service mode */ - if (msg.body.reqDetReport.magic != WD_CMD_MSGS__CONFIRM_REQ_DET_REPORT_MAGIC_NUMBER) { - /* magic bad */ - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - } else { - return doGndCmdRequestDetailedReport(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - } - break; - - case WD_CMD_MSGS__CMD_ID__SET_CHARGE_EN_STATE: - return doGndCmdSetChargeEnState(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); - - case WD_CMD_MSGS__CMD_ID__SET_CHARGE_REG_EN_STATE: - return doGndCmdSetChargeRegEnState(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); + case WD_CMD_MSGS__CMD_ID__SET_VSAE_STATE: + if (msg.body.setVSAEState.magic != WD_CMD_MSGS__SET_VSAE_STATE_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdSetVSAEState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__SET_BATT_EN_STATE: - return doGndCmdSetBattEnState(theContext, + case WD_CMD_MSGS__CMD_ID__ENTER_SLEEP_MODE: + /* Enter sleep mode */ + if (msg.body.enterSleepMode.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdEnterSleepMode(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__SET_BATT_CTRL_EN_STATE: - return doGndCmdSetBattCtrlEnState(theContext, + case WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE: + /* Enter keepalive mode */ + if (msg.body.enterKeepAliveMode.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdEnterKeepAliveMode(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__SET_LATCH_BATT_STATE: - return doGndCmdSetLatchBattState(theContext, - msg, - response, - deployNotificationResponse, - sendDeployNotificationResponse); + case WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE: + /* Enter service mode */ + if (msg.body.enterServiceMode.confirmationMagicNumber != WD_CMD_MSGS__CONFIRM_MODE_CHANGE_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdEnterServiceMode(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__LATCH_SET_PULSE_LOW: - return doGndCmdLatchSetPulseLow(theContext, + case WD_CMD_MSGS__CMD_ID__CLEAR_RESET_MEMORY: + if ((msg.body.clearResetMem.magicOne != WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_ONE) || + (msg.body.clearResetMem.magicTwo != WD_CMD_MSGS__CONFIRM_CLR_RST_MEM_MAGIC_NUMBER_TWO)) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdClearResetMemory(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); + } + break; - case WD_CMD_MSGS__CMD_ID__LATCH_RESET_PULSE_LOW: - return doGndCmdLatchResetPulseLow(theContext, + case WD_CMD_MSGS__CMD_ID__DANGEROUS_FORCE_BATT_STATE: + if ((msg.body.dangForceBattState.confirmationMagicNumberOne != WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_ONE) || + (msg.body.dangForceBattState.confirmationMagicNumberTwo != WD_CMD_MSGS__CONFIRM_DANG_FORCE_BATT_STATE_MAGIC_NUMBER_TWO)) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdDangForceBattState(theContext, msg, response, deployNotificationResponse, sendDeployNotificationResponse); + } + break; + + case WD_CMD_MSGS__CMD_ID__ECHO: + return doGndCmdEcho(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__REQUEST_DETAILED_REPORT: + /* Make sure magic is valid: */ + if (msg.body.reqDetReport.magic != WD_CMD_MSGS__CONFIRM_REQ_DET_REPORT_MAGIC_NUMBER) + { + /* magic bad */ + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + } + else + { + return doGndCmdRequestDetailedReport(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + } + break; + + case WD_CMD_MSGS__CMD_ID__SET_CHARGE_EN_STATE: + return doGndCmdSetChargeEnState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__SET_CHARGE_REG_EN_STATE: + return doGndCmdSetChargeRegEnState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__SET_BATT_EN_STATE: + return doGndCmdSetBattEnState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_ID; - break; + case WD_CMD_MSGS__CMD_ID__SET_BATT_CTRL_EN_STATE: + return doGndCmdSetBattCtrlEnState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__SET_LATCH_BATT_STATE: + return doGndCmdSetLatchBattState(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__LATCH_SET_PULSE_LOW: + return doGndCmdLatchSetPulseLow(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + case WD_CMD_MSGS__CMD_ID__LATCH_RESET_PULSE_LOW: + return doGndCmdLatchResetPulseLow(theContext, + msg, + response, + deployNotificationResponse, + sendDeployNotificationResponse); + + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_ID; + break; } return getState(); } - RoverState RoverStateBase::handleUplinkFromLander(RoverContext& theContext, - uint8_t* rxDataBuffer, + RoverState RoverStateBase::handleUplinkFromLander(RoverContext &theContext, + uint8_t *rxDataBuffer, size_t rxDataLen) { // Anything with "Type Magic" field value that isn't for Watchdog is treated as uplink for Hercules @@ -665,17 +798,18 @@ namespace iris rxDataBuffer, rxDataLen); - if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) { + if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) + { //!< @todo handling? Send response to lander maybe? } return getState(); } - RoverState RoverStateBase::handleStrokeFromHercules(RoverContext& theContext, - HercMsgs__Header* header) + RoverState RoverStateBase::handleStrokeFromHercules(RoverContext &theContext, + HercMsgs__Header *header) { - static uint8_t telemetrySerializationBuffer[16] = { 0 }; + static uint8_t telemetrySerializationBuffer[16] = {0}; #pragma diag_push #pragma diag_suppress 770 @@ -693,20 +827,21 @@ namespace iris telemetrySerializationBuffer, sizeof(telemetrySerializationBuffer)); - if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) { + if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) + { DebugComms__tryPrintfToLanderNonblocking("HerculesComms__txResponseMsg failed with error: %d in " - "RoverStateBase::handleStrokeFromHercules\n", - hcStatus); + "RoverStateBase::handleStrokeFromHercules\n", + hcStatus); } - //HerculesComms__flushTx(theContext.m_hcState); + // HerculesComms__flushTx(theContext.m_hcState); return getState(); } - RoverState RoverStateBase::handleDownlinkFromHercules(RoverContext& theContext, - HercMsgs__Header* header, - uint8_t* payloadBuffer, + RoverState RoverStateBase::handleDownlinkFromHercules(RoverContext &theContext, + HercMsgs__Header *header, + uint8_t *payloadBuffer, size_t payloadSize) { #pragma diag_push @@ -724,10 +859,11 @@ namespace iris nullptr, 0); - if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) { + if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) + { DebugComms__tryPrintfToLanderNonblocking("HerculesComms__txResponseMsg failed with error: %d in " - "RoverStateBase::handleDownlinkFromHercules\n", - hcStatus); + "RoverStateBase::handleDownlinkFromHercules\n", + hcStatus); } // 2) Send data to lander @@ -735,14 +871,14 @@ namespace iris DEBUG_LOG_CHECK_STATUS(LANDER_COMMS__STATUS__SUCCESS, lcStatus, "Downlink failed"); - //LanderComms__flushTx(theContext.m_lcState); + // LanderComms__flushTx(theContext.m_lcState); return getState(); } - RoverState RoverStateBase::handleDebugFromHercules(RoverContext& theContext, - HercMsgs__Header* header, - uint8_t* payloadBuffer, + RoverState RoverStateBase::handleDebugFromHercules(RoverContext &theContext, + HercMsgs__Header *header, + uint8_t *payloadBuffer, size_t payloadSize) { #pragma diag_push @@ -758,8 +894,8 @@ namespace iris return getState(); } - RoverState RoverStateBase::handleResetFromHercules(RoverContext& theContext, - HercMsgs__Header* header) + RoverState RoverStateBase::handleResetFromHercules(RoverContext &theContext, + HercMsgs__Header *header) { #pragma diag_push #pragma diag_suppress 770 @@ -767,7 +903,7 @@ namespace iris #pragma diag_pop // For Reset_Specific we want to do the reset, then reply to Hercules - WdCmdMsgs__ResetSpecificId resetValue = (WdCmdMsgs__ResetSpecificId) header->resetValue; + WdCmdMsgs__ResetSpecificId resetValue = (WdCmdMsgs__ResetSpecificId)header->resetValue; RoverState result = performResetCommand(theContext, resetValue, nullptr); @@ -776,54 +912,57 @@ namespace iris nullptr, 0); - if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) { + if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) + { DebugComms__tryPrintfToLanderNonblocking("HerculesComms__txResponseMsg failed with error: %d in " - "RoverStateBase::handleResetFromHercules\n", - hcStatus); + "RoverStateBase::handleResetFromHercules\n", + hcStatus); } return result; } - RoverState RoverStateBase::pumpMsgsFromLander(RoverContext& theContext) + RoverState RoverStateBase::pumpMsgsFromLander(RoverContext &theContext) { m_pumpMsgsFromLanderReturnState = getState(); CallbackUserArg args(*this, theContext); LanderComms__Status lcStatus = LanderComms__tryGetMessage(theContext.m_lcState, RoverStateBase::landerMsgCallback, - (void*) &args); + (void *)&args); DEBUG_ASSERT_EQUAL(LANDER_COMMS__STATUS__SUCCESS, lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo logging? } return m_pumpMsgsFromLanderReturnState; } - RoverState RoverStateBase::pumpMsgsFromHercules(RoverContext& theContext) + RoverState RoverStateBase::pumpMsgsFromHercules(RoverContext &theContext) { m_pumpMsgsFromHerculesReturnState = getState(); CallbackUserArg args(*this, theContext); HerculesComms__Status hcStatus = HerculesComms__tryGetMessage(theContext.m_hcState, RoverStateBase::herculesMsgCallback, - (void*) &args); + (void *)&args); - //DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus); - if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) { + // DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus); + if (HERCULES_COMMS__STATUS__SUCCESS != hcStatus) + { DebugComms__tryPrintfToLanderNonblocking("HerculesComms__tryGetMessage failed with error: %d in " - "RoverStateBase::pumpMsgsFromHercules\n", - hcStatus); + "RoverStateBase::pumpMsgsFromHercules\n", + hcStatus); } return m_pumpMsgsFromHerculesReturnState; } - void RoverStateBase::sendLanderResponse(RoverContext& theContext, WdCmdMsgs__Response& response) + void RoverStateBase::sendLanderResponse(RoverContext &theContext, WdCmdMsgs__Response &response) { - static uint8_t responseSerializationBuffer[WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG] = { 0 }; + static uint8_t responseSerializationBuffer[WD_CMD_MSGS__PACKED_SIZE__RESPONSE_MSG] = {0}; WdCmdMsgs__Status wdCmdStatus = WdCmdMsgs__serializeGroundResponse(&response, responseSerializationBuffer, @@ -832,445 +971,463 @@ namespace iris DEBUG_ASSERT_EQUAL(WD_CMD_MSGS__STATUS__SUCCESS, wdCmdStatus); LanderComms__Status lcStatus = txDownlinkData(theContext, - responseSerializationBuffer, - sizeof(responseSerializationBuffer)); + responseSerializationBuffer, + sizeof(responseSerializationBuffer)); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo handling? } } // Specific watchdog command handling - RoverState RoverStateBase::doGndCmdResetSpecific(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdResetSpecific(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { return performResetCommand(theContext, msg.body.resetSpecific.resetId, &response); } - RoverState RoverStateBase::doGndCmdPrepForDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdPrepForDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Default to not being in the right state to transition to mission mode */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Default to not being in the right state to transition to deploy */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdSwitchConnMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSwitchConnMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { //!< @todo IMPLEMENT! response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdSetDebugCommsState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetDebugCommsState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setDebugCommsState.selection) { - case WD_CMD_MSGS__DEBUG_COMMS__ON: - DebugComms__setEnabled(TRUE); - DebugComms__tryPrintfToLanderNonblocking("Debug comms enabled\n"); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setDebugCommsState.selection) + { + case WD_CMD_MSGS__DEBUG_COMMS__ON: + DebugComms__setEnabled(TRUE); + DebugComms__tryPrintfToLanderNonblocking("Debug comms enabled\n"); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__DEBUG_COMMS__OFF: - DebugComms__tryPrintfToLanderNonblocking("Disabling debug comms\n"); - DebugComms__setEnabled(FALSE); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__DEBUG_COMMS__OFF: + DebugComms__tryPrintfToLanderNonblocking("Disabling debug comms\n"); + DebugComms__setEnabled(FALSE); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetAutoHeaterOnValue(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetAutoHeaterOnValue(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { theContext.m_details.m_hParams.m_heaterOnVal = msg.body.setAutoHeaterOnValue.heaterOnValue; + // Flag that the thresholds have changed: + theContext.m_details.m_hParams.m_thresholdsChanged = true; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdSetAutoHeaterOffValue(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetAutoHeaterOffValue(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { theContext.m_details.m_hParams.m_heaterOffVal = msg.body.setAutoHeaterOffValue.heaterOffValue; + // Flag that the thresholds have changed: + theContext.m_details.m_hParams.m_thresholdsChanged = true; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdSetHeaterDutyCycle(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetHeaterDutyCycle(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - const uint16_t& newDutyCycle = msg.body.setHeaterDutyCycle.dutyCycle; - if (newDutyCycle <= theContext.m_details.m_hParams.m_heaterDutyCyclePeriod) { + const uint16_t &newDutyCycle = msg.body.setHeaterDutyCycle.dutyCycle; + // NOTE: TB0CCR0 (max count) is set to m_heaterDutyCyclePeriod-1 (so we need to be < that). + if (newDutyCycle < theContext.m_details.m_hParams.m_heaterDutyCyclePeriod) + { TB0CCR2 = newDutyCycle; theContext.m_details.m_hParams.m_heaterDutyCycle = newDutyCycle; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - } else { + } + else + { response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetHeaterDutyCyclePeriod(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetHeaterDutyCyclePeriod(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { TB0CCR0 = msg.body.setHeaterDutyCyclePeriod.dutyCyclePeriod; theContext.m_details.m_hParams.m_heaterDutyCyclePeriod = - msg.body.setHeaterDutyCyclePeriod.dutyCyclePeriod; + msg.body.setHeaterDutyCyclePeriod.dutyCyclePeriod; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdSetVSAEState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetVSAEState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setVSAEState.selection) { - case WD_CMD_MSGS__VSAE__ON: - blimp_vSysAllEnOn(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setVSAEState.selection) + { + case WD_CMD_MSGS__VSAE__ON: + blimp_vSysAllEnOn(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__VSAE__OFF: - blimp_vSysAllEnOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__VSAE__OFF: + blimp_vSysAllEnOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__VSAE__FORCE_LOW: - blimp_vSysAllEnForceLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__VSAE__FORCE_LOW: + blimp_vSysAllEnForceLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdEnterSleepMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdEnterSleepMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // Sleep mode is deprecated so always return that we're in the wrong state to transition to sleep. response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdEnterKeepAliveMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdEnterKeepAliveMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Default to not being in the right state to transition to keep alive mode */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdEnterServiceMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdEnterServiceMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Default to not being in the right state to transition to service mode */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdDangForceBattState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdDangForceBattState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.dangForceBattState.state) { - case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__LOW: - blimp_bstat_dangerous_forceLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.dangForceBattState.state) + { + case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__LOW: + blimp_bstat_dangerous_forceLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__HIGH: - blimp_bstat_dangerous_forceHigh(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__HIGH: + blimp_bstat_dangerous_forceHigh(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__RESTORE: - blimp_bstat_safe_restoreInput(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__DANG_FORCE_BATT_STATE__RESTORE: + blimp_bstat_safe_restoreInput(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetChargeEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetChargeEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setChargeEnState.selection) { - case WD_CMD_MSGS__CHARGE_EN__ON: - blimp_chargerEnOn(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setChargeEnState.selection) + { + case WD_CMD_MSGS__CHARGE_EN__ON: + blimp_chargerEnOn(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__CHARGE_EN__OFF: - blimp_chargerEnOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__CHARGE_EN__OFF: + blimp_chargerEnOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__CHARGE_EN__FORCE_HIGH: - blimp_chargerEnForceHigh(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__CHARGE_EN__FORCE_HIGH: + blimp_chargerEnForceHigh(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetChargeRegEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetChargeRegEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setChargeRegEnState.selection) { - case WD_CMD_MSGS__CHARGE_REG_EN__ON: - blimp_regEnOn(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setChargeRegEnState.selection) + { + case WD_CMD_MSGS__CHARGE_REG_EN__ON: + blimp_regEnOn(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__CHARGE_REG_EN__OFF: - blimp_regEnOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__CHARGE_REG_EN__OFF: + blimp_regEnOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetBattEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetBattEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setBattEnState.selection) { - case WD_CMD_MSGS__BATT_EN__ON: - blimp_battEnOn(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setBattEnState.selection) + { + case WD_CMD_MSGS__BATT_EN__ON: + blimp_battEnOn(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__BATT_EN__OFF: - blimp_battEnOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__BATT_EN__OFF: + blimp_battEnOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdSetBattCtrlEnState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetBattCtrlEnState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; return getState(); } - RoverState RoverStateBase::doGndCmdSetLatchBattState(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdSetLatchBattState(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.setLatchBattState.selection) { - case WD_CMD_MSGS__LATCH_BATT__ON: - blimp_latchBattOn(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.setLatchBattState.selection) + { + case WD_CMD_MSGS__LATCH_BATT__ON: + blimp_latchBattOn(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_BATT__OFF: - blimp_latchBattOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_BATT__OFF: + blimp_latchBattOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_BATT__UPDATE: - blimp_latchBattUpdate(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_BATT__UPDATE: + blimp_latchBattUpdate(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdLatchSetPulseLow(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdLatchSetPulseLow(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.latchSetPulseLow.selection) { - case WD_CMD_MSGS__LATCH_SET_RESET__OFF: - blimp_latchSetOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.latchSetPulseLow.selection) + { + case WD_CMD_MSGS__LATCH_SET_RESET__OFF: + blimp_latchSetOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__PULSE: - blimp_latchSetPulseLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__PULSE: + blimp_latchSetPulseLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH: - blimp_latchSetHigh(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH: + blimp_latchSetHigh(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW: - blimp_latchSetLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW: + blimp_latchSetLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdLatchResetPulseLow(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdLatchResetPulseLow(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (msg.body.latchResetPulseLow.selection) { - case WD_CMD_MSGS__LATCH_SET_RESET__OFF: - blimp_latchResetOff(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + switch (msg.body.latchResetPulseLow.selection) + { + case WD_CMD_MSGS__LATCH_SET_RESET__OFF: + blimp_latchResetOff(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__PULSE: - blimp_latchResetPulseLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__PULSE: + blimp_latchResetPulseLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH: - blimp_latchResetHigh(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_HIGH: + blimp_latchResetHigh(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW: - blimp_latchResetLow(); - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - break; + case WD_CMD_MSGS__LATCH_SET_RESET__FORCE_LOW: + blimp_latchResetLow(); + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + break; - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; } return getState(); } - RoverState RoverStateBase::doGndCmdClearResetMemory(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdClearResetMemory(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { theContext.m_details.m_resetActionBits = 0; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdEcho(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdEcho(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { echoToLander(theContext, msg.body.echo.numBytesToEcho, msg.body.echo.bytesToEcho); response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - RoverState RoverStateBase::doGndCmdRequestDetailedReport(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateBase::doGndCmdRequestDetailedReport(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { theContext.m_sendDetailedReport = true; response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return getState(); } - void RoverStateBase::echoToLander(RoverContext& theContext, uint8_t numBytesToEcho, const uint8_t* bytesToEcho) + void RoverStateBase::echoToLander(RoverContext &theContext, uint8_t numBytesToEcho, const uint8_t *bytesToEcho) { /* settings */ static const char ECHO_HEADER[] = "ECHO: "; @@ -1289,41 +1446,65 @@ namespace iris /* send echo */ LanderComms__Status lcStatus = txDownlinkData(theContext, ECHO_BUFFER, - (ECHO_HEADER_SIZE+numBytesToEcho)); + (ECHO_HEADER_SIZE + numBytesToEcho)); DEBUG_ASSERT_EQUAL(LANDER_COMMS__STATUS__SUCCESS, lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? // just an echo so we can probably just ignore it. Ground will just try again. } } - void RoverStateBase::sendDetailedReportToLander(RoverContext& theContext) + void RoverStateBase::sendDetailedReportToLander(RoverContext &theContext, bool alsoSendHeartbeats) { /* send detailed report */ - static DetailedReport report = { 0 }; - static uint8_t reportBuffer[sizeof(DetailedReport)] = { 0 }; + static DetailedReport report = {0}; + static uint8_t reportBuffer[sizeof(DetailedReport)] = {0}; GroundMsgs__Status gcStatus = - GroundMsgs__generateDetailedReport(&(theContext.m_i2cReadings), - &(theContext.m_adcValues), - &(theContext.m_details), - &report, - reportBuffer); + GroundMsgs__generateDetailedReport(&(theContext.m_i2cReadings), + &(theContext.m_adcValues), + &(theContext.m_details), + &report, + reportBuffer); DEBUG_ASSERT_EQUAL(GND_MSGS__STATUS__SUCCESS, gcStatus); LanderComms__Status lcStatus = txDownlinkData(theContext, - (uint8_t*) &report, - sizeof(report)); + (uint8_t *)&report, + sizeof(report)); DEBUG_ASSERT_EQUAL(LANDER_COMMS__STATUS__SUCCESS, lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? } + if (alsoSendHeartbeats) + { + static FlightEarthHeartbeat hb = {0}; + GroundMsgs__Status gcStatus = + GroundMsgs__generateFlightEarthHeartbeat(&(theContext.m_i2cReadings), + &(theContext.m_adcValues), + &(theContext.m_details.m_hParams), + &hb); + + assert(GND_MSGS__STATUS__SUCCESS == gcStatus); + + LanderComms__Status lcHbStatus = txDownlinkData(theContext, + (uint8_t *)&hb, + sizeof(hb)); + + assert(LANDER_COMMS__STATUS__SUCCESS == lcHbStatus); + if (LANDER_COMMS__STATUS__SUCCESS != lcHbStatus) + { + //!< @todo Handling? + } + } + #if DEBUG_REPORT DebugComms_printfToLander("\n"); - DebugComms__printDataAsHexToLander((uint8_t*) &report, sizeof(DetailedReport), FALSE); + DebugComms__printDataAsHexToLander((uint8_t *)&report, sizeof(DetailedReport), FALSE); DebugComms_printfToLander("chargeStat1: %u, ", report.chargeStat1); DebugComms_printfToLander("chargeStat2: %u, ", report.chargeStat2); DebugComms_printfToLander("battStat: %u, ", report.battStat); @@ -1367,312 +1548,405 @@ namespace iris #endif // DEBUG_REPORT } - void RoverStateBase::doConditionalResetSpecific(RoverContext& theContext, + void RoverStateBase::doConditionalResetSpecific(RoverContext &theContext, WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response, + WdCmdMsgs__Response *response, bool allowPowerOn, bool allowDisableRs422, bool allowDeploy, bool allowUndeploy, - bool& writeIoExpander) + bool &writeIoExpander) { - if (nullptr != response) { + if (nullptr != response) + { // Default to success, change if necessary response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; } writeIoExpander = false; - switch (resetValue) { - case WD_CMD_MSGS__RESET_ID__NO_RESET: - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__NO_RESET); - break; - - case WD_CMD_MSGS__RESET_ID__HERCULES_RESET: - //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. - setHerculesReset(); - writeIoExpander = true; - // queue up hercules unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_HERCULES; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_RESET); - break; - - case WD_CMD_MSGS__RESET_ID__HERCULES_POWER_ON: - if (allowPowerOn) { - powerOnHercules(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__HERCULES_POWER_OFF: - powerOffHercules(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_POWER_OFF); - break; - - case WD_CMD_MSGS__RESET_ID__RADIO_RESET: - //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. - setRadioReset(); - writeIoExpander = true; - // queue up an radio unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_RADIO1; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_RESET); - break; - - case WD_CMD_MSGS__RESET_ID__RADIO_POWER_ON: - if (allowPowerOn) { - powerOnRadio(); - writeIoExpander = true; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__RADIO_POWER_OFF: - powerOffRadio(); - writeIoExpander = true; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_POWER_OFF); - break; - - case WD_CMD_MSGS__RESET_ID__CAM_FPGA_RESET: - //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. - setFPGAReset(); - writeIoExpander = true; - // queue up the fpga unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_FPGA; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_RESET); - break; - - case WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_ON: - if (allowPowerOn) { - powerOnFpga(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_OFF: - powerOffFpga(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_POWER_OFF); - break; - - case WD_CMD_MSGS__RESET_ID__MOTOR_1_RESET: - setMotor1Reset(); - writeIoExpander = true; - // queue up the motor 1 unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR1; - break; - - case WD_CMD_MSGS__RESET_ID__MOTOR_2_RESET: - setMotor2Reset(); - writeIoExpander = true; - // queue up the motor 2 unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR2; - break; - - case WD_CMD_MSGS__RESET_ID__MOTOR_3_RESET: - setMotor3Reset(); - writeIoExpander = true; - // queue up the motor 3 unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR3; - break; - - case WD_CMD_MSGS__RESET_ID__MOTOR_4_RESET: - setMotor4Reset(); - writeIoExpander = true; - // queue up the motor 4 unreset - theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR4; - break; - - case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_RESET: - setMotorsReset(); + switch (resetValue) + { + case WD_CMD_MSGS__RESET_ID__NO_RESET: + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__NO_RESET); + break; + + case WD_CMD_MSGS__RESET_ID__HERCULES_RESET: + //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. + setHerculesReset(); + writeIoExpander = true; + // queue up hercules unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_HERCULES; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_RESET); + break; + + case WD_CMD_MSGS__RESET_ID__HERCULES_POWER_ON: + if (allowPowerOn) + { + powerOnHercules(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; + + case WD_CMD_MSGS__RESET_ID__HERCULES_POWER_OFF: + powerOffHercules(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_POWER_OFF); + break; + + case WD_CMD_MSGS__RESET_ID__RADIO_RESET: + //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. + setRadioReset(); + writeIoExpander = true; + // queue up an radio unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_RADIO1; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_RESET); + break; + + case WD_CMD_MSGS__RESET_ID__RADIO_POWER_ON: + if (allowPowerOn) + { + powerOnRadio(); writeIoExpander = true; - // queue up all the motor unresets - theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR1 | WDFLAG_UNRESET_MOTOR2 | - WDFLAG_UNRESET_MOTOR3 | WDFLAG_UNRESET_MOTOR4; - break; - - case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_ON: - if (allowPowerOn) { - powerOnMotors(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__ALL_MOTORS_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_OFF: - powerOffMotors(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__ALL_MOTORS_POWER_OFF); - break; - - case WD_CMD_MSGS__RESET_ID__3_3V_EN_RESET: - if (allowPowerOn) { - disable3V3PowerRail(); - // queue up 3V3 rail on again - theContext.m_watchdogFlags |= WDFLAG_UNRESET_3V3; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_RESET); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; + + case WD_CMD_MSGS__RESET_ID__RADIO_POWER_OFF: + powerOffRadio(); + writeIoExpander = true; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RADIO_POWER_OFF); + break; + + case WD_CMD_MSGS__RESET_ID__CAM_FPGA_RESET: + //!< @todo Should reset be allowed in KeepAlive? It's not technically powering on, but its similar. + setFPGAReset(); + writeIoExpander = true; + // queue up the fpga unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_FPGA; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_RESET); + break; + + case WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_ON: + if (allowPowerOn) + { + powerOnFpga(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; + + case WD_CMD_MSGS__RESET_ID__CAM_FPGA_POWER_OFF: + powerOffFpga(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__CAM_FPGA_POWER_OFF); + break; + + case WD_CMD_MSGS__RESET_ID__MOTOR_1_RESET: + setMotor1Reset(); + writeIoExpander = true; + // queue up the motor 1 unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR1; + break; + + case WD_CMD_MSGS__RESET_ID__MOTOR_2_RESET: + setMotor2Reset(); + writeIoExpander = true; + // queue up the motor 2 unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR2; + break; + + case WD_CMD_MSGS__RESET_ID__MOTOR_3_RESET: + setMotor3Reset(); + writeIoExpander = true; + // queue up the motor 3 unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR3; + break; + + case WD_CMD_MSGS__RESET_ID__MOTOR_4_RESET: + setMotor4Reset(); + writeIoExpander = true; + // queue up the motor 4 unreset + theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR4; + break; + + case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_RESET: + setMotorsReset(); + writeIoExpander = true; + // queue up all the motor unresets + theContext.m_watchdogFlags |= WDFLAG_UNRESET_MOTOR1 | WDFLAG_UNRESET_MOTOR2 | + WDFLAG_UNRESET_MOTOR3 | WDFLAG_UNRESET_MOTOR4; + break; + + case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_ON: + if (allowPowerOn) + { + powerOnMotors(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__ALL_MOTORS_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_ON: - if (allowPowerOn) { - blimp_vSysAllEnOn(); - enable3V3PowerRail(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + case WD_CMD_MSGS__RESET_ID__ALL_MOTORS_POWER_OFF: + powerOffMotors(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__ALL_MOTORS_POWER_OFF); + break; - case WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_OFF: + case WD_CMD_MSGS__RESET_ID__3_3V_EN_RESET: + if (allowPowerOn) + { disable3V3PowerRail(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_POWER_OFF); - break; + // queue up 3V3 rail on again + theContext.m_watchdogFlags |= WDFLAG_UNRESET_3V3; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_RESET); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_POWER_CYCLE: - if (allowPowerOn) { - disableVSysAllPowerRail(); - // queue up VSA rail on again - theContext.m_watchdogFlags |= WDFLAG_POWER_ON_V_SYS_ALL; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_OFF__RESET); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + case WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_ON: + if (allowPowerOn) + { + blimp_vSysAllEnOn(); + enable3V3PowerRail(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_ON: - if (allowPowerOn) { - enableVSysAllPowerRail(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + case WD_CMD_MSGS__RESET_ID__3_3V_EN_POWER_OFF: + disable3V3PowerRail(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__3V3_EN_POWER_OFF); + break; - case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_OFF: + case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_POWER_CYCLE: + if (allowPowerOn) + { disableVSysAllPowerRail(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_POWER_OFF); - break; - - case WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_OFF: - if (allowUndeploy) { - unsetDeploy(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HDRM_DEPLOY_SIGNAL_POWER_OFF); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__FPGA_CAM_0_SELECT: - fpgaCameraSelectLo(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__FPGA_CAM_0_SELECT); - break; - - case WD_CMD_MSGS__RESET_ID__FPGA_CAM_1_SELECT: - fpgaCameraSelectHi(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__FPGA_CAM_1_SELECT); - break; + // queue up VSA rail on again + theContext.m_watchdogFlags |= WDFLAG_POWER_ON_V_SYS_ALL; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_OFF__RESET); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_START: - startChargingBatteries(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERY_CHARGE_START); - break; + case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_ON: + if (allowPowerOn) + { + enableVSysAllPowerRail(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_STOP: - stopChargingBatteries(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERY_CHARGE_STOP); - break; + case WD_CMD_MSGS__RESET_ID__V_SYS_ALL_OFF: + disableVSysAllPowerRail(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__V_SYS_ALL_POWER_OFF); + break; - case WD_CMD_MSGS__RESET_ID__RS422_UART_ENABLE: + case WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_OFF: + if (allowUndeploy) + { + unsetDeploy(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HDRM_DEPLOY_SIGNAL_POWER_OFF); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; + + case WD_CMD_MSGS__RESET_ID__FPGA_CAM_0_SELECT: + fpgaCameraSelectLo(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__FPGA_CAM_0_SELECT); + break; + + case WD_CMD_MSGS__RESET_ID__FPGA_CAM_1_SELECT: + fpgaCameraSelectHi(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__FPGA_CAM_1_SELECT); + break; + + case WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_START: + startChargingBatteries(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERY_CHARGE_START); + break; + + case WD_CMD_MSGS__RESET_ID__BATTERY_CHARGE_STOP: + stopChargingBatteries(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERY_CHARGE_STOP); + break; + + case WD_CMD_MSGS__RESET_ID__RS422_UART_ENABLE: + //!< @todo IMPLEMENT + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RS422_UART_ENABLE); + break; + + case WD_CMD_MSGS__RESET_ID__RS422_UART_DISABLE: + if (allowDisableRs422) + { //!< @todo IMPLEMENT - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RS422_UART_ENABLE); - break; - - case WD_CMD_MSGS__RESET_ID__RS422_UART_DISABLE: - if (allowDisableRs422) { - //!< @todo IMPLEMENT - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RS422_UART_DISABLE); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; - - case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_ENABLE: - theContext.m_details.m_hParams.m_heatingControlEnabled = true; - enableHeater(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__AUTO_HEATER_CONTROLLER_ENABLE); - break; - - case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_DISABLE: - theContext.m_details.m_hParams.m_heatingControlEnabled = false; - /** - * @warning TB0CCR2 should ~NOT~ be set here. It should only be set in two places: when Timer_B is - * initialized (where TB0CCR2 is set to its default value), and in the handler for the - * "Set Heater Duty Cycle" ground command. By respecting this, TB0CCR2 keeps whatever value it - * was set with by the ground command and the heater is interacted with (by this command and - * the auto heater control loop) simply by enabling/disabling the heater pin. - * - * @note Similar to the TB0CC2, the m_heating field should not be set here. Instead, it should only be - * modified via calls to enableHeater() and disableHeater(). - */ - disableHeater(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__AUTO_HEATER_CONTROLLER_DISABLE); - break; - - case WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_ENABLE: - theContext.m_watchdogOpts |= WDOPT_MONITOR_HERCULES; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_WATCHDOG_ENABLE); - break; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__RS422_UART_DISABLE); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_DISABLE: - theContext.m_watchdogOpts &= ~WDOPT_MONITOR_HERCULES; - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_WATCHDOG_DISABLE); - break; + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_ENABLE: + theContext.m_details.m_hParams.m_heatingControlEnabled = true; + enableHeater(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__AUTO_HEATER_CONTROLLER_ENABLE); + break; + + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_DISABLE: + theContext.m_details.m_hParams.m_heatingControlEnabled = false; + /** + * @warning TB0CCR2 should ~NOT~ be set here. It should only be set in two places: when Timer_B is + * initialized (where TB0CCR2 is set to its default value), and in the handler for the + * "Set Heater Duty Cycle" ground command. By respecting this, TB0CCR2 keeps whatever value it + * was set with by the ground command and the heater is interacted with (by this command and + * the auto heater control loop) simply by enabling/disabling the heater pin. + * + * @note Similar to the TB0CC2, the m_heating field should not be set here. Instead, it should only be + * modified via calls to enableHeater() and disableHeater(). + */ + disableHeater(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__AUTO_HEATER_CONTROLLER_DISABLE); + break; - case WD_CMD_MSGS__RESET_ID__BATTERIES_ENABLE: - if (allowPowerOn) { - enableBatteries(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERIES_ENABLE); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + case WD_CMD_MSGS__RESET_ID__HEATER_FORCE_OFF: + theContext.m_details.m_hParams.m_forceState = HEATER_FORCE_ALWAYS_OFF; + disableHeater(); + break; + case WD_CMD_MSGS__RESET_ID__HEATER_FORCE_ON: + theContext.m_details.m_hParams.m_forceState = HEATER_FORCE_ALWAYS_ON; + enableHeater(); + break; + case WD_CMD_MSGS__RESET_ID__HEATER_FORCE_NOTHING: + theContext.m_details.m_hParams.m_forceState = HEATER_FORCE_NOTHING; + break; + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_RT_INPUT: + theContext.m_details.m_hParams.m_inputSource = HEATER_CONTROL_INPUT_BATT_RT; + break; + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT_DEACTIVATE: + // Disable charger circuitry so we can return to normal: + blimp_regEnOff(); + blimp_chargerEnOff(); + blimp_battEnOff(); + break; + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT_ACTIVATE: + // Assert that charging should not happen: + blimp_chargerEnOff(); + // Turn on (but don't latch) the batteries (might be unsafe to turn + // on charger without the batteries connected, even with CE=OFF... + // need to test on SBC with BLiMP to determine). + // NOTE: So long as lander power is supplied, this shouldn't do + // anything since everything will be powered off lander power before + // battery power and since the batteries won't be latched, once + // lander power is removed, they should power back off. + blimp_battEnOn(); + // Then power up the charging regulator so the charging IC can + // create the VREF used by the charging TS: + // (unfortunately we can't just use an internal pullup with the ADC + // on the MSP430 so we have to do this this way) + blimp_regEnOn(); + // NOTE: Even if CE=OFF fails for some reason, if the batteries + // were to remain disconnected, charging wouldn't be able to + // happen (and this open circuit shouldn't cause an issue for the + // battery charging IC b/c it has over-voltage protection to handle + // a battery/load disconnect case). + break; + case WD_CMD_MSGS__RESET_ID__AUTO_HEATER_CONTROLLER_USE_CHARGER_INPUT: + // Just set the input source, don't change the circuitry (this might + // be desirable and lets us arm before actually messing with the circuitry): + theContext.m_details.m_hParams.m_inputSource = HEATER_CONTROL_INPUT_CHARGER; + break; + case WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_ENABLE: + theContext.m_watchdogOpts |= WDOPT_MONITOR_HERCULES; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_WATCHDOG_ENABLE); + break; + + case WD_CMD_MSGS__RESET_ID__HERCULES_WATCHDOG_DISABLE: + theContext.m_watchdogOpts &= ~WDOPT_MONITOR_HERCULES; + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HERCULES_WATCHDOG_DISABLE); + break; + + case WD_CMD_MSGS__RESET_ID__BATTERIES_ENABLE: + if (allowPowerOn) + { + enableBatteries(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERIES_ENABLE); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - case WD_CMD_MSGS__RESET_ID__BATTERIES_DISABLE: - disableBatteries(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERIES_DISABLE); - break; + case WD_CMD_MSGS__RESET_ID__BATTERIES_DISABLE: + disableBatteries(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__BATTERIES_DISABLE); + break; - case WD_CMD_MSGS__RESET_ID__CLEAR_PERSISTENT_DEPLOY: - *(theContext.m_persistentDeployed) = false; - break; + case WD_CMD_MSGS__RESET_ID__CLEAR_PERSISTENT_DEPLOY: + *(theContext.m_persistentDeployed) = false; + break; - case WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_ON: - if (allowPowerOn && allowDeploy) { - /* WOOT WOOT! WE ARE ON TO THE MOON, FOLKS */ - /* ref: https://docs.google.com/document/d/1dKLlBcIIVo8t1bGu3jNiHobGMavA3I2al0cncj3ZAhE/edit */ - setDeploy(); - SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HDRM_DEPLOY_SIGNAL_POWER_ON); - } else if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - } - break; + case WD_CMD_MSGS__RESET_ID__HDRM_DEPLOY_SIGNAL_POWER_ON: + if (allowPowerOn && allowDeploy) + { + /* WOOT WOOT! WE ARE ON TO THE MOON, FOLKS */ + /* ref: https://docs.google.com/document/d/1dKLlBcIIVo8t1bGu3jNiHobGMavA3I2al0cncj3ZAhE/edit */ + setDeploy(); + SET_RABI_IN_UINT(theContext.m_details.m_resetActionBits, RABI__HDRM_DEPLOY_SIGNAL_POWER_ON); + } + else if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + } + break; - default: - /* invalid command */ - if (nullptr != response) { - response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; - // If we can respond indicating there was a bad parameter, then return - // that this function finished "successfully," since we have a valid way - // of communicating something didn't work - } + default: + /* invalid command */ + if (nullptr != response) + { + response->statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_PARAMETER; + // If we can respond indicating there was a bad parameter, then return + // that this function finished "successfully," since we have a valid way + // of communicating something didn't work + } } + + // Report what we did (and under what conditions): + uint16_t resetConditions = allowPowerOn; + resetConditions = (resetConditions << 1) & allowDisableRs422; + resetConditions = (resetConditions << 1) & allowDeploy; + resetConditions = (resetConditions << 1) & allowUndeploy; + DebugComms__tryPrintfToLanderNonblocking("RESET:%d -> %d with 0x%x\n", int(resetValue), int(response->statusCode), resetConditions); } } // End namespace iris diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringKeepAlive.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringKeepAlive.cpp index cbc07b551..5506712f7 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringKeepAlive.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringKeepAlive.cpp @@ -14,16 +14,16 @@ namespace iris { RoverStateEnteringKeepAlive::RoverStateEnteringKeepAlive() - : RoverStateBase(RoverState::ENTERING_KEEP_ALIVE) + : RoverStateBase(RoverState::ENTERING_KEEP_ALIVE) { } RoverStateEnteringKeepAlive::RoverStateEnteringKeepAlive(RoverState overridingState) - : RoverStateBase(overridingState) + : RoverStateBase(overridingState) { } - bool RoverStateEnteringKeepAlive::canEnterLowPowerMode(RoverContext& /*theContext*/) + bool RoverStateEnteringKeepAlive::canEnterLowPowerMode(RoverContext & /*theContext*/) { // Don't allow entering low power mode while entering keep alive. The only non-instant thing this state // does is to wait for the previous ADC transaction to complete. Since we don't wake from LPM after an ADC @@ -31,7 +31,7 @@ namespace iris return false; } - RoverState RoverStateEnteringKeepAlive::handleHerculesData(RoverContext& /*theContext*/) + RoverState RoverStateEnteringKeepAlive::handleHerculesData(RoverContext & /*theContext*/) { /** * @todo Should we re-enter this state upon this occurring, in order to re-set the bit that should power off @@ -42,38 +42,41 @@ namespace iris return getState(); } - RoverState RoverStateEnteringKeepAlive::handleTimerTick(RoverContext& theContext) + RoverState RoverStateEnteringKeepAlive::handleTimerTick(RoverContext &theContext) { theContext.m_keepAliveTickCount++; theContext.m_keepAliveTickCountForDetailedReport++; /* only send every 4 timer ticks (28s) */ - if (theContext.m_keepAliveTickCount >= 4) { + if (theContext.m_keepAliveTickCount >= 4) + { theContext.m_keepAliveTickCount = 0; /* send heartbeat with collected data */ - static FlightEarthHeartbeat hb = { 0 }; + static FlightEarthHeartbeat hb = {0}; GroundMsgs__Status gcStatus = - GroundMsgs__generateFlightEarthHeartbeat(&(theContext.m_i2cReadings), - &(theContext.m_adcValues), - &(theContext.m_details.m_hParams), - &hb); + GroundMsgs__generateFlightEarthHeartbeat(&(theContext.m_i2cReadings), + &(theContext.m_adcValues), + &(theContext.m_details.m_hParams), + &hb); assert(GND_MSGS__STATUS__SUCCESS == gcStatus); LanderComms__Status lcStatus = txDownlinkData(theContext, - (uint8_t*) &hb, - sizeof(hb)); + (uint8_t *)&hb, + sizeof(hb)); assert(LANDER_COMMS__STATUS__SUCCESS == lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? } } /* only send every 70 timer ticks (490s) */ // NOTE: This is just the base rate for ENTERING KeepAlive (if stuck here). Actual KeepAlive also sends its own detailed status packets. - if (theContext.m_keepAliveTickCountForDetailedReport >= 70) { + if (theContext.m_keepAliveTickCountForDetailedReport >= 70) + { theContext.m_keepAliveTickCountForDetailedReport = 0; sendDetailedReportToLander(theContext); } @@ -84,78 +87,84 @@ namespace iris UART__Status uStatus = UART__checkRxRbErrors(theContext.m_uart1State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Lander UART Rx Rb Error count"); - if (changed) { + if (changed) + { DebugComms__tryPrintfToLanderNonblocking("New Lander UART Rx Rb failures, total count = %u\n", count); } - if (theContext.m_details.m_hParams.m_heatingControlEnabled) { - // calculate PWM duty cycle (if any) to apply to heater + if (theContext.m_details.m_hParams.m_heatingControlEnabled) + { + // Update the Heater State (PWM remains unchanged here): heaterControl(theContext); } // Queue up a read of the IO Expander, and initiate it if no other I2C action is active - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } return getState(); } - RoverState RoverStateEnteringKeepAlive::handlePowerIssue(RoverContext& /*theContext*/) + RoverState RoverStateEnteringKeepAlive::handlePowerIssue(RoverContext & /*theContext*/) { //!< @todo Implement RoverStateEnteringKeepAlive::handlePowerIssue return getState(); } - RoverState RoverStateEnteringKeepAlive::spinOnce(RoverContext& theContext) + RoverState RoverStateEnteringKeepAlive::spinOnce(RoverContext &theContext) { - switch (m_currentSubstate) { - case SubState::WAITING_FOR_IO_EXPANDER_WRITE: + switch (m_currentSubstate) + { + case SubState::WAITING_FOR_IO_EXPANDER_WRITE: + { + I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; + uint8_t readValue = 0; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, + &(theContext.m_i2cReadings), + &readValue); + + // Sanity check + assert(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action); + + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; - uint8_t readValue = 0; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, - &(theContext.m_i2cReadings), - &readValue); - - // Sanity check - assert(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action); - - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - } + theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; + } - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; - // Start the next I2C action if one is queued, if nothing queued this will return quickly - initiateNextI2cAction(theContext); + // Start the next I2C action if one is queued, if nothing queued this will return quickly + initiateNextI2cAction(theContext); - return transitionToFinishUpSetup(theContext); - } - } - break; - - case SubState::FINISH_UP_SETUP: - // Fall through - default: - // We should only ever spin in this state when the SubState is WAITING_FOR_IO_EXPANDER_WRITE. Really we - // don't need the substates, but I've kept them because they are representative of the stages of this - // state. - assert(!"In spinOnce() not in WAITING_FOR_IO_EXPANDER_WRITE substate, which shouldn't be possible"); - break; + return transitionToFinishUpSetup(theContext); + } + } + break; + + case SubState::FINISH_UP_SETUP: + // Fall through + default: + // We should only ever spin in this state when the SubState is WAITING_FOR_IO_EXPANDER_WRITE. Really we + // don't need the substates, but I've kept them because they are representative of the stages of this + // state. + assert(!"In spinOnce() not in WAITING_FOR_IO_EXPANDER_WRITE substate, which shouldn't be possible"); + break; } // Last ADC sample still not done, so remain in the current state. return getState(); } - RoverState RoverStateEnteringKeepAlive::transitionTo(RoverContext& theContext) + RoverState RoverStateEnteringKeepAlive::transitionTo(RoverContext &theContext) { *(theContext.m_persistentInMission) = false; theContext.m_keepAliveTickCount = 0; @@ -168,9 +177,9 @@ namespace iris return RoverState::KEEP_ALIVE; } - RoverState RoverStateEnteringKeepAlive::performResetCommand(RoverContext& theContext, + RoverState RoverStateEnteringKeepAlive::performResetCommand(RoverContext &theContext, WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response) + WdCmdMsgs__Response *response) { bool writeIOExpander = false; RoverStateBase::doConditionalResetSpecific(theContext, @@ -182,12 +191,14 @@ namespace iris false, // whether or not to allow undeploy writeIOExpander); - if (writeIOExpander) { - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + if (writeIOExpander) + { + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; theContext.m_watchdogFlags |= WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } } @@ -195,8 +206,8 @@ namespace iris return getState(); } - RoverState RoverStateEnteringKeepAlive::handleUplinkFromLander(RoverContext& theContext, - uint8_t* rxDataBuffer, + RoverState RoverStateEnteringKeepAlive::handleUplinkFromLander(RoverContext &theContext, + uint8_t *rxDataBuffer, size_t rxDataLen) { // Ignore any uplink because the Hercules shouldn't be powered on. @@ -204,11 +215,11 @@ namespace iris return getState(); } - RoverState RoverStateEnteringKeepAlive::doGndCmdEnterKeepAliveMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateEnteringKeepAlive::doGndCmdEnterKeepAliveMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // We're already entering keep alive mode, but we can still re-transition into keep alive // once we receive this command. @@ -216,7 +227,7 @@ namespace iris return transitionTo(theContext); } - RoverState RoverStateEnteringKeepAlive::transitionToWaitingForIoExpanderWrite(RoverContext& theContext) + RoverState RoverStateEnteringKeepAlive::transitionToWaitingForIoExpanderWrite(RoverContext &theContext) { // Clear all queued I2C actions and stop any active one. This allows us to immediately perform the IO expander // write @@ -243,7 +254,8 @@ namespace iris blimp_normalBoot(); // Restore BLiMP state if returning to KA from a higher state. Shouldn't do anything if we're pushing straight through KA the first time. // Turn off Herc comms (used if returning to KA from a higher state): - if (HerculesComms__isInitialized(theContext.m_hcState)) { + if (HerculesComms__isInitialized(theContext.m_hcState)) + { DebugComms__registerHerculesComms(NULL); HerculesComms__Status hcStatus = HerculesComms__uninitialize(&(theContext.m_hcState)); DEBUG_ASSERT_EQUAL(HERCULES_COMMS__STATUS__SUCCESS, hcStatus); @@ -252,7 +264,7 @@ namespace iris // Make sure to disable the Hercules uart so we don't dump current through that tx pin UART__uninit0(&(theContext.m_uart0State)); - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; initiateNextI2cAction(theContext); @@ -260,7 +272,7 @@ namespace iris return getState(); } - RoverState RoverStateEnteringKeepAlive::transitionToFinishUpSetup(RoverContext& theContext) + RoverState RoverStateEnteringKeepAlive::transitionToFinishUpSetup(RoverContext &theContext) { // These are simply setting/clearing bits, so they are instant. enableHeater(); diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringMission.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringMission.cpp index 6cd93e801..2337f3c26 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringMission.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateEnteringMission.cpp @@ -18,11 +18,11 @@ namespace iris { RoverStateEnteringMission::RoverStateEnteringMission() - : RoverStateBase(RoverState::ENTERING_MISSION) + : RoverStateBase(RoverState::ENTERING_MISSION) { } - bool RoverStateEnteringMission::canEnterLowPowerMode(RoverContext& /*theContext*/) + bool RoverStateEnteringMission::canEnterLowPowerMode(RoverContext & /*theContext*/) { // Don't allow entering low power mode while entering mission. Waiting for ADC transaction to complete, waiting // for wifi to be ready, and the I2C transactions involved with initializing the fuel gauge are all things that @@ -30,7 +30,7 @@ namespace iris return false; } - RoverState RoverStateEnteringMission::handleTimerTick(RoverContext& theContext) + RoverState RoverStateEnteringMission::handleTimerTick(RoverContext &theContext) { // Check for UART errors to report size_t count = 0; @@ -38,31 +38,34 @@ namespace iris UART__Status uStatus = UART__checkRxRbErrors(theContext.m_uart1State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Lander UART Rx Rb Error count"); - if (changed) { + if (changed) + { DebugComms__tryPrintfToLanderNonblocking("New Lander UART Rx Rb failures, total count = %u\n", count); } /* send heartbeat with collected data */ - static FullEarthHeartbeat hb = { 0 }; + static FullEarthHeartbeat hb = {0}; GroundMsgs__Status gcStatus = GroundMsgs__generateFullEarthHeartbeat(&(theContext.m_i2cReadings), - &(theContext.m_adcValues), - &(theContext.m_details.m_hParams), - static_cast(getState()), - &hb); + &(theContext.m_adcValues), + &(theContext.m_details.m_hParams), + static_cast(getState()), + &hb); DEBUG_ASSERT_EQUAL(GND_MSGS__STATUS__SUCCESS, gcStatus); LanderComms__Status lcStatus = LanderComms__txDataUntilSendOrTimeout(theContext.m_lcState, - (uint8_t*) &hb, + (uint8_t *)&hb, sizeof(hb), 200); DEBUG_ASSERT_EQUAL(LANDER_COMMS__STATUS__SUCCESS, lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? } - if (theContext.m_details.m_hParams.m_heatingControlEnabled) { - // calculate PWM duty cycle (if any) to apply to heater + if (theContext.m_details.m_hParams.m_heatingControlEnabled) + { + // Update the Heater State (PWM remains unchanged here): heaterControl(theContext); } @@ -95,248 +98,272 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::handlePowerIssue(RoverContext& /*theContext*/) + RoverState RoverStateEnteringMission::handlePowerIssue(RoverContext & /*theContext*/) { //!< @todo Implement RoverStateEnteringMission::handlePowerIssue return getState(); } - RoverState RoverStateEnteringMission::spinOnce(RoverContext& theContext) + RoverState RoverStateEnteringMission::spinOnce(RoverContext &theContext) { - switch (m_currentSubstate) { - case SubState::WAITING_FOR_I2C_DONE: - if (theContext.m_i2cActive) { - I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; - uint8_t readValue = 0; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, - &(theContext.m_i2cReadings), - &readValue); - - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; - initiateNextI2cAction(theContext); - - // If m_i2cActive is still false after calling initiateNextI2cAction, it means all queued i2c - // actions have been performed and there is no active i2c action - if (!(theContext.m_i2cActive)) { - return transitionToWaitingForIoExpanderWrite1(theContext); - } + switch (m_currentSubstate) + { + case SubState::WAITING_FOR_I2C_DONE: + if (theContext.m_i2cActive) + { + I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; + uint8_t readValue = 0; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, + &(theContext.m_i2cReadings), + &readValue); + + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; + initiateNextI2cAction(theContext); + + // If m_i2cActive is still false after calling initiateNextI2cAction, it means all queued i2c + // actions have been performed and there is no active i2c action + if (!(theContext.m_i2cActive)) + { + return transitionToWaitingForIoExpanderWrite1(theContext); } - } else { - return transitionToWaitingForIoExpanderWrite1(theContext); } - break; + } + else + { + return transitionToWaitingForIoExpanderWrite1(theContext); + } + break; + + case SubState::WAITING_FOR_IO_EXPANDER_WRITE_1: + { + I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; + uint8_t readValue = 0; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, + &(theContext.m_i2cReadings), + &readValue); + + // Sanity check + DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); - case SubState::WAITING_FOR_IO_EXPANDER_WRITE_1: + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; - uint8_t readValue = 0; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, - &(theContext.m_i2cReadings), - &readValue); + theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; + } - // Sanity check - DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + return transitionToWaitingForIoExpanderWrite2(theContext); + } + } + break; - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - } + case SubState::WAITING_FOR_IO_EXPANDER_WRITE_2: + { + I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; + uint8_t readValue = 0; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, + &(theContext.m_i2cReadings), + &readValue); - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; + // Sanity check + DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); - return transitionToWaitingForIoExpanderWrite2(theContext); - } - } - break; + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - case SubState::WAITING_FOR_IO_EXPANDER_WRITE_2: + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; - uint8_t readValue = 0; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, - &(theContext.m_i2cReadings), - &readValue); + theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; + } - // Sanity check - DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + return transitionToWaitingForFuelGaugeOrTimeout(theContext); + } + } + break; + + case SubState::WAITING_FOR_FUEL_GAUGE_OR_TIMEOUT: + { + // First of all, if we've timed out we can simply move forward. + uint16_t timePassed = Time__getTimeInCentiseconds() - m_startFuelGaugeInitTimeCentiseconds; + // DPRINTF_ERR("%d\n", Time__getTimeInCentiseconds()); + if (timePassed > FUEL_GAUGE_INIT_TIMEOUT_CENTISECONDS) + { + DPRINTF_ERR("Setting up fuel gauge timed out\n"); + I2C_Sensors__stop(); + theContext.m_queuedI2cActions = 0; + theContext.m_i2cActive = false; + + return transitionToWatitingForWifiReadyOrTimeout(theContext); + } - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - } + // Next, check if initializing the fuel gauge is complete (either due to success or failure). + I2C_Sensors__Action currentAction = I2C_SENSORS__ACTIONS__INACTIVE; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(¤tAction, NULL, NULL); - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; + // First of all, we should always be doing the action to initialize the fuel gauges at this point + DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__GAUGE_INIT, currentAction); - return transitionToWaitingForFuelGaugeOrTimeout(theContext); - } - } - break; + if (I2C_SENSORS__STATUS__SUCCESS_DONE == i2cStatus) + { + // Gauge initialization completed successfully, so move forward - case SubState::WAITING_FOR_FUEL_GAUGE_OR_TIMEOUT: - { - // First of all, if we've timed out we can simply move forward. - uint16_t timePassed = Time__getTimeInCentiseconds() - m_startFuelGaugeInitTimeCentiseconds; - //DPRINTF_ERR("%d\n", Time__getTimeInCentiseconds()); - if (timePassed > FUEL_GAUGE_INIT_TIMEOUT_CENTISECONDS) { - DPRINTF_ERR("Setting up fuel gauge timed out\n"); - I2C_Sensors__stop(); - theContext.m_queuedI2cActions = 0; - theContext.m_i2cActive = false; - - return transitionToWatitingForWifiReadyOrTimeout(theContext); - } + // First clear the last I2C_Sensors action so we can start a new one later + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; - // Next, check if initializing the fuel gauge is complete (either due to success or failure). - I2C_Sensors__Action currentAction = I2C_SENSORS__ACTIONS__INACTIVE; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(¤tAction, NULL, NULL); - - // First of all, we should always be doing the action to initialize the fuel gauges at this point - DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__GAUGE_INIT, currentAction); - - if (I2C_SENSORS__STATUS__SUCCESS_DONE == i2cStatus) { - // Gauge initialization completed successfully, so move forward - - // First clear the last I2C_Sensors action so we can start a new one later - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; - - // Then move forward - return transitionToWatitingForWifiReadyOrTimeout(theContext); - } else if (I2C_SENSORS__STATUS__ERROR__DONE_WITH_NACKS == i2cStatus) { - // Gauge initialization failed, but we haven't timed out yet. Therefore we retry the - // initialization action. - - // First clear the current (completed) action from the I2C_Sensors module so we can start a new - // one. - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; - - // Kick off the series of I2C transactions to initialize the fuel gauge. - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__GAUGE_INIT); - initiateNextI2cAction(theContext); - } else if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, - i2cStatus, - "Unexpected failure while getting I2C status"); - // I guess retry entering mission? - //!< @todo What to do here? Enter FAULT? - return transitionToWaitingForI2cDone(theContext); - } + // Then move forward + return transitionToWatitingForWifiReadyOrTimeout(theContext); + } + else if (I2C_SENSORS__STATUS__ERROR__DONE_WITH_NACKS == i2cStatus) + { + // Gauge initialization failed, but we haven't timed out yet. Therefore we retry the + // initialization action. + + // First clear the current (completed) action from the I2C_Sensors module so we can start a new + // one. + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; + + // Kick off the series of I2C transactions to initialize the fuel gauge. + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__GAUGE_INIT); + initiateNextI2cAction(theContext); + } + else if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, + i2cStatus, + "Unexpected failure while getting I2C status"); + // I guess retry entering mission? + //!< @todo What to do here? Enter FAULT? + return transitionToWaitingForI2cDone(theContext); + } - break; - } + break; + } - case SubState::WAITING_FOR_WIFI_READY_OR_TIMEOUT: - { - // First of all, if we've timed out we can simply move forward. - uint16_t timePassed = Time__getTimeInCentiseconds() - m_startWifiReadyTimeCentiseconds; - bool transition = false; - - if(!m_sentWaitingForWifiMessage){ - // Let Ground know why they'll not hear anything from us for a bit: - DPRINTF("Awaiting Wifi for %d cs\n", WIFI_READY_TIMEOUT_CENTISECONDS); - m_sentWaitingForWifiMessage = true; - } + case SubState::WAITING_FOR_WIFI_READY_OR_TIMEOUT: + { + // First of all, if we've timed out we can simply move forward. + uint16_t timePassed = Time__getTimeInCentiseconds() - m_startWifiReadyTimeCentiseconds; + bool transition = false; + + if (!m_sentWaitingForWifiMessage) + { + // Let Ground know why they'll not hear anything from us for a bit: + DPRINTF("Awaiting Wifi for %d cs\n", WIFI_READY_TIMEOUT_CENTISECONDS); + m_sentWaitingForWifiMessage = true; + } - if (timePassed > WIFI_READY_TIMEOUT_CENTISECONDS) { - DPRINTF_ERR("Wait for Wifi timed out\n"); - transition = true; - } + if (timePassed > WIFI_READY_TIMEOUT_CENTISECONDS) + { + DPRINTF_ERR("Wait for Wifi timed out\n"); + transition = true; + } - if (theContext.gotWifi) { - DPRINTF("Got Wifi\n"); - transition = true; - } + if (theContext.gotWifi) + { + DPRINTF("Got Wifi\n"); + transition = true; + } - if (transition) { - // At this point the only thing that may be using I2C would be the read/write from the timer tick, - // and transitioning to mission has priority over that. If it was a write, the changes being written - // should be picked up and written in IoExpanderWrite3. If it was a read, then all that we lose by - // canceling it is a short delay in updating the input values on the IO expander - I2C_Sensors__stop(); - theContext.m_queuedI2cActions = 0; - theContext.m_i2cActive = false; - return transitionToWaitingForIoExpanderWrite3(theContext); - } - break; - } + if (transition) + { + // At this point the only thing that may be using I2C would be the read/write from the timer tick, + // and transitioning to mission has priority over that. If it was a write, the changes being written + // should be picked up and written in IoExpanderWrite3. If it was a read, then all that we lose by + // canceling it is a short delay in updating the input values on the IO expander + I2C_Sensors__stop(); + theContext.m_queuedI2cActions = 0; + theContext.m_i2cActive = false; + return transitionToWaitingForIoExpanderWrite3(theContext); + } + break; + } - case SubState::WAITING_FOR_IO_EXPANDER_WRITE_3: - { - I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; - uint8_t readValue = 0; - I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, - &(theContext.m_i2cReadings), - &readValue); + case SubState::WAITING_FOR_IO_EXPANDER_WRITE_3: + { + I2C_Sensors__Action action = I2C_SENSORS__ACTIONS__INACTIVE; + uint8_t readValue = 0; + I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, + &(theContext.m_i2cReadings), + &readValue); - // Sanity check - DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); + // Sanity check + DEBUG_ASSERT_EQUAL(I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER, action); - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { - DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { + DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { - theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - } + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) + { + theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; + } - I2C_Sensors__clearLastAction(); - theContext.m_i2cActive = false; + I2C_Sensors__clearLastAction(); + theContext.m_i2cActive = false; - // Start the next I2C action if one is queued, if nothing queued this will return quickly - initiateNextI2cAction(theContext); + // Start the next I2C action if one is queued, if nothing queued this will return quickly + initiateNextI2cAction(theContext); - enableHerculesComms(theContext); + enableHerculesComms(theContext); - return RoverState::MISSION; - } - } - break; + return RoverState::MISSION; + } + } + break; - default: - assert(!"In spinOnce() in default case, which shouldn't be possible"); - break; + default: + assert(!"In spinOnce() in default case, which shouldn't be possible"); + break; } // Remain in the current state. return getState(); } - RoverState RoverStateEnteringMission::transitionTo(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionTo(RoverContext &theContext) { m_sentWaitingForWifiMessage = false; // reset flag return transitionToWaitingForI2cDone(theContext); } - RoverState RoverStateEnteringMission::performResetCommand(RoverContext& theContext, + RoverState RoverStateEnteringMission::performResetCommand(RoverContext &theContext, WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response) + WdCmdMsgs__Response *response) { bool writeIOExpander = false; RoverStateBase::doConditionalResetSpecific(theContext, resetValue, response, - true, // whether or not to allow power on + true, // whether or not to allow power on false, // whether or not to allow disabling RS422 false, // whether or not to allow deploy false, // whether or not to allow undeploy writeIOExpander); - if (writeIOExpander) { - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + if (writeIOExpander) + { + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; theContext.m_watchdogFlags |= WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } } @@ -344,17 +371,20 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::transitionToWaitingForI2cDone(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWaitingForI2cDone(RoverContext &theContext) { - if (theContext.m_i2cActive) { + if (theContext.m_i2cActive) + { m_currentSubstate = SubState::WAITING_FOR_I2C_DONE; return getState(); - } else { + } + else + { return transitionToWaitingForIoExpanderWrite1(theContext); } } - RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite1(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite1(RoverContext &theContext) { /* bootup process - enable all rails */ blimp_vSysAllEnOn(); // [CWC] new. desired behavior. @@ -369,7 +399,7 @@ namespace iris releaseRadioReset(); releaseFPGAReset(); - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; // I2C being inactive should be a prerequisite of entering this state @@ -381,7 +411,7 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite2(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite2(RoverContext &theContext) { // Power stuff on. These are simply setting/clearing bits, so they are instant. However, powering on the radio // requires writing the I/O Expander. @@ -390,7 +420,7 @@ namespace iris powerOnRadio(); stopChargingBatteries(); - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; // I2C being inactive should be a prerequisite of entering this state @@ -402,7 +432,7 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::transitionToWaitingForFuelGaugeOrTimeout(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWaitingForFuelGaugeOrTimeout(RoverContext &theContext) { // I2C being inactive should be a prerequisite of entering this state DEBUG_ASSERT(!(theContext.m_i2cActive)); @@ -413,7 +443,7 @@ namespace iris m_startFuelGaugeInitTimeCentiseconds = Time__getTimeInCentiseconds(); // Kick off the series of I2C transactions to initialize the fuel gauge. - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__GAUGE_INIT); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__GAUGE_INIT); initiateNextI2cAction(theContext); // We're done transitioning. The spinOnce() for this substate will monitor for completion of initialization @@ -423,7 +453,7 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::transitionToWatitingForWifiReadyOrTimeout(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWatitingForWifiReadyOrTimeout(RoverContext &theContext) { // Record the start time for the time period in which we'll wait for the wifi to become ready for use. If it // isn't ready by the end of the timeout period, then we'll move forward without wifi. @@ -442,14 +472,14 @@ namespace iris return getState(); } - RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite3(RoverContext& theContext) + RoverState RoverStateEnteringMission::transitionToWaitingForIoExpanderWrite3(RoverContext &theContext) { // These are simply setting/clearing bits, so they are instant powerOnHercules(); releaseMotorsReset(); releaseHerculesReset(); - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; // I2C being inactive should be a prerequisite of entering this state diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateKeepAlive.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateKeepAlive.cpp index 4b2112d0b..ad5661a15 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateKeepAlive.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateKeepAlive.cpp @@ -17,22 +17,23 @@ namespace iris { } - bool RoverStateKeepAlive::canEnterLowPowerMode(RoverContext& theContext) + bool RoverStateKeepAlive::canEnterLowPowerMode(RoverContext &theContext) { // Handling lander data and timer ticks will both wake us up out of LPM, so it's ok for us to enter it. return !(theContext.m_i2cActive); } - RoverState RoverStateKeepAlive::handleHerculesData(RoverContext& /*theContext*/) + RoverState RoverStateKeepAlive::handleHerculesData(RoverContext & /*theContext*/) { assert(!"Got hercules data event in KeepAlive, which shouldn't be possible"); return getState(); } - RoverState RoverStateKeepAlive::handleTimerTick(RoverContext& theContext) + RoverState RoverStateKeepAlive::handleTimerTick(RoverContext &theContext) { // Trigger a new ADC sample if the previous one is done - if (isAdcSampleDone()) { + if (isAdcSampleDone()) + { adcCheckVoltageLevels(&(theContext.m_adcValues)); } @@ -42,41 +43,51 @@ namespace iris return getState(); } - RoverState RoverStateKeepAlive::handlePowerIssue(RoverContext& /*theContext*/) + RoverState RoverStateKeepAlive::handlePowerIssue(RoverContext & /*theContext*/) { //!< @todo Implement RoverStateKeepAlive::handlePowerIssue return getState(); } - RoverState RoverStateKeepAlive::spinOnce(RoverContext& theContext) + RoverState RoverStateKeepAlive::spinOnce(RoverContext &theContext) { - if (theContext.m_i2cActive) { + if (theContext.m_i2cActive) + { I2C_Sensors__Action action = {}; uint8_t readValue = 0; I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, &(theContext.m_i2cReadings), &readValue); - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) + { theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; } - if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) + { bool chargeStat2 = (readValue & I2C_SENSORS__IOE_P1_BIT__CHARGE_STAT2 != 0); bool latchStat = (readValue & I2C_SENSORS__IOE_P1_BIT__LATCH_STAT != 0); - if (chargeStat2) { + if (chargeStat2) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); } - if (latchStat) { + if (latchStat) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); } } @@ -89,20 +100,22 @@ namespace iris uint16_t currentTime = Time__getTimeInCentiseconds(); if (SEND_DETAILED_REPORTS_IN_SPIN_ONCE && - (currentTime - theContext.m_lastDetailedReportSendTime >= CENTISECONDS_BETWEEN_DETAILED_REPORT_SENDS)) { + (currentTime - theContext.m_lastDetailedReportSendTime >= CENTISECONDS_BETWEEN_DETAILED_REPORT_SENDS)) + { theContext.m_lastDetailedReportSendTime = currentTime; sendDetailedReportToLander(theContext); } - if (theContext.m_sendDetailedReport) { + if (theContext.m_sendDetailedReport) + { theContext.m_sendDetailedReport = false; - sendDetailedReportToLander(theContext); + sendDetailedReportToLander(theContext, true); } return getState(); } - RoverState RoverStateKeepAlive::transitionTo(RoverContext& theContext) + RoverState RoverStateKeepAlive::transitionTo(RoverContext &theContext) { // Nothing to do on this transition, which should always be from ENTERING_KEEP_ALIVE. @@ -129,11 +142,11 @@ namespace iris return getState(); } - RoverState RoverStateKeepAlive::doGndCmdEnterKeepAliveMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateKeepAlive::doGndCmdEnterKeepAliveMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // We're already in keep alive mode, but we can still re-transition into keep alive // once we receive this command. @@ -141,11 +154,11 @@ namespace iris return RoverState::ENTERING_KEEP_ALIVE; } - RoverState RoverStateKeepAlive::doGndCmdEnterServiceMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateKeepAlive::doGndCmdEnterServiceMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Can transition directly to service mode from keepalive */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateManager.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateManager.cpp index 9b4a05193..5d753b62b 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateManager.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateManager.cpp @@ -11,7 +11,7 @@ #pragma vector = WDT_VECTOR __interrupt void WDT_ISR(void) #elif defined(__GNUC__) -void __attribute__ ((interrupt(WDT_VECTOR))) WDT_ISR (void) +void __attribute__((interrupt(WDT_VECTOR))) WDT_ISR(void) #else #error Compiler not supported! #endif @@ -33,7 +33,7 @@ namespace iris #pragma PERSISTENT static bool persistentDeployed = false; - RoverStateManager::RoverStateManager(const char* resetReasonString) + RoverStateManager::RoverStateManager(const char *resetReasonString) : m_stateEnteringKeepAlive(), m_stateEnteringMission(), m_stateEnteringService(), @@ -74,6 +74,9 @@ namespace iris m_context.m_details.m_hParams.m_heatingControlEnabled = DEFAULT_HEATING_CONTROL_ENABLED; m_context.m_details.m_hParams.m_heaterDutyCyclePeriod = DEFAULT_HEATER_DUTY_CYCLE_PERIOD; m_context.m_details.m_hParams.m_heaterDutyCycle = DEFAULT_HEATER_DUTY_CYCLE; + m_context.m_details.m_hParams.m_thresholdsChanged = true; + m_context.m_details.m_hParams.m_forceState = HEATER_FORCE_NOTHING; + m_context.m_details.m_hParams.m_inputSource = HEATER_CONTROL_INPUT_BATT_RT; m_context.m_details.m_stateAsUint = static_cast(RoverState::ENTERING_KEEP_ALIVE); m_context.m_details.m_inputPinAndStateBits = 0; m_context.m_details.m_outputPinBits = 0; @@ -91,7 +94,8 @@ namespace iris void RoverStateManager::spinForever() { - while (true) { + while (true) + { // Sets watchdog timer to be based on ACLK, and in our clock configuration the source of ACLK is VLOCLK // (with no divisions, so f_ACLK == f_VLOCLK) and f_VLOCLK == 9.4 KHz. Also clears the watchdog timer count // and configures the watchdog timer period (i.e. how long the WDT timer will tick before resetting the @@ -115,30 +119,37 @@ namespace iris // source of the WDT, our option jumps from ~3.5 seconds to ~55 seconds. However, if we use SMCLK as the // source of the WDT, since f_SMCLK = 8 MHz we can use the 2^27 divider option to get a WDT interval of // just over 16.7 seconds. The 2^27 divider is selected when WDTIS is 0b001. - //OLD: WDTCTL = WDTPW + WDTCNTCL + WDTSSEL__ACLK + WDTIS2; + // OLD: WDTCTL = WDTPW + WDTCNTCL + WDTSSEL__ACLK + WDTIS2; WDTCTL = WDTPW + WDTCNTCL + WDTSSEL__SMCLK + WDTIS0; Event__Type event = EVENT__TYPE__UNUSED; EventQueue__Status eqStatus = EventQueue__get(&event); - //bool gotEvent = false; + // bool gotEvent = false; - if (EQ__STATUS__SUCCESS == eqStatus) { + if (EQ__STATUS__SUCCESS == eqStatus) + { // We got an event. Have the current state handle it (performing any necessary state transitions as // requested by the state(s)) handleEvent(event); - //gotEvent = true; - } else if (EQ__STATUS__ERROR_EMPTY == eqStatus) { - if (m_currentState->canEnterLowPowerMode(m_context)) { + // gotEvent = true; + } + else if (EQ__STATUS__ERROR_EMPTY == eqStatus) + { + if (m_currentState->canEnterLowPowerMode(m_context)) + { //!< @todo Enter LPM here. Need to figure out how to handle LPM and WDT together. __enable_interrupt(); // Make sure we haven't somehow left interrupts off ENTER_DEFAULT_LPM; } - } else { + } + else + { // Any status other than success or empty is an unexpected failure. DEBUG_LOG_CHECK_STATUS(EQ__STATUS__SUCCESS, eqStatus, "Failed to get event from queue due to error"); } - if (m_context.m_i2cActive) { + if (m_context.m_i2cActive) + { I2C_Sensors__spinOnce(); } @@ -146,55 +157,57 @@ namespace iris m_context.m_details.m_stateAsUint = static_cast(currentState); RoverState desiredNextState = m_currentState->spinOnce(m_context); - if (currentState != desiredNextState) { + if (currentState != desiredNextState) + { transitionUntilSettled(desiredNextState); } } } - RoverStateBase* RoverStateManager::getStateObjectForStateEnum(RoverState stateEnumValue) + RoverStateBase *RoverStateManager::getStateObjectForStateEnum(RoverState stateEnumValue) { - switch (stateEnumValue) { - case RoverState::INIT: - return &m_stateInit; + switch (stateEnumValue) + { + case RoverState::INIT: + return &m_stateInit; - case RoverState::ENTERING_KEEP_ALIVE: - return &m_stateEnteringKeepAlive; + case RoverState::ENTERING_KEEP_ALIVE: + return &m_stateEnteringKeepAlive; - case RoverState::KEEP_ALIVE: - return &m_stateKeepAlive; + case RoverState::KEEP_ALIVE: + return &m_stateKeepAlive; - case RoverState::ENTERING_SERVICE: - return &m_stateEnteringService; + case RoverState::ENTERING_SERVICE: + return &m_stateEnteringService; - case RoverState::SERVICE: - return &m_stateService; + case RoverState::SERVICE: + return &m_stateService; - case RoverState::ENTERING_MISSION: - return &m_stateEnteringMission; + case RoverState::ENTERING_MISSION: + return &m_stateEnteringMission; - case RoverState::MISSION: - return &m_stateMission; + case RoverState::MISSION: + return &m_stateMission; - default: - DebugComms__tryPrintfToLanderNonblocking("Reached default state in getStateObjectForStateEnum\n"); - DebugComms__flush(); - return &m_stateInit; + default: + DebugComms__tryPrintfToLanderNonblocking("Reached default state in getStateObjectForStateEnum\n"); + DebugComms__flush(); + return &m_stateInit; } } void RoverStateManager::transitionUntilSettled(RoverState desiredState) { - while (m_currentState->getState() != desiredState) { + while (m_currentState->getState() != desiredState) + { const char *originalStateStr = stateToString(m_currentState->getState()); - const char *desiredStateStr = stateToString(desiredState); + const char *desiredStateStr = stateToString(desiredState); DebugComms__tryPrintfToLanderNonblocking("Transitioning from %s to %s\n", originalStateStr, desiredStateStr); m_currentState = getStateObjectForStateEnum(desiredState); m_context.m_details.m_stateAsUint = static_cast(m_currentState->getState()); desiredState = m_currentState->transitionTo(m_context); } - } void RoverStateManager::handleEvent(Event__Type event) @@ -202,47 +215,49 @@ namespace iris RoverState currentState = m_currentState->getState(); RoverState desiredNextState = currentState; - switch (event) { - case EVENT__TYPE__UNUSED: - DebugComms__tryPrintfToLanderNonblocking("Trying to handle an UNUSED event type, which indicates programmer error\n"); - DebugComms__flush(); - return; - - case EVENT__TYPE__LANDER_DATA: - desiredNextState = m_currentState->handleLanderData(m_context); - break; - - case EVENT__TYPE__HERCULES_DATA: - desiredNextState = m_currentState->handleHerculesData(m_context); - break; - - case EVENT__TYPE__TIMER_TICK: - desiredNextState = m_currentState->handleTimerTick(m_context); - break; - - case EVENT__TYPE__HIGH_TEMP: - desiredNextState = m_currentState->handleHighTemp(m_context); - break; - - case EVENT__TYPE__POWER_ISSUE: - desiredNextState = m_currentState->handlePowerIssue(m_context); - break; - - case EVENT__TYPE__WD_INT_RISING_EDGE: - desiredNextState = m_currentState->handleWdIntRisingEdge(m_context); - break; - - case EVENT__TYPE__WD_INT_FALLING_EDGE: - desiredNextState = m_currentState->handleWdIntFallingEdge(m_context); - break; - - default: - DebugComms__tryPrintfToLanderNonblocking("In default case trying to handle event, which indicates programmer error\n"); - DebugComms__flush(); - break; + switch (event) + { + case EVENT__TYPE__UNUSED: + DebugComms__tryPrintfToLanderNonblocking("Trying to handle an UNUSED event type, which indicates programmer error\n"); + DebugComms__flush(); + return; + + case EVENT__TYPE__LANDER_DATA: + desiredNextState = m_currentState->handleLanderData(m_context); + break; + + case EVENT__TYPE__HERCULES_DATA: + desiredNextState = m_currentState->handleHerculesData(m_context); + break; + + case EVENT__TYPE__TIMER_TICK: + desiredNextState = m_currentState->handleTimerTick(m_context); + break; + + case EVENT__TYPE__HIGH_TEMP: + desiredNextState = m_currentState->handleHighTemp(m_context); + break; + + case EVENT__TYPE__POWER_ISSUE: + desiredNextState = m_currentState->handlePowerIssue(m_context); + break; + + case EVENT__TYPE__WD_INT_RISING_EDGE: + desiredNextState = m_currentState->handleWdIntRisingEdge(m_context); + break; + + case EVENT__TYPE__WD_INT_FALLING_EDGE: + desiredNextState = m_currentState->handleWdIntFallingEdge(m_context); + break; + + default: + DebugComms__tryPrintfToLanderNonblocking("In default case trying to handle event, which indicates programmer error\n"); + DebugComms__flush(); + break; } - if (currentState != desiredNextState) { + if (currentState != desiredNextState) + { transitionUntilSettled(desiredNextState); } } diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateMission.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateMission.cpp index 2427a1d7a..47a424ccd 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateMission.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateMission.cpp @@ -14,13 +14,13 @@ namespace iris { RoverStateMission::RoverStateMission() - : RoverStateBase(RoverState::MISSION), - m_currentSubState(SubState::MISSION_NORMAL), - m_currentDeployState(DeployState::NOT_DEPLOYED) + : RoverStateBase(RoverState::MISSION), + m_currentSubState(SubState::MISSION_NORMAL), + m_currentDeployState(DeployState::NOT_DEPLOYED) { } - bool RoverStateMission::canEnterLowPowerMode(RoverContext& theContext) + bool RoverStateMission::canEnterLowPowerMode(RoverContext &theContext) { // The only thing that is done in this state that requires us to stay out of LPM is processing an I2C // transaction. Therefore in this state allowing entering LPM is conditional on whether or not we're actively @@ -28,10 +28,11 @@ namespace iris return !theContext.m_i2cActive; } - RoverState RoverStateMission::handleTimerTick(RoverContext& theContext) + RoverState RoverStateMission::handleTimerTick(RoverContext &theContext) { // Trigger a new ADC sample if the previous one is done - if (isAdcSampleDone()) { + if (isAdcSampleDone()) + { adcCheckVoltageLevels(&(theContext.m_adcValues)); } @@ -43,8 +44,9 @@ namespace iris UART__Status uStatus = UART__checkRxRbErrors(theContext.m_uart0State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Hercules UART Rx Rb Error count"); - if (changed) { - DebugComms__tryPrintfToLanderNonblocking("New Hercules UART Rx Rb failures, total count = %d\n", (int) count); + if (changed) + { + DebugComms__tryPrintfToLanderNonblocking("New Hercules UART Rx Rb failures, total count = %d\n", (int)count); } // Lander UART @@ -53,13 +55,14 @@ namespace iris uStatus = UART__checkRxRbErrors(theContext.m_uart1State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Lander UART Rx Rb Error count"); - if (changed) { - DebugComms__tryPrintfToLanderNonblocking("New Lander UART Rx Rb failures, total count = %d\n", (int) count); + if (changed) + { + DebugComms__tryPrintfToLanderNonblocking("New Lander UART Rx Rb failures, total count = %d\n", (int)count); } // Enable Hercules UART if Hercules is ON: - if ((theContext.m_details.m_outputPinBits & OPSBI__HERCULES_ON) - && !(HerculesComms__isInitialized(theContext.m_hcState))) { + if ((theContext.m_details.m_outputPinBits & OPSBI__HERCULES_ON) && !(HerculesComms__isInitialized(theContext.m_hcState))) + { // We should hopefully never be here during Mission... DebugComms__tryPrintfToLanderNonblocking("Trying to establish UART between WD and Hercules\n"); enableHerculesComms(theContext); @@ -70,7 +73,7 @@ namespace iris * @todo Check if we've deployed or if we shouldn't be able to communicate with lander for any other * reason, and don't send this if that is the case. */ - static FullEarthHeartbeat hb = { 0 }; + static FullEarthHeartbeat hb = {0}; GroundMsgs__Status gcStatus = GroundMsgs__generateFullEarthHeartbeat(&(theContext.m_i2cReadings), &(theContext.m_adcValues), &(theContext.m_details.m_hParams), @@ -79,25 +82,26 @@ namespace iris DEBUG_ASSERT_EQUAL(GND_MSGS__STATUS__SUCCESS, gcStatus); - - LanderComms__Status lcStatus = txDownlinkData(theContext, - (uint8_t*) &hb, - sizeof(hb)); + (uint8_t *)&hb, + sizeof(hb)); DEBUG_ASSERT_EQUAL(LANDER_COMMS__STATUS__SUCCESS, lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? } - if (theContext.m_details.m_hParams.m_heatingControlEnabled) { - // calculate PWM duty cycle (if any) to apply to heater + if (theContext.m_details.m_hParams.m_heatingControlEnabled) + { + // Update the Heater State (PWM remains unchanged here): heaterControl(theContext); } - //theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__GAUGE_READING); + // theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__GAUGE_READING); - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } @@ -108,63 +112,74 @@ namespace iris &writeIOExpander, &(theContext.m_details)); - - - if (writeIOExpander) { - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + if (writeIOExpander) + { + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; theContext.m_watchdogFlags |= WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } } // Queue up a read of the IO Expander, and initiate it if no other I2C action is active - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } return getState(); } - RoverState RoverStateMission::handlePowerIssue(RoverContext& /*theContext*/) + RoverState RoverStateMission::handlePowerIssue(RoverContext & /*theContext*/) { //!< @todo Implement RoverStateMission::handlePowerIssue return getState(); } - RoverState RoverStateMission::spinOnce(RoverContext& theContext) + RoverState RoverStateMission::spinOnce(RoverContext &theContext) { - if (theContext.m_i2cActive) { + if (theContext.m_i2cActive) + { I2C_Sensors__Action action = {}; uint8_t readValue = 0; I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, &(theContext.m_i2cReadings), &readValue); - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) + { theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; } - if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) + { bool chargeStat2 = (readValue & I2C_SENSORS__IOE_P1_BIT__CHARGE_STAT2 != 0); bool latchStat = (readValue & I2C_SENSORS__IOE_P1_BIT__LATCH_STAT != 0); - if (chargeStat2) { + if (chargeStat2) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); } - if (latchStat) { + if (latchStat) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); } } @@ -173,26 +188,26 @@ namespace iris theContext.m_i2cActive = false; initiateNextI2cAction(theContext); } - } - if (theContext.m_sendDetailedReport) { + if (theContext.m_sendDetailedReport) + { theContext.m_sendDetailedReport = false; - sendDetailedReportToLander(theContext); - + sendDetailedReportToLander(theContext, true); } return getState(); } - RoverState RoverStateMission::transitionTo(RoverContext& theContext) + RoverState RoverStateMission::transitionTo(RoverContext &theContext) { // Nothing to do on this transition, which should always be from ENTERING_MISSION. m_currentSubState = SubState::MISSION_NORMAL; *(theContext.m_persistentInMission) = true; - if (*(theContext.m_persistentDeployed)) { + if (*(theContext.m_persistentDeployed)) + { m_currentDeployState = DeployState::DEPLOYED; disableHeater(); } @@ -200,20 +215,23 @@ namespace iris return getState(); } - void RoverStateMission::heaterControl(RoverContext& theContext) { + void RoverStateMission::heaterControl(RoverContext &theContext) + { // Only use heater when connected to the lander - if (m_currentDeployState != DeployState::NOT_DEPLOYED) { + if (m_currentDeployState != DeployState::NOT_DEPLOYED) + { disableHeater(); - } else { + } + else + { RoverStateBase::heaterControl(theContext); } - } - RoverState RoverStateMission::performResetCommand(RoverContext& theContext, + RoverState RoverStateMission::performResetCommand(RoverContext &theContext, WdCmdMsgs__ResetSpecificId resetValue, - WdCmdMsgs__Response* response) + WdCmdMsgs__Response *response) { bool writeIOExpander = false; RoverStateBase::doConditionalResetSpecific(theContext, @@ -228,12 +246,14 @@ namespace iris m_currentDeployState != DeployState::NOT_DEPLOYED, writeIOExpander); - if (writeIOExpander) { - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + if (writeIOExpander) + { + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; theContext.m_watchdogFlags |= WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } } @@ -241,16 +261,16 @@ namespace iris return getState(); } - RoverState RoverStateMission::performWatchdogCommand(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateMission::performWatchdogCommand(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // If we're in the SERVICE_ALIVE_HOLDING substate and we receive any command other than EnterService, then we // switch to the MISSION_NORMAL substate. - if (SubState::SERVICE_HOLDING == m_currentSubState - && msg.commandId != WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE) { + if (SubState::SERVICE_HOLDING == m_currentSubState && msg.commandId != WD_CMD_MSGS__CMD_ID__ENTER_SERVICE_MODE) + { m_currentSubState = SubState::MISSION_NORMAL; } @@ -262,51 +282,55 @@ namespace iris sendDeployNotificationResponse); } - RoverState RoverStateMission::doGndCmdDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateMission::doGndCmdDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { - switch (m_currentDeployState) { - case DeployState::NOT_DEPLOYED: - setDeploy(); - m_currentDeployState = DeployState::DEPLOYING; - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; - - deployNotificationResponse.magicNumber = WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER; - deployNotificationResponse.commandId = msg.commandId; - deployNotificationResponse.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__DEPLOY; - sendDeployNotificationResponse = true; - *(theContext.m_persistentDeployed) = true; - - // Don't allow DebugComms to write to lander anymore - DebugComms__registerLanderComms(NULL); - break; - - case DeployState::DEPLOYING: - // fall through - case DeployState::DEPLOYED: - // fall through - default: - response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; - break; + switch (m_currentDeployState) + { + case DeployState::NOT_DEPLOYED: + setDeploy(); + m_currentDeployState = DeployState::DEPLOYING; + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; + + deployNotificationResponse.magicNumber = WD_CMD_MSGS__RESPONSE_MAGIC_NUMBER; + deployNotificationResponse.commandId = msg.commandId; + deployNotificationResponse.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__DEPLOY; + sendDeployNotificationResponse = true; + *(theContext.m_persistentDeployed) = true; + + // Don't allow DebugComms to write to lander anymore + DebugComms__registerLanderComms(NULL); + break; + + case DeployState::DEPLOYING: + // fall through + case DeployState::DEPLOYED: + // fall through + default: + response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__ERROR_BAD_COMMAND_SEQUENCE; + break; } return getState(); } - RoverState RoverStateMission::doGndCmdEnterServiceMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateMission::doGndCmdEnterServiceMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // We only want to actually enter keep alive if we receive it twice in a row - if (SubState::SERVICE_HOLDING == m_currentSubState) { + if (SubState::SERVICE_HOLDING == m_currentSubState) + { response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return RoverState::ENTERING_SERVICE; - } else { + } + else + { // Update the substate so that we know to actually transition to keep alive mode if we receive the command // again as the next command. m_currentSubState = SubState::SERVICE_HOLDING; diff --git a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateService.cpp b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateService.cpp index 49f072a2c..4c890a09b 100644 --- a/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateService.cpp +++ b/Apps/FlightSoftware/Watchdog/src/stateMachine/RoverStateService.cpp @@ -12,21 +12,22 @@ namespace iris { RoverStateService::RoverStateService() - : RoverStateEnteringService(RoverState::SERVICE) + : RoverStateEnteringService(RoverState::SERVICE) { } - bool RoverStateService::canEnterLowPowerMode(RoverContext& theContext) + bool RoverStateService::canEnterLowPowerMode(RoverContext &theContext) { // Receiving data from lander or hercules and timer ticks will both wake us up out of LPM, so we can enter LPM // while in this state as long as there are no active I2C transactions occurring return !(theContext.m_i2cActive); } - RoverState RoverStateService::handleTimerTick(RoverContext& theContext) + RoverState RoverStateService::handleTimerTick(RoverContext &theContext) { // Trigger a new ADC sample if the previous one is done - if (isAdcSampleDone()) { + if (isAdcSampleDone()) + { adcCheckVoltageLevels(&(theContext.m_adcValues)); } @@ -38,22 +39,27 @@ namespace iris UART__Status uStatus = UART__checkRxRbErrors(theContext.m_uart1State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Lander UART Rx Rb Error count"); - if (changed) { + if (changed) + { DebugComms__tryPrintfToLanderNonblocking("New Lander UART Rx Rb failures, total count = %u\n", count); } // Hercules UART - if (HerculesComms__isInitialized(theContext.m_hcState)) { + if (HerculesComms__isInitialized(theContext.m_hcState)) + { // Hercules Comms initialized size_t count = 0; BOOL changed = FALSE; UART__Status uStatus = UART__checkRxRbErrors(theContext.m_uart0State, &count, &changed); DEBUG_LOG_CHECK_STATUS(UART__STATUS__SUCCESS, uStatus, "Failed to get Hercules UART Rx Rb Error count"); - if (changed) { - DebugComms__tryPrintfToLanderNonblocking("New Hercules UART Rx Rb failures, total count = %d\n", (int) count); + if (changed) + { + DebugComms__tryPrintfToLanderNonblocking("New Hercules UART Rx Rb failures, total count = %d\n", (int)count); } - } else if ((theContext.m_details.m_outputPinBits & OPSBI__HERCULES_ON)) { + } + else if ((theContext.m_details.m_outputPinBits & OPSBI__HERCULES_ON)) + { // Enable Hercules UART if Hercules is ON: // Hercules Power ON but Comms not initialized DebugComms__tryPrintfToLanderNonblocking("Trying to establish UART between WD and Hercules\n"); @@ -61,7 +67,7 @@ namespace iris } /* send heartbeat with collected data */ - static FullEarthHeartbeat hb = { 0 }; + static FullEarthHeartbeat hb = {0}; GroundMsgs__Status gcStatus = GroundMsgs__generateFullEarthHeartbeat(&(theContext.m_i2cReadings), &(theContext.m_adcValues), &(theContext.m_details.m_hParams), @@ -71,16 +77,18 @@ namespace iris assert(GND_MSGS__STATUS__SUCCESS == gcStatus); LanderComms__Status lcStatus = txDownlinkData(theContext, - (uint8_t*) &hb, - sizeof(hb)); + (uint8_t *)&hb, + sizeof(hb)); assert(LANDER_COMMS__STATUS__SUCCESS == lcStatus); - if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) { + if (LANDER_COMMS__STATUS__SUCCESS != lcStatus) + { //!< @todo Handling? } - if (theContext.m_details.m_hParams.m_heatingControlEnabled) { - // calculate PWM duty cycle (if any) to apply to heater + if (theContext.m_details.m_hParams.m_heatingControlEnabled) + { + // Update the Heater State (PWM remains unchanged here): heaterControl(theContext); } @@ -91,61 +99,74 @@ namespace iris &writeIOExpander, &(theContext.m_details)); - if (writeIOExpander) { - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); + if (writeIOExpander) + { + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER); theContext.m_writeCustomIoExpanderValues = false; theContext.m_watchdogFlags |= WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } } // Queue up a read of the IO Expander, and initiate it if no other I2C action is active - theContext.m_queuedI2cActions |= 1 << ((uint16_t) I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); + theContext.m_queuedI2cActions |= 1 << ((uint16_t)I2C_SENSORS__ACTIONS__READ_IO_EXPANDER); - if (!theContext.m_i2cActive) { + if (!theContext.m_i2cActive) + { initiateNextI2cAction(theContext); } return getState(); } - RoverState RoverStateService::handlePowerIssue(RoverContext& /*theContext*/) + RoverState RoverStateService::handlePowerIssue(RoverContext & /*theContext*/) { //!< @todo Implement RoverStateService::handlePowerIssue return getState(); } - RoverState RoverStateService::spinOnce(RoverContext& theContext) + RoverState RoverStateService::spinOnce(RoverContext &theContext) { - if (theContext.m_i2cActive) { + if (theContext.m_i2cActive) + { I2C_Sensors__Action action = {}; uint8_t readValue = 0; I2C_Sensors__Status i2cStatus = I2C_Sensors__getActionStatus(&action, &(theContext.m_i2cReadings), &readValue); - if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) { + if (I2C_SENSORS__STATUS__INCOMPLETE != i2cStatus) + { DEBUG_LOG_CHECK_STATUS(I2C_SENSORS__STATUS__SUCCESS_DONE, i2cStatus, "I2C action failed"); - if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__WRITE_IO_EXPANDER == action) + { theContext.m_watchdogFlags &= ~WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE; } - if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) { + if (I2C_SENSORS__ACTIONS__READ_IO_EXPANDER == action) + { bool chargeStat2 = (readValue & I2C_SENSORS__IOE_P1_BIT__CHARGE_STAT2 != 0); bool latchStat = (readValue & I2C_SENSORS__IOE_P1_BIT__LATCH_STAT != 0); - if (chargeStat2) { + if (chargeStat2) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__CHARGE_STAT2); } - if (latchStat) { + if (latchStat) + { SET_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); - } else { + } + else + { CLEAR_IPASBI_IN_UINT(theContext.m_details.m_inputPinAndStateBits, IPASBI__LATCH_STAT); } } @@ -156,31 +177,32 @@ namespace iris } } - if (theContext.m_sendDetailedReport) { + if (theContext.m_sendDetailedReport) + { theContext.m_sendDetailedReport = false; - sendDetailedReportToLander(theContext); + sendDetailedReportToLander(theContext, true); } return getState(); } - RoverState RoverStateService::transitionTo(RoverContext& theContext) + RoverState RoverStateService::transitionTo(RoverContext &theContext) { // Nothing to do on this transition, which should always be from ENTERING_SERVICE. m_currentSubState = SubState::SERVICE_NORMAL; return getState(); } - RoverState RoverStateService::performWatchdogCommand(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateService::performWatchdogCommand(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // If we're in the KEEP_ALIVE_HOLDING substate and we receive any command other than EnterKeepAlive, then we // switch to the SERVICE_NORMAL substate. - if (SubState::KEEP_ALIVE_HOLDING == m_currentSubState - && msg.commandId != WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE) { + if (SubState::KEEP_ALIVE_HOLDING == m_currentSubState && msg.commandId != WD_CMD_MSGS__CMD_ID__ENTER_KEEPALIVE_MODE) + { m_currentSubState = SubState::SERVICE_NORMAL; } @@ -192,28 +214,31 @@ namespace iris sendDeployNotificationResponse); } - RoverState RoverStateService::doGndCmdPrepForDeploy(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateService::doGndCmdPrepForDeploy(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { /* Can transition directly to mission mode from service */ response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return RoverState::ENTERING_MISSION; } - RoverState RoverStateService::doGndCmdEnterKeepAliveMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateService::doGndCmdEnterKeepAliveMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // We only want to actually enter keep alive if we receive it twice in a row - if (SubState::KEEP_ALIVE_HOLDING == m_currentSubState) { + if (SubState::KEEP_ALIVE_HOLDING == m_currentSubState) + { response.statusCode = WD_CMD_MSGS__RESPONSE_STATUS__SUCCESS; return RoverState::ENTERING_KEEP_ALIVE; - } else { + } + else + { // Update the substate so that we know to actually transition to keep alive mode if we receive the command // againas the next command. m_currentSubState = SubState::KEEP_ALIVE_HOLDING; @@ -229,11 +254,11 @@ namespace iris } } - RoverState RoverStateService::doGndCmdEnterServiceMode(RoverContext& theContext, - const WdCmdMsgs__Message& msg, - WdCmdMsgs__Response& response, - WdCmdMsgs__Response& deployNotificationResponse, - bool& sendDeployNotificationResponse) + RoverState RoverStateService::doGndCmdEnterServiceMode(RoverContext &theContext, + const WdCmdMsgs__Message &msg, + WdCmdMsgs__Response &response, + WdCmdMsgs__Response &deployNotificationResponse, + bool &sendDeployNotificationResponse) { // Do the default behavior of complaining about being in the wrong state. return RoverStateBase::doGndCmdEnterServiceMode(theContext, diff --git a/Apps/FlightSoftware/Watchdog/src/watchdog.c b/Apps/FlightSoftware/Watchdog/src/watchdog.c index bd5e66e2c..fb4a0106a 100644 --- a/Apps/FlightSoftware/Watchdog/src/watchdog.c +++ b/Apps/FlightSoftware/Watchdog/src/watchdog.c @@ -22,8 +22,8 @@ static volatile uint16_t shouldBeUnusedWatchdogFlags = 0; static volatile uint16_t shouldBeUnusedTimeCount = 0; -//static volatile uint16_t* watchdogFlagsPtr = &shouldBeUnusedWatchdogFlags; -static volatile uint16_t* timeCountCentisecondsPtr = &shouldBeUnusedTimeCount; +// static volatile uint16_t* watchdogFlagsPtr = &shouldBeUnusedWatchdogFlags; +static volatile uint16_t *timeCountCentisecondsPtr = &shouldBeUnusedTimeCount; static volatile BOOL lookingForWdIntFallingEdge = TRUE; static volatile uint16_t wdIntLastEdgeTime = 0; @@ -32,15 +32,15 @@ static volatile uint16_t wdIntTimeBetweenLastEdges = 0; /** * Set up the ISRs for the watchdog */ -int watchdog_init(volatile uint16_t* watchdogFlags, - volatile uint16_t* timeCountCentiseconds, - const HeaterParams* hParams) +int watchdog_init(volatile uint16_t *watchdogFlags, + volatile uint16_t *timeCountCentiseconds, + const HeaterParams *hParams) { DEBUG_LOG_NULL_CHECK_RETURN(watchdogFlags, "Parameter is NULL", -1); DEBUG_LOG_NULL_CHECK_RETURN(timeCountCentiseconds, "Parameter is NULL", -1); DEBUG_LOG_NULL_CHECK_RETURN(hParams, "Parameter is NULL", -1); -// watchdogFlagsPtr = watchdogFlags; + // watchdogFlagsPtr = watchdogFlags; timeCountCentisecondsPtr = timeCountCentiseconds; /* ===================================================== @@ -49,7 +49,7 @@ int watchdog_init(volatile uint16_t* watchdogFlags, // Use ACLK (which has a frequency of about 9.4 kHz (typ.)) as Timer_A clock source. This also ensures // that the timer is stopped, as all bits in TA0CTL other than TASSEL will be cleared. This means the - // MC bits will be set to zero, which means that the timer is stopped. + // MC bits will be set to zero, which means that the timer is stopped. TA0CTL = TASSEL_1; // The input divider for the input clock is determined by the ID bits in TAxCTL and the TAIDEX bits @@ -57,9 +57,9 @@ int watchdog_init(volatile uint16_t* watchdogFlags, // the clock divisor determined by the ID bits is d_ID, and the clock divisor determined by the TAIDEX // bits is d_TAIDEX, then their relationship is: // - // f_timer = (f_clk / d_ID ) / d_TAIDEX + // f_timer = (f_clk / d_ID ) / d_TAIDEX // f_timer = f_clk / (d_ID * d_TAIDEX) - // + // // Here, we use f_clk = 9.4 kHz, d_ID = 1, and d_TAIDEX = 1, so f_timer = 9.4 kHz // Sets ID to 00b, making it divide by 1 (i.e. does not divide). @@ -69,7 +69,7 @@ int watchdog_init(volatile uint16_t* watchdogFlags, TA0EX0 = TAIDEX_0; // Per the note in section 25.2.1.1 (pg 645) of the user guide, TACLR should be set after modifying - // the ID or TAIDEX bits. Doing so resets the clock divider logic, and the new settings are + // the ID or TAIDEX bits. Doing so resets the clock divider logic, and the new settings are // used once the TACLR bit is cleared. We do not need to manually clear this bit after setting it, // as it is reset automatically. TA0CTL |= TACLR; @@ -89,18 +89,18 @@ int watchdog_init(volatile uint16_t* watchdogFlags, // that we will get the TAIFG interrupt once about every 7 seconds (2^16 = 65536, and // 65536 / 9400 = ~6.97 seconds) TA0CTL |= TAIE; - + // Finished setting up Timer_A, so start the timer in "Continuous" mode (i.e. timer will count up to 0xFFFF, // then overflow to zero) - TA0CTL |= MC_2; + TA0CTL |= MC_2; - /* ===================================================== + /* ===================================================== Timer_B setup (used to generate PWM for heater control) ===================================================== */ // Use SMCLK (which has a frequency of 8 MHz) as Timer_B clock source. This also ensures // that the timer is stopped, as all bits in TB0CTL other than TBSSEL will be cleared. This means the - // MC bits will be set to zero, which means that the timer is stopped. + // MC bits will be set to zero, which means that the timer is stopped. TB0CTL = TBSSEL__SMCLK; // The input divier for the input clock is determined by the ID bits in TBxCTL and the TBIDEX bits @@ -108,9 +108,9 @@ int watchdog_init(volatile uint16_t* watchdogFlags, // the clock divisor determined by the ID bits is d_ID, and the clock divisor determined by the TBIDEX // bits is d_TBIDEX, then their relationship is: // - // f_timer = (f_clk / d_ID ) / d_TBIDEX + // f_timer = (f_clk / d_ID ) / d_TBIDEX // f_timer = f_clk / (d_ID * d_TBIDEX) - // + // // Here, we use f_clk = 8 MHz, d_ID = 1, and d_TBIDEX = 1, so f_timer = 8 MHz // ID bits in TB0CTL will have been set to 00b in the previous assignment, making it divide by 1 (i.e. @@ -120,9 +120,9 @@ int watchdog_init(volatile uint16_t* watchdogFlags, TB0EX0 = TAIDEX_0; // Per the note in section 25.2.1.1 (pg 645) of the user guide, TBCLR should be set after modifying - // the ID or TBIDEX bits. Doing so resets the clock divider logic, and the new settings are + // the ID or TBIDEX bits. Doing so resets the clock divider logic, and the new settings are // used once the TBCLR bit is cleared. We do not need to manually clear this bit after setting it, - // as it is reset automatically. More specifically, the state of the output changes when the + // as it is reset automatically. More specifically, the state of the output changes when the TB0CTL |= TBCLR; // Set the maximum count value of Timer_B (when it is set to "Up" mode) to 10000. @@ -133,11 +133,11 @@ int watchdog_init(volatile uint16_t* watchdogFlags, // Set the output mode of capture/compare block 2 to "Reset/Set". This means that the output is // reset (i.e. made low) when Timer_B counts to the value in TB0CCR2, and the output is set (i.e. - // made high) when Timer_B counts to TB0CL0 (which is set from the value in TB0CCR0). + // made high) when Timer_B counts to TB0CL0 (which is set from the value in TB0CCR0). TB0CCTL2 = OUTMOD_7; // Set the initial duty cycle of the PWM. Specifically, this is the counter value at which the output - // will reset, or go low. When this has a value of zero, it means that the heater is effectively + // will reset, or go low. When this has a value of zero, it means that the heater is effectively // disabled. TB0CCR2 = hParams->m_heaterDutyCycle; @@ -157,11 +157,11 @@ int watchdog_init(volatile uint16_t* watchdogFlags, * * Function called every ~5s */ -int watchdog_monitor(HerculesComms__State* hState, - volatile uint16_t* watchdogFlags, - uint8_t* watchdogOpts, - BOOL* writeIOExpander, - WatchdogStateDetails* details) +int watchdog_monitor(HerculesComms__State *hState, + volatile uint16_t *watchdogFlags, + uint8_t *watchdogOpts, + BOOL *writeIOExpander, + WatchdogStateDetails *details) { // NOTE: hState can be NULL if the Hercules comm link isn't up DEBUG_LOG_NULL_CHECK_RETURN(watchdogFlags, "Parameter is NULL", -1); @@ -173,15 +173,19 @@ int watchdog_monitor(HerculesComms__State* hState, __disable_interrupt(); /* check that kicks have been received */ - if (*watchdogFlags & WDFLAG_RADIO_KICK) { + if (*watchdogFlags & WDFLAG_RADIO_KICK) + { /* radio kick received, all ok! */ *watchdogFlags ^= WDFLAG_RADIO_KICK; - } else { + } + else + { /* MISSING radio kick! don't bother resetting, though */ } /* unreset wifi chip */ - if (*watchdogFlags & WDFLAG_UNRESET_RADIO2) { + if (*watchdogFlags & WDFLAG_UNRESET_RADIO2) + { releaseRadioReset(); *watchdogFlags ^= WDFLAG_UNRESET_RADIO2; *writeIOExpander = TRUE; @@ -189,13 +193,15 @@ int watchdog_monitor(HerculesComms__State* hState, } /* unreset wifi chip */ - if ((*watchdogFlags & WDFLAG_UNRESET_RADIO1) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_RADIO1) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { *watchdogFlags |= WDFLAG_UNRESET_RADIO2; *watchdogFlags ^= WDFLAG_UNRESET_RADIO1; } /* unreset hercules */ - if ((*watchdogFlags & WDFLAG_UNRESET_HERCULES) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_HERCULES) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseHerculesReset(); *watchdogFlags ^= WDFLAG_UNRESET_HERCULES; *writeIOExpander = TRUE; @@ -203,35 +209,40 @@ int watchdog_monitor(HerculesComms__State* hState, } /* unreset motor 1 */ - if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR1) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR1) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseMotor1Reset(); *watchdogFlags ^= WDFLAG_UNRESET_MOTOR1; *writeIOExpander = TRUE; } /* unreset motor 2 */ - if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR2) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR2) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseMotor2Reset(); *watchdogFlags ^= WDFLAG_UNRESET_MOTOR2; *writeIOExpander = TRUE; } /* unreset motor 3 */ - if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR3) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR3) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseMotor3Reset(); *watchdogFlags ^= WDFLAG_UNRESET_MOTOR3; *writeIOExpander = TRUE; } /* unreset motor 4 */ - if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR4) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_MOTOR4) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseMotor4Reset(); *watchdogFlags ^= WDFLAG_UNRESET_MOTOR4; *writeIOExpander = TRUE; } /* unreset FPGA */ - if ((*watchdogFlags & WDFLAG_UNRESET_FPGA) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) { + if ((*watchdogFlags & WDFLAG_UNRESET_FPGA) && !(*watchdogFlags & WDFLAG_WAITING_FOR_IO_EXPANDER_WRITE)) + { releaseFPGAReset(); *watchdogFlags ^= WDFLAG_UNRESET_FPGA; *writeIOExpander = TRUE; @@ -239,30 +250,37 @@ int watchdog_monitor(HerculesComms__State* hState, } /* bring 3V3 on again */ - if (*watchdogFlags & WDFLAG_UNRESET_3V3) { + if (*watchdogFlags & WDFLAG_UNRESET_3V3) + { enable3V3PowerRail(); *watchdogFlags ^= WDFLAG_UNRESET_3V3; SET_RABI_IN_UINT(details->m_resetActionBits, RABI__3V3_EN_UNRESET); } /* turn VSA on again */ - if (*watchdogFlags & WDFLAG_POWER_ON_V_SYS_ALL) { + if (*watchdogFlags & WDFLAG_POWER_ON_V_SYS_ALL) + { enableVSysAllPowerRail(); *watchdogFlags ^= WDFLAG_POWER_ON_V_SYS_ALL; SET_RABI_IN_UINT(details->m_resetActionBits, RABI__V_SYS_ALL_ON__UNRESET); } /* check ADC values */ - if (*watchdogFlags & WDFLAG_ADC_READY) { + if (*watchdogFlags & WDFLAG_ADC_READY) + { /* ensure ADC values are in spec */ *watchdogFlags ^= WDFLAG_ADC_READY; } /* check if hercules has given a valid kick */ - if (*watchdogFlags & WDFLAG_HERCULES_KICK) { + if (*watchdogFlags & WDFLAG_HERCULES_KICK) + { *watchdogFlags ^= WDFLAG_HERCULES_KICK; - } else { - if (*watchdogOpts & WDOPT_MONITOR_HERCULES) { + } + else + { + if (*watchdogOpts & WDOPT_MONITOR_HERCULES) + { // reset the hercules setHerculesReset(); @@ -272,7 +290,8 @@ int watchdog_monitor(HerculesComms__State* hState, *watchdogFlags |= WDFLAG_UNRESET_HERCULES; // if the issue was due to a comms breakdown, reset the comms state - if (NULL != hState) { + if (NULL != hState) + { HerculesComms__Status hcStatus = HerculesComms__resetState(hState); //!< @todo Replace with returning watchdog error code once that is implemented. @@ -280,7 +299,9 @@ int watchdog_monitor(HerculesComms__State* hState, } *writeIOExpander = TRUE; - } else { + } + else + { // missed a kick, but don't reset the hercules. } } @@ -290,19 +311,18 @@ int watchdog_monitor(HerculesComms__State* hState, return 0; } - - void watchdog_build_hercules_telem(const I2C_Sensors__Readings *i2cReadings, - const AdcValues* adcValues, + const AdcValues *adcValues, BOOL hasDeployed, - uint8_t* telbuf, + uint8_t *telbuf, size_t telbufSize) { DEBUG_LOG_NULL_CHECK_RETURN(i2cReadings, "Parameter is NULL", /* nothing, b/c void return */); DEBUG_LOG_NULL_CHECK_RETURN(adcValues, "Parameter is NULL", /* nothing, b/c void return */); DEBUG_LOG_NULL_CHECK_RETURN(telbuf, "Parameter is NULL", /* nothing, b/c void return */); - if (telbufSize < 16) { + if (telbufSize < 16) + { DPRINTF_ERR("telbufSize is too small: required = %d, actual = %d\n", 16, telbufSize); return; } @@ -316,7 +336,7 @@ void watchdog_build_hercules_telem(const I2C_Sensors__Readings *i2cReadings, // [6,7] won't be able to read lander power in mission mode telbuf[6] = (uint8_t)(adcValues->vLanderSense); telbuf[7] = (uint8_t)(adcValues->vLanderSense >> 8); - telbuf[8] = (uint8_t)(adcValues->battTemp >> 4); + telbuf[8] = (uint8_t)(adcValues->battRT >> 4); telbuf[9] = hasDeployed ? 1 : 0; telbuf[10] = (uint8_t)(i2cReadings->raw_battery_charge[0]); telbuf[11] = (uint8_t)(i2cReadings->raw_battery_charge[1]); @@ -331,7 +351,6 @@ uint16_t watchdog_get_wd_int_flat_duration(void) return wdIntTimeBetweenLastEdges; } - /* * Pins that need an ISR: * @@ -356,42 +375,48 @@ uint16_t watchdog_get_wd_int_flat_duration(void) /* Port 1 handler */ #if 1 #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) -#pragma vector=PORT1_VECTOR -__interrupt void port1_isr_handler(void) { +#pragma vector = PORT1_VECTOR +__interrupt void port1_isr_handler(void) +{ #elif defined(__GNUC__) -void __attribute__ ((interrupt(PORT1_VECTOR))) port1_isr_handler (void) { +void __attribute__((interrupt(PORT1_VECTOR))) port1_isr_handler(void) +{ #else #error Compiler not supported! #endif uint16_t now = *timeCountCentisecondsPtr; - switch(__even_in_range(P1IV, P1IV__P1IFG7)) { - case P1IV__P1IFG3: // P1.3: WD_INT - if (lookingForWdIntFallingEdge) { - EventQueue__put(EVENT__TYPE__WD_INT_FALLING_EDGE); - lookingForWdIntFallingEdge = FALSE; - enableWdIntRisingEdgeInterrupt(); - } else { - EventQueue__put(EVENT__TYPE__WD_INT_RISING_EDGE); - lookingForWdIntFallingEdge = TRUE; - enableWdIntFallingEdgeInterrupt(); - } + switch (__even_in_range(P1IV, P1IV__P1IFG7)) + { + case P1IV__P1IFG3: // P1.3: WD_INT + if (lookingForWdIntFallingEdge) + { + EventQueue__put(EVENT__TYPE__WD_INT_FALLING_EDGE); + lookingForWdIntFallingEdge = FALSE; + enableWdIntRisingEdgeInterrupt(); + } + else + { + EventQueue__put(EVENT__TYPE__WD_INT_RISING_EDGE); + lookingForWdIntFallingEdge = TRUE; + enableWdIntFallingEdgeInterrupt(); + } - wdIntTimeBetweenLastEdges = now - wdIntLastEdgeTime; - wdIntLastEdgeTime = now; + wdIntTimeBetweenLastEdges = now - wdIntLastEdgeTime; + wdIntLastEdgeTime = now; - // exit LPM - __low_power_mode_off_on_exit(); - break; - default: // default: ignore - break; + // exit LPM + __low_power_mode_off_on_exit(); + break; + default: // default: ignore + break; } } #endif #if 0 /* Port 3 handler */ #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) -#pragma vector=PORT3_VECTOR +#pragma vector = PORT3_VECTOR __interrupt void port3_isr_handler(void) { #elif defined(__GNUC__) void __attribute__ ((interrupt(PORT3_VECTOR))) port3_isr_handler (void) { @@ -408,27 +433,29 @@ void __attribute__ ((interrupt(PORT3_VECTOR))) port3_isr_handler (void) { /* Timer 1 handler */ #if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__) #pragma vector = TIMER0_A1_VECTOR -__interrupt void Timer0_A1_ISR(void) { +__interrupt void Timer0_A1_ISR(void) +{ #elif defined(__GNUC__) -void __attribute__ ((interrupt(TIMER0_A1_VECTOR))) Timer0_A1_ISR (void) { +void __attribute__((interrupt(TIMER0_A1_VECTOR))) Timer0_A1_ISR(void) +{ #else #error Compiler not supported! #endif - switch (__even_in_range(TA0IV, TAIV__TAIFG)) { - case TAIV__TACCR1: - *timeCountCentisecondsPtr = *timeCountCentisecondsPtr + 1; - - // Offset the count value we're looking for by by the number of timer ticks in one centisecond - TA0CCR1 += 94; - break; - - case TAIV__TAIFG: /* timer tick overflowed */ - EventQueue__put(EVENT__TYPE__TIMER_TICK); - __low_power_mode_off_on_exit(); - break; - - default: - break; + switch (__even_in_range(TA0IV, TAIV__TAIFG)) + { + case TAIV__TACCR1: + *timeCountCentisecondsPtr = *timeCountCentisecondsPtr + 1; + + // Offset the count value we're looking for by by the number of timer ticks in one centisecond + TA0CCR1 += 94; + break; + + case TAIV__TAIFG: /* timer tick overflowed */ + EventQueue__put(EVENT__TYPE__TIMER_TICK); + __low_power_mode_off_on_exit(); + break; + + default: + break; } } - diff --git a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml index 24178f921..a60956ff1 100644 --- a/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml +++ b/Apps/FlightSoftware/fprime/CubeRover/WatchDogInterface/WatchDogInterfaceComponentAi.xml @@ -118,8 +118,15 @@ - - + + + + + + + + + diff --git a/Apps/GroundSoftware/.vscode/settings.json b/Apps/GroundSoftware/.vscode/settings.json index 12bc323c2..0616f66b8 100644 --- a/Apps/GroundSoftware/.vscode/settings.json +++ b/Apps/GroundSoftware/.vscode/settings.json @@ -67,9 +67,12 @@ "d", "dataframe", "dataframes", + "DATASTANDARD", "datastandards", "datastream", "Dataview", + "DEBUGBGP", + "DEBUGRESET", "deser", "deserialization", "dgram", diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet.py index 848bba0ff..e76fb4748 100644 --- a/Apps/GroundSoftware/IrisBackendv3/codec/packet.py +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet.py @@ -50,6 +50,7 @@ def parse_packet( RadioBgApiPacket, RadioUartBytePacket, RadioDirectMessagePacket, + WatchdogResetSpecificAckPacket, WatchdogHelloPacket, WatchdogRadioDebugPacket, WatchdogDebugImportantPacket, diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/__init__.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/__init__.py index 18d8343c8..4b87f9cdc 100644 --- a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/__init__.py +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/__init__.py @@ -25,3 +25,4 @@ from .watchdog_hello import * from .watchdog_radio_debug import * from .watchdog_debug_important import * +from .watchdog_reset_specific_ack import * diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_detailed_status.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_detailed_status.py index 9a6ffbfd8..7d471ed6a 100644 --- a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_detailed_status.py +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_detailed_status.py @@ -5,7 +5,7 @@ detailed replacement for Heartbeat. @author: Connor W. Colombo (CMU) -@last-updated: 05/01/2022 +@last-updated: 12/31/2022 """ from __future__ import annotations # Activate postponed annotations (for using classes as return type in their own methods) @@ -56,15 +56,44 @@ class CustomPayload(): # TODO: 5k table taken from old Avionics conversion sheet. not yet checked/verified. (check it) BATT_5K_THERMISTOR_LOOKUP_TABLE = { # for 5k thermistor: https://www.tdk-electronics.tdk.com/inf/50/db/ntc/NTC_Mini_sensors_S863.pdf 'degC': np.asarray([-15, -10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155]), - 'adc': np.asarray([4242, 3970, 3670, 3352, 3023, 2695, 2378, 2077, 1801, 1552, 1330, 1137, 969, 825, 702, 598, 510, 435, 372, 319, 274, 237, 204, 177, 154, 134, 117, 103, 90, 79, 70, 62, 55, 49, 44]) + 'adc': np.asarray([3214, 3008, 2781, 2540, 2291, 2042, 1801, 1574, 1365, 1176, 1008, 861, 734, 625, 532, 453, 386, 329, 282, 242, 208, 179, 155, 134, 116, 102, 89, 78, 68, 60, 53, 47, 42, 37, 33]) } BATT_CHRG_10K_THERMISTOR_LOOKUP_TABLE = { # for 10k thermistor (NTC10k_B57863S0103F040) 'degC': np.asarray([-55, -50, -45, -40, -35, -30, -25, -20, -15, -10, -5, 0, 5, 10, 15, 20, 25, 30, 35, 40, 45, 50, 55, 60, 65, 70, 75, 80, 85, 90, 95, 100, 105, 110, 115, 120, 125, 130, 135, 140, 145, 150, 155]), 'RTH_R25': np.asarray([96.3, 67.01, 47.17, 33.65, 24.26, 17.7, 13.04, 9.707, 7.293, 5.533, 4.232, 3.265, 2.539, 1.99, 1.571, 1.249, 1.0000, 0.8057, 0.6531, 0.5327, 0.4369, 0.3603, 0.2986, 0.2488, 0.2083, 0.1752, 0.1481, 0.1258, 0.1072, 0.09177, 0.07885, 0.068, 0.05886, 0.05112, 0.04454, 0.03893, 0.03417, 0.03009, 0.02654, 0.02348, 0.02083, 0.01853, 0.01653]) } + V_LANDER_MAX = 1.10*28.0 # Maximum possible lander voltage (allowed) V_HEATER_NOM = 28.0 # NOMINAL Heater Voltage R_HEATER = 628.245 # Heater resistance (ohms) + # Correction factor for Vcc28 ADC conversion on FM1 in the cleanroom + # during RC6 at 28.0V input: + # upper 6bits = +-64ADC = +-0.567V + # At 28.0V, an ADC reading of 3158.6777 would be expected. Since only + # upper 6b are being sent, this needs to be rounded to nearest 64: 3136. + VCC28_ADC_FM1_CORRECTION_FACTOR = 3136 / 2944 + # Correction factor for VL ADC conversion on FM1 in the cleanroom + # during RC6 at 28.0V input: + # upper 7bits = +-32ADC = +-0.248V + # At 28.0V, an ADC reading of 3611.5347 would be expected. Since only + # upper 7b are being sent, this needs to be rounded to nearest 32: 3616. + VL_ADC_FM1_CORRECTION_FACTOR = 3616 / 3104 + + # Correction factor for VSA ADC conversion on FM1 in the cleanroom + # during RC6 at 28.0V input: + # upper 5bits = +-128ADC = +-0.992V + # At 28.0V, an ADC reading of 3611.5347 would be expected. Since only + # upper 5b are being sent, this needs to be rounded to nearest 128: 3584. + # yes, 2944 was observed here too (large jumps b/c so few bits) + VSA_ADC_FM1_CORRECTION_FACTOR = 3584 / 2944 + + # Correction factor for VBS ADC conversion on FM1 in the cleanroom + # during RC5 at 23.80V VBS: + # upper 9bits = +-8ADC = +-0.054V + # At 23.80V, an ADC reading of 3558.5824 would be expected. Since only + # upper 9b are being sent, this needs to be rounded to nearest 8: 3560. + VBS_ADC_FM1_CORRECTION_FACTOR = 3560 / 2928 + __slots__: List[str] = [ '_Io_ChargingStatus1', '_Io_ChargingStatus2', @@ -167,10 +196,33 @@ def fused_est_lander_voltage(self) -> float: # TODO: Update these weights from empirical measurements of their accuracies and uncertainties dLander = 0.25 # [Volts] (uncertainty in LanderVoltage reading) dVcc28 = 0.5 # [Volts] (uncertainty in Vcc28Voltage reading) + + VLander = self.Adc_LanderVoltage + Vcc28 = self.Adc_Vcc28Voltage + + # Guard against 0: + if max(abs(VLander), abs(Vcc28)) == 0: + return 0 + + # If a significant difference exists (i.e. one sensor is likely faulty)...: + if (abs(Vcc28 - VLander) / max(abs(VLander), abs(Vcc28))) > 0.5: + # If one of them is significantly greater (50%) than the max + # possible lander voltage (i.e. way to large -- failed high), + # take the other one: + if (VLander > 1.5 * self.V_LANDER_MAX) and (Vcc28 <= 1.5 * self.V_LANDER_MAX): + return Vcc28 + if (Vcc28 > 1.5 * self.V_LANDER_MAX) and (VLander <= 1.5 * self.V_LANDER_MAX): + return VLander + # otherwise, just use the larger of the two (since the lower + # one likely failed low): + return max(VLander, Vcc28) + + # Guard against poor uncertainty settings: if (dLander+dVcc28) == 0: return 0 - else: - return self.Adc_LanderVoltage * (1.0-dLander/(dLander+dVcc28)) + self.Adc_Vcc28Voltage * (1.0-dVcc28/(dLander+dVcc28)) + + # Both sensors have consistent values, so fuse the results: + return VLander * (1.0-dLander/(dLander+dVcc28)) + Vcc28 * (1.0-dVcc28/(dLander+dVcc28)) # Computed properties for Computed Telemetry Channels: @property @@ -405,7 +457,7 @@ def Watchdog_ResetEventsList(self) -> List[str]: @property def Adc_LanderVoltage(self) -> float: - return float(self.Adc_LanderVoltageRaw) / 4095.0 * 3.3 * (232.0+2000.0)/232.0 + return self.VL_ADC_FM1_CORRECTION_FACTOR * float(self.Adc_LanderVoltageRaw) / 4095.0 * 3.3 * (232.0+2000.0)/232.0 @property def Adc_BatteryChargingTempKelvin(self) -> float: @@ -428,11 +480,12 @@ def Adc_BatteryChargingTempUncertaintyKelvin(self) -> float: # ! TODO: (pull from BACK HAL code + supporting samsung notes) return 0.0 - def battery_adc_reading_to_kelvin(self, adc_reading) -> float: + @classmethod + def battery_adc_reading_to_kelvin(cls, adc_reading) -> float: return float(np.interp( float(adc_reading), - self.BATT_5K_THERMISTOR_LOOKUP_TABLE['adc'][::-1], - self.BATT_5K_THERMISTOR_LOOKUP_TABLE['degC'][::-1] + cls.BATT_5K_THERMISTOR_LOOKUP_TABLE['adc'][::-1], + cls.BATT_5K_THERMISTOR_LOOKUP_TABLE['degC'][::-1] )) + 273.15 @property @@ -447,7 +500,7 @@ def Adc_BatteryTempUncertaintyKelvin(self) -> float: @property def Adc_FullSystemVoltage(self) -> float: - return float(self.Adc_FullSystemVoltageRaw) / 4095.0 * 3.3 * (232.0+2000.0)/232.0 + return self.VSA_ADC_FM1_CORRECTION_FACTOR * float(self.Adc_FullSystemVoltageRaw) / 4095.0 * 3.3 * (232.0+2000.0)/232.0 @property def Adc_FullSystemCurrent(self) -> float: @@ -457,7 +510,7 @@ def Adc_FullSystemCurrent(self) -> float: @property def Adc_SwitchedBatteryVoltage(self) -> float: - return float(self.Adc_SwitchedBatteryVoltageRaw) / 4095.0 * 3.3 * (274.0+2000.0)/274.0 + return self.VBS_ADC_FM1_CORRECTION_FACTOR * float(self.Adc_SwitchedBatteryVoltageRaw) / 4095.0 * 3.3 * (274.0+2000.0)/274.0 @property def Adc_2V5Voltage(self) -> float: @@ -471,7 +524,7 @@ def Adc_2V8Voltage(self) -> float: @property def Adc_Vcc28Voltage(self) -> float: - return float(self.Adc_Vcc28VoltageRaw) / 4095.0 * 3.3 * (47.0+470.0)/47.0 + return self.VCC28_ADC_FM1_CORRECTION_FACTOR * float(self.Adc_Vcc28VoltageRaw) / 4095.0 * 3.3 * (47.0+470.0)/47.0 @property def Adc_Vcc24Voltage(self) -> float: @@ -499,6 +552,7 @@ def Adc_DataFrame(self) -> DataFrame: @property def Heater_PwmLimit_DutyCyclePercent(self) -> float: + # NOTE: PwmLimit is deprecated if self.Heater_DutyCyclePeriodCycles == 0: return float('Inf') else: @@ -506,7 +560,7 @@ def Heater_PwmLimit_DutyCyclePercent(self) -> float: @property def Heater_EffectivePowerLimit(self) -> float: - # TODO: consider using V_HEATER_NOM instead of `fused_est_lander_voltage` in case `fused_est_lander_voltage` isn't accurate + # NOTE: PwmLimit is deprecated max_avail_voltage = self.fused_est_lander_voltage * \ self.Heater_PwmLimit_DutyCyclePercent / 100.0 if self.R_HEATER == 0: @@ -514,6 +568,14 @@ def Heater_EffectivePowerLimit(self) -> float: else: return max_avail_voltage**2 / self.R_HEATER + @property + def Heater_MaxPossiblePower(self) -> float: + # Maximum possible heater power + if self.R_HEATER == 0: + return float('Inf') + else: + return self.fused_est_lander_voltage**2 / self.R_HEATER + @property def Heater_SetpointKelvin(self) -> float: # ! TODO: Why are we sending 16b if Adc maxes out at 12b... Strongly consider revising. @@ -547,7 +609,6 @@ def Heater_DutyCyclePercent(self) -> float: @property def Heater_EffectiveVoltage(self) -> float: - # TODO: consider using V_HEATER_NOM instead of `fused_est_lander_voltage` in case `fused_est_lander_voltage` isn't accurate return self.fused_est_lander_voltage * self.Heater_DutyCyclePercent / 100.0 @property @@ -861,13 +922,12 @@ def __repr__(self) -> str: f"ISA: {self.Adc_FullSystemCurrent*1000:.1f}mA" "\n" "HEATER " - f"[{self.Heater_OnTempKelvin:.0f}K |" - f"{self.Heater_SetpointKelvin:.0f}K |" - f"{self.Heater_OffTempKelvin:.0f}K] \t" + f"[↑{self.Heater_OnTempKelvin:.0f}K ({self.Heater_OnValue}) | " + f"↓{self.Heater_OffTempKelvin:.0f}K ({self.Heater_OffValue})] \t" f" is {self.getEnumName('Heater_IsHeating')}, " f"Control: {self.getEnumName('Heater_ControlEnabled')} \t" - f"@ {self.Heater_EffectivePower:.3f}W / {self.Heater_EffectivePowerLimit:.3f}W \t" - f"Period: {self.Heater_DutyCyclePeriodMs:.1f}ms" + f"@ {self.Heater_EffectivePower:.3f}W / {self.Heater_MaxPossiblePower:.3f}W \t" + f"Period: {self.Heater_DutyCyclePeriodMs:.2f}ms" "\n" f"Tbatt: {self.Adc_BatteryTempKelvin:.1f}K ± {self.Adc_BatteryTempUncertaintyKelvin}K \t" f"Tchrg: {self.Adc_BatteryChargingTempKelvin:.1f}K ± {self.Adc_BatteryChargingTempUncertaintyKelvin}K \t" @@ -930,9 +990,9 @@ class WatchdogDetailedStatusPacket(WDS_PI[WDS_PI, WDS_CP]): ('Adc_2V5VoltageRaw', (5, True, 5, WD_ADC_BITS)), ('Adc_2V8VoltageRaw', (5, True, 5, WD_ADC_BITS)), ('Adc_Vcc28VoltageRaw', (6, True, 6, WD_ADC_BITS)), - ('Heater_Kp', (16, False, 0, 0)), - ('Heater_PwmLimit_DutyCycleCounter', (16, False, 0, 0)), - ('Heater_SetpointValue', (16, False, 0, 0)), + ('Heater_Kp', (16, False, 0, 0)), # Deprecated + ('Heater_PwmLimit_DutyCycleCounter', (16, False, 0, 0)), # Deprecated + ('Heater_SetpointValue', (16, False, 0, 0)), # Deprecated ('Heater_OnValue', (16, False, 0, 0)), ('Heater_OffValue', (16, False, 0, 0)), ('Heater_DutyCyclePeriodCycles', (16, False, 0, 0)), diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_heartbeat.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_heartbeat.py index 52d80e5f5..9953893ec 100644 --- a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_heartbeat.py +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_heartbeat.py @@ -4,7 +4,7 @@ important Watchdog statuses during cis-lunar transit. @author: Connor W. Colombo (CMU) -@last-updated: 05/01/2022 +@last-updated: 12/31/2022 """ from __future__ import annotations # Activate postponed annotations (for using classes as return type in their own methods) @@ -20,6 +20,9 @@ from ..settings import ENDIANNESS_CODE from ..exceptions import PacketDecodingException +# Borrow conversions from Detailed status: +from .watchdog_detailed_status import WatchdogDetailedStatusPacketInterface + from IrisBackendv3.data_standards.module import Module @@ -62,7 +65,7 @@ class CustomPayload(): _BatteryVoltageOk: bool _BattAdcTempRaw: int - @ staticmethod + @staticmethod def despan(span: int, num_bits: int, min_val: float, @@ -112,7 +115,7 @@ def despan(span: int, return (span-span_min)/(span_max-span_min) * (max_val-min_val) + min_val - @ staticmethod + @staticmethod def span(val: float, num_bits: int, min_val: float, @@ -179,7 +182,7 @@ def CurrentMilliamps(self) -> float: @property def BattAdcTempKelvin(self) -> float: - return self.despan(self._BattAdcTempRaw, 8, 75, -12.31, span_max=233) + return WatchdogDetailedStatusPacketInterface.CustomPayload.battery_adc_reading_to_kelvin(self._BattAdcTempRaw) # Make public get, private set to signal that you can freely use these values # but modifying them directly can yield undefined behavior (specifically @@ -235,7 +238,7 @@ class WatchdogHeartbeatPacket(WHB_PI[WHB_PI, WHB_CP]): def __repr__(self) -> str: return self.custom_payload.__repr__() - @ classmethod + @classmethod def decode(cls, data: bytes, endianness_code: str = ENDIANNESS_CODE @@ -248,8 +251,11 @@ def decode(cls, f"Expected {cls.START_FLAG}, Got: {flag} ." ) # TODO: use `bitstruct.compile` on first run to speed processing time. + bitfields = [*bitstruct.unpack('u7u1u7u1u8', core_data)] + # Unshift fields: + bitfields[-1] = bitfields[-1] << 4 custom_payload = WatchdogHeartbeatPacket.CustomPayload( - *bitstruct.unpack('u7u1u7u1u8', core_data) + *bitfields ) return WatchdogHeartbeatPacket( custom_payload=custom_payload, @@ -262,7 +268,7 @@ def encode(self, **kwargs: Any) -> bytes: #!! TODO: IS NECESSARY FOR IPC (OR JUST ENCODE THAT STUFF IN A STATE) <- Not with new `Packet`-specific `__reduce__` strategy raise NotImplementedError() - @ classmethod + @classmethod def is_valid(cls, data: bytes, endianness_code: str = ENDIANNESS_CODE) -> bool: """ Determines whether the given bytes constitute a valid packet of this type. diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_radio_debug.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_radio_debug.py index bffb3bafb..5b618662f 100644 --- a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_radio_debug.py +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_radio_debug.py @@ -9,7 +9,8 @@ """ from __future__ import annotations -from prompt_toolkit import formatted_text # Activate postponed annotations (for using classes as return type in their own methods) +# Activate postponed annotations (for using classes as return type in their own methods) +from prompt_toolkit import formatted_text from .packet import Packet, CT @@ -56,8 +57,8 @@ def __init__(self, if payloads is None: # Except possibly in future subclasses, this should normally be - # empty for an `WatchdogDebugPacket`. `payloads` needs to stay as - # an `__init__` arg to avoid violating the Liskov substitution + # empty for an `WatchdogRadioDebugPacket`. `payloads` needs to stay + # as an `__init__` arg to avoid violating the Liskov substitution # principle. payloads = EnhancedPayloadCollection() diff --git a/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_reset_specific_ack.py b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_reset_specific_ack.py new file mode 100644 index 000000000..26bdf8fa5 --- /dev/null +++ b/Apps/GroundSoftware/IrisBackendv3/codec/packet_classes/watchdog_reset_specific_ack.py @@ -0,0 +1,209 @@ +""" +Defines `WatchdogResetSpecificAckPacket`, a `Packet` wrapper for a debug string +acknowledging a reset specific command and providing info about what occurred. +This packet type doesn't contain any telemetry (for now, should get converted +to a `EventPayload` eventually) and is just printed to the console. + +@author: Connor W. Colombo (CMU) +@last-updated: 01/01/2023 +""" +from __future__ import annotations + +# Activate postponed annotations (for using classes as return type in their own methods) +from prompt_toolkit import formatted_text + +from .packet import Packet, CT + +from typing import List, Any, Optional + +from scapy.utils import hexdump # type: ignore +from termcolor import colored + +from ..payload_collection import EnhancedPayloadCollection + +from ..settings import ENDIANNESS_CODE +from ..settings import settings as CodecSettings +from ..logging import logger +from ..exceptions import PacketDecodingException + +# Fixed prefix. All `RadioBgApiPacket`s start with b'DEBUG' then `RESET:`. +# Note the b'DEBUG' prefix is there b/c this is sent from the Watchdog using +# the debug messaging system. +FIXED_PREFIX: bytes = b'DEBUGRESET:' + + +class WatchdogResetSpecificAckPacketInterface(Packet[CT]): + # empty __slots__ preserves parent class __slots__ + __slots__: List[str] = [] + + +class WatchdogResetSpecificAckPacket(WatchdogResetSpecificAckPacketInterface[WatchdogResetSpecificAckPacketInterface]): + """ + Creates a data-structure to allow storing and handling a reset specific ack. + + @author: Connor W. Colombo (CMU) + @last-updated: 01/01/2023 + """ + __slots__: List[str] = [ + '_resetId', + '_resultStatusCode', + '_allowPowerOn', + '_allowDisableRS422', + '_allowDeploy', + '_allowUndeploy' + ] + + _resetId: int + _resultStatusCode: int + _allowPowerOn: bool + _allowDisableRS422: bool + _allowDeploy: bool + _allowUndeploy: bool + + def __init__(self, + payloads: Optional[EnhancedPayloadCollection] = None, + raw: Optional[bytes] = None, + endianness_code: str = ENDIANNESS_CODE + ) -> None: + + if raw is None and (payloads is None or payloads.is_empty()): + # If both `payloads` and `raw` are `None`, what even caused + # this to be generated? + logger.debug( + "A `WatchdogResetSpecificAckPacket` was constructed with no " + "`payloads` and no `raw` data. This suggests it's being " + "created from nothing as a completely empty packet. Was this " + "intentional or is this a bug?" + ) + + if payloads is None: + # Except possibly in future subclasses, this should normally be + # empty for an `WatchdogResetSpecificAckPacket`. `payloads` needs + # to stay as an `__init__` arg to avoid violating the Liskov + # substitution principle. + payloads = EnhancedPayloadCollection() + + super().__init__( + payloads=payloads, + raw=raw, + endianness_code=endianness_code + ) # passthru + + if self._raw is None: + self._raw = self.encode() + + # Strip off fixed prefix: + core_data = self._raw[len(FIXED_PREFIX):] + # Unpack fields from format: "RESET:%d -> %d with 0x%x\n" + fields = core_data.strip().split(b' ') + bad_formatting = False + if len(fields) != 5: + bad_formatting = True + else: + try: + # Formatting is correct. Extract data: + self._resetId = int(fields[0]) + self._resultStatusCode = int(fields[2]) + resetConditions = int(fields[-1], 16) + self._allowPowerOn = bool(resetConditions & 0b1000) + self._allowDisableRS422 = bool(resetConditions & 0b0100) + self._allowDeploy = bool(resetConditions & 0b0010) + self._allowUndeploy = bool(resetConditions & 0b0001) + except Exception as e: + bad_formatting = True + if bad_formatting: + # Raise an exception (so this will become an `UnsupportedPacket`): + raise PacketDecodingException( + self._raw, + ( + f"Failed to decode Reset Specific message inside " + f"`WatchdogResetSpecificAckPacket` with data " + f"`{hexdump(raw, dump=True)}` because the formatting did " + f"not match expectations." + ) + ) + + @property + def resetFieldName(self) -> str: + if self._resetId == 0: + return 'NONE' + elif not self._resetId: + return 'BAD' + else: + try: + module = CodecSettings['STANDARDS'].modules['WatchDogInterface'] + command = module.commands['WatchDogInterface_ResetSpecific'] + arg = command.args[0] + name = arg.get_enum_name(self._resetId) + return str(name) + except Exception: + return f'NOT-FOUND ({self._resetId})' + + @property + def resetResult(self) -> str: + if self._resultStatusCode == 0: + return 'NO_ERROR' + elif not self._resultStatusCode: + return 'BAD' + else: + try: + module = CodecSettings['STANDARDS'].modules['WatchdogCommandResponse'] + channel = module.telemetry['ErrorFlag'] + name = channel.get_enum_name(self._resultStatusCode) + return str(name) + except Exception: + return f'NOT-FOUND ({self._resultStatusCode})' + + @classmethod + def decode(cls, + data: bytes, + endianness_code: str = ENDIANNESS_CODE + ) -> WatchdogResetSpecificAckPacket: + return cls(raw=data, endianness_code=endianness_code) + + def encode(self, **kwargs: Any) -> bytes: + # There's no encoding to do. It's just raw data. + if self._raw is None: + return b'' + else: + return self._raw + + @classmethod + def build_minimum_packet( + cls, + payloads: EnhancedPayloadCollection, + raw: Optional[bytes], + endianness_code: str + ) -> WatchdogResetSpecificAckPacket: + """ Minimum packet is just the packet. """ + return cls( + payloads=payloads, + raw=raw, + endianness_code=endianness_code + ) + + @classmethod + def is_valid(cls, data: bytes, endianness_code: str = ENDIANNESS_CODE) -> bool: + """Valid if the packet starts with `FIXED_PREFIX`.""" + return data[:len(FIXED_PREFIX)] == FIXED_PREFIX + + def __repr__(self) -> str: + if self._raw is None or len(self._raw) < len(FIXED_PREFIX): + msg = '' + else: + msg = self._raw.decode().strip() + return ( + colored(f" {msg} ", 'white', 'on_yellow', ['bold']) + + colored(f": {self.resetFieldName} -> {self.resetResult}", 'yellow', attrs=['bold']) + + colored( + f", allowing\t " + f"(PowerOn: {'✓' if self._allowPowerOn else '𐄂'},\t " + f"Rs422Off: {'✓' if self._allowDisableRS422 else '𐄂'},\t " + f"Deploy: {'✓' if self._allowDeploy else '𐄂'},\t " + f"Undeploy: {'✓' if self._allowUndeploy else '𐄂'}).", + 'white' + ) + ) + + def __str__(self) -> str: + return self.__repr__() diff --git a/Apps/GroundSoftware/__command_aliases.py b/Apps/GroundSoftware/__command_aliases.py index c4f7f7dec..5895599dd 100644 --- a/Apps/GroundSoftware/__command_aliases.py +++ b/Apps/GroundSoftware/__command_aliases.py @@ -6,7 +6,7 @@ `pyenv exec python datastandards_lookup.py`. Created: 10/29/2021 -Last Update: 11/12/2022 +Last Update: 01/01/2023 """ from __future__ import annotations # Support things like OrderedDict[A,B] from enum import Enum @@ -360,15 +360,210 @@ class Parameter(Enum): OrderedDict(confirm='CONFIRM_REQUEST'), DataPathway.WIRED ), - 'disable-heater-control': ( + 'disable-heater-control-via-herc': ( DataPathway.WIRED, # intentionally telling the WD to tell Herc to tell the WD to enable heater control (same path as deployment command but a quick pretest) + Magic.COMMAND, + 'WatchDogInterface_ResetSpecific', + OrderedDict(reset_value='AUTO_HEATER_CONTROLLER_DISABLE'), + DataPathway.WIRED + ), + 'disable-heater-control': ( + DataPathway.WIRED, Magic.WATCHDOG_COMMAND, 'WatchDogInterface_ResetSpecific', - # Change this to whatever you want to reset. - OrderedDict(reset_value='DISABLE_HEATER_CONTROL'), + OrderedDict(reset_value='AUTO_HEATER_CONTROLLER_DISABLE'), + DataPathway.WIRED + ), + 'enable-heater-control': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_ResetSpecific', + OrderedDict(reset_value='AUTO_HEATER_CONTROLLER_ENABLE'), + DataPathway.WIRED + ), + + # Set the heater's "ON" power level to be 10%: + # NOTE: this is actually setting the TB0CCR2 on counter. + # Percentage Voltage is calculated as DutyCycle/DutyCyclePeriod (TB0CCR0), + # which this assumes is fixed at 10000 (1.25ms). + # Note, b/c P = V^2/R, P/Pmax = (V/Vmax)^2, therefore 10% power = 32% voltage = 3162/10000 + 'set-heater-to-power-10': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=3162), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 20%: + # b/c P/Pmax = (V/Vmax)^2, 20% power = 45% voltage = 4472/10000 + 'set-heater-to-power-20': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=4472), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 25%: + # b/c P/Pmax = (V/Vmax)^2, 25% power = 50% voltage = 5000/10000 + 'set-heater-to-power-25': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=5000), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 30%: + # b/c P/Pmax = (V/Vmax)^2, 30% power = 55% voltage = 5477/10000 + 'set-heater-to-power-30': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=5477), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 40%: + # b/c P/Pmax = (V/Vmax)^2, 40% power = 63% voltage = 6325/10000 + 'set-heater-to-power-40': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=6325), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 50%: + # b/c P/Pmax = (V/Vmax)^2, 50% power = 71% voltage = 7071/10000 + 'set-heater-to-power-50': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=7071), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 60%: + # b/c P/Pmax = (V/Vmax)^2, 60% power = 77% voltage = 7746/10000 + 'set-heater-to-power-60': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=7746), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 70%: + # b/c P/Pmax = (V/Vmax)^2, 70% power = 84% voltage = 8367/10000 + 'set-heater-to-power-70': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=8367), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 75%: + # b/c P/Pmax = (V/Vmax)^2, 75% power = 87% voltage = 8660/10000 + 'set-heater-to-power-75': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=8660), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 80%: + # b/c P/Pmax = (V/Vmax)^2, 80% power = 89% voltage = 8944/10000 + 'set-heater-to-power-80': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=8944), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 90%: + # b/c P/Pmax = (V/Vmax)^2, 90% power = 89% voltage = 9486/10000 + 'set-heater-to-power-90': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=9486), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 95%: + # b/c P/Pmax = (V/Vmax)^2, 95% power = 97% voltage = 9746/10000 + 'set-heater-to-power-95': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + OrderedDict(duty=9746), + DataPathway.WIRED + ), + # Set the heater's "ON" power level to be 100%: + 'set-heater-to-power-100': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + # DON'T set to the full value of 10000 (since cutoff is 1 less) + OrderedDict(duty=9999), DataPathway.WIRED ), + # Set the heater's "ON" power level to be 0% (basically, always off no + # matter what): + 'set-heater-to-power-0': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + # DON'T set to the full value of 10000 (since cutoff is 1 less) + OrderedDict(duty=0), + DataPathway.WIRED + ), + # Set the heater's "ON" power level back to its default (8500 duty, which + # was used during EM3 TVAC). This equates to 72.2% max power or 0.889W at + # 27.80V. + 'set-heater-to-power-default': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetHeaterDutyCycle', + # DON'T set to the full value of 10000 (since cutoff is 1 less) + OrderedDict(duty=8500), + DataPathway.WIRED + ), + + 'heater-force-off': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_ResetSpecific', + OrderedDict(reset_value='HEATER_FORCE_OFF'), + DataPathway.WIRED + ), + 'heater-force-on': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_ResetSpecific', + OrderedDict(reset_value='HEATER_FORCE_ON'), + DataPathway.WIRED + ), + 'heater-force-nothing': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_ResetSpecific', + OrderedDict(reset_value='HEATER_FORCE_NOTHING'), + DataPathway.WIRED + ), + + 'set-heater-on-level': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetAutoHeaterOnValue', + OrderedDict(on=1000), + DataPathway.WIRED + ), + 'set-heater-off-level': ( + DataPathway.WIRED, + Magic.WATCHDOG_COMMAND, + 'WatchDogInterface_SetAutoHeaterOffValue', + OrderedDict(off=500), + DataPathway.WIRED + ), + + + 'reset-motors': ( DataPathway.WIRED, diff --git a/Apps/GroundSoftware/out/___bgapi_passthrough_programming_session__01GJD7DN8HYX8M8775ZMH3AKNJ.log.ansi b/Apps/GroundSoftware/out/___bgapi_passthrough_programming_session__01GJD7DN8HYX8M8775ZMH3AKNJ.log.ansi new file mode 100644 index 000000000..d754275d3 --- /dev/null +++ b/Apps/GroundSoftware/out/___bgapi_passthrough_programming_session__01GJD7DN8HYX8M8775ZMH3AKNJ.log.ansi @@ -0,0 +1,507 @@ +11-21 08:53:09.f NOTICE Starting Iris BGAPI Passthrough Programmer . . . +11-21 08:53:09.f INFO Loading and Compiling DFU file ../FlightSoftware/Radio/build/iris_wifi_radio__auto_connect.dfu . . . +11-21 08:53:12.f VERBOSE Compiled 512000B into 4000 chunks of 128B with a total ICP transmission size of 628000B. +11-21 08:53:12.f INFO Starting Serial using A7035PDL at 9600baud . . . +11-21 08:53:12.f ERROR Failed to connect to serial device. Is the device name right? Check the connection? Original error: list index out of range +11-21 08:53:12.f INFO Waiting for data from Hercules . . . +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Can't read data, serial connection not started. Try `connect_serial()`. +11-21 08:53:12.f SPAM Got: +UnsupportedPacket[0B]: + + +11-21 08:53:12.f ERROR Haven't heard anything from Hercules. Aborting. diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.map b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.map new file mode 100644 index 000000000..e5148798c --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.map @@ -0,0 +1,5138 @@ +****************************************************************************** + MSP430 Linker Unix v18.12.2 +****************************************************************************** +>> Linked Mon Jan 2 07:44:13 2023 + +OUTPUT FILE NAME: +ENTRY POINT SYMBOL: "_c_int00_noargs_mpu" address: 000046c0 + + +MEMORY CONFIGURATION + + name origin length used unused attr fill +---------------------- -------- --------- -------- -------- ---- -------- + TINYRAM 0000000a 00000016 00000000 00000016 RWIX + BSL 00001000 00000800 00000000 00000800 RWIX + INFOD 00001800 00000080 00000000 00000080 RWIX + INFOC 00001880 00000080 00000000 00000080 RWIX + INFOB 00001900 00000080 00000000 00000080 RWIX + INFOA 00001980 00000080 00000000 00000080 RWIX + RAM 00001c00 00002000 00001f64 0000009c RWIX + FRAM 00004000 0000bf80 0000911d 00002e63 RWIX + JTAGSIGNATURE 0000ff80 00000004 00000004 00000000 RWIX ffff + BSLSIGNATURE 0000ff84 00000004 00000004 00000000 RWIX ffff + IPESIGNATURE 0000ff88 00000008 00000008 00000000 RWIX ffff + INT00 0000ff90 00000002 00000000 00000002 RWIX + INT01 0000ff92 00000002 00000000 00000002 RWIX + INT02 0000ff94 00000002 00000000 00000002 RWIX + INT03 0000ff96 00000002 00000000 00000002 RWIX + INT04 0000ff98 00000002 00000000 00000002 RWIX + INT05 0000ff9a 00000002 00000000 00000002 RWIX + INT06 0000ff9c 00000002 00000000 00000002 RWIX + INT07 0000ff9e 00000002 00000000 00000002 RWIX + INT08 0000ffa0 00000002 00000000 00000002 RWIX + INT09 0000ffa2 00000002 00000000 00000002 RWIX + INT10 0000ffa4 00000002 00000000 00000002 RWIX + INT11 0000ffa6 00000002 00000000 00000002 RWIX + INT12 0000ffa8 00000002 00000000 00000002 RWIX + INT13 0000ffaa 00000002 00000000 00000002 RWIX + INT14 0000ffac 00000002 00000000 00000002 RWIX + INT15 0000ffae 00000002 00000000 00000002 RWIX + INT16 0000ffb0 00000002 00000000 00000002 RWIX + INT17 0000ffb2 00000002 00000000 00000002 RWIX + INT18 0000ffb4 00000002 00000002 00000000 RWIX + INT19 0000ffb6 00000002 00000002 00000000 RWIX + INT20 0000ffb8 00000002 00000002 00000000 RWIX + INT21 0000ffba 00000002 00000002 00000000 RWIX + INT22 0000ffbc 00000002 00000002 00000000 RWIX + INT23 0000ffbe 00000002 00000002 00000000 RWIX + INT24 0000ffc0 00000002 00000002 00000000 RWIX + INT25 0000ffc2 00000002 00000002 00000000 RWIX + INT26 0000ffc4 00000002 00000002 00000000 RWIX + INT27 0000ffc6 00000002 00000002 00000000 RWIX + INT28 0000ffc8 00000002 00000002 00000000 RWIX + INT29 0000ffca 00000002 00000002 00000000 RWIX + INT30 0000ffcc 00000002 00000002 00000000 RWIX + INT31 0000ffce 00000002 00000002 00000000 RWIX + INT32 0000ffd0 00000002 00000002 00000000 RWIX + INT33 0000ffd2 00000002 00000002 00000000 RWIX + INT34 0000ffd4 00000002 00000002 00000000 RWIX + INT35 0000ffd6 00000002 00000002 00000000 RWIX + INT36 0000ffd8 00000002 00000002 00000000 RWIX + INT37 0000ffda 00000002 00000002 00000000 RWIX + INT38 0000ffdc 00000002 00000002 00000000 RWIX + INT39 0000ffde 00000002 00000002 00000000 RWIX + INT40 0000ffe0 00000002 00000002 00000000 RWIX + INT41 0000ffe2 00000002 00000002 00000000 RWIX + INT42 0000ffe4 00000002 00000002 00000000 RWIX + INT43 0000ffe6 00000002 00000002 00000000 RWIX + INT44 0000ffe8 00000002 00000002 00000000 RWIX + INT45 0000ffea 00000002 00000002 00000000 RWIX + INT46 0000ffec 00000002 00000002 00000000 RWIX + INT47 0000ffee 00000002 00000002 00000000 RWIX + INT48 0000fff0 00000002 00000002 00000000 RWIX + INT49 0000fff2 00000002 00000002 00000000 RWIX + INT50 0000fff4 00000002 00000002 00000000 RWIX + INT51 0000fff6 00000002 00000002 00000000 RWIX + INT52 0000fff8 00000002 00000002 00000000 RWIX + INT53 0000fffa 00000002 00000002 00000000 RWIX + INT54 0000fffc 00000002 00000002 00000000 RWIX + 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(.text:I2C_Sensors__setIoExpanderPort0OutputBits) + 0001b51c 00000006 i2c_sensors.obj (.text:I2C_Sensors__setIoExpanderPort1OutputBits) + 0001b522 00000006 time.obj (.text:Time__getPointerToCentisecondCount) + 0001b528 00000006 time.obj (.text:Time__getTimeInCentiseconds) + 0001b52e 00000006 rts430x_lc_rd_eabi.lib : exit.c.obj (.text:abort) + 0001b534 00000006 bsp.obj (.text:disableVSysAllPowerRail) + 0001b53a 00000006 bsp.obj (.text:enableVSysAllPowerRail) + 0001b540 00000004 rts430x_lc_rd_eabi.lib : new.cpp.obj (.text:_ZdlPvj) + 0001b544 00000004 : error.c.obj (.text:__abort_execution) + 0001b548 00000004 : pre_init.c.obj (.text:_system_pre_init) + 0001b54c 00000002 : stdlib_typeinfo.cpp.obj (.text:_ZNSt9type_infoD1Ev) + 0001b54e 00000002 : _lock.c.obj (.text:_nop) + 0001b550 00000002 : startup.c.obj (.text:_system_post_cinit) + +MODULE SUMMARY + + Module code ro data rw data + ------ ---- ------- ------- + ./src/ + watchdog.obj 1514 544 12 + main.obj 62 0 0 + +--+---------------------------------+-------+---------+---------+ + Total: 1576 544 12 + + ./src/comms/ + i2c_sensors.obj 4092 2034 52 + watchdog_cmd_msgs.obj 2608 1144 0 + lander_comms.obj 1404 591 1277 + hercules_comms.obj 1260 1012 846 + ground_msgs.obj 2710 118 1 + hercules_mpsm.obj 1136 546 26 + ip_udp.obj 856 106 0 + debug_comms.obj 294 320 265 + hercules_msgs.obj 312 0 0 + slip_mpsm.obj 292 0 4 + slip_encode.obj 184 0 0 + cmd_msgs.obj 152 0 0 + wd_int_mpsm.obj 26 24 0 + +--+---------------------------------+-------+---------+---------+ + Total: 15326 5895 2471 + + ./src/drivers/ + bsp.obj 2096 1010 4 + uart.obj 1778 582 52 + blimp.obj 1534 744 4 + i2c.obj 802 250 8 + adc.obj 330 60 8 + +--+---------------------------------+-------+---------+---------+ + Total: 6540 2646 76 + + ./src/event/ + event_queue.obj 162 74 6 + +--+---------------------------------+-------+---------+---------+ + Total: 162 74 6 + + ./src/stateMachine/ + RoverStateBase.obj 8266 10237 171 + RoverStateEnteringMission.obj 2384 3417 24 + RoverStateManager.obj 1248 870 3074 + RoverStateEnteringKeepAlive.obj 1148 2697 4 + RoverStateMission.obj 1422 1867 24 + RoverStateInit.obj 718 2536 0 + RoverStateService.obj 1046 1695 24 + RoverStateKeepAlive.obj 548 1249 0 + RoverStateEnteringService.obj 386 1123 0 + RoverState.obj 128 206 0 + +--+---------------------------------+-------+---------+---------+ + Total: 17294 25897 3321 + + ./src/utils/ + serialization.obj 766 0 0 + ring_buffer.obj 464 0 82 + time.obj 12 0 2 + +--+---------------------------------+-------+---------+---------+ + Total: 1242 0 84 + + /home/iris/ti/ccs910/ccs/ccs_base/msp430/lib/FR59xx/MSPMPU_INIT_LIB_CCS_msp430_large_code_restricted_data.lib + mpu_init.o 44 0 0 + +--+---------------------------------+-------+---------+---------+ + Total: 44 0 0 + + /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/lib/rts430x_lc_rd_eabi.lib + _printfi_min.c.obj 816 20 0 + memory.c.obj 710 0 6 + trgmsg.c.obj 104 0 288 + defs.c.obj 0 0 362 + fputs.c.obj 240 0 0 + setvbuf.c.obj 222 0 0 + typeinfo.c.obj 70 127 0 + fflush.c.obj 188 0 0 + host_device.c.obj 0 0 180 + hostlseek.c.obj 154 0 0 + getdevice.c.obj 136 0 0 + _io_perm.c.obj 126 0 0 + hostopen.c.obj 112 0 8 + sprintf.c.obj 120 0 0 + copy_decompress_lzss.c.obj 118 0 0 + fclose.c.obj 116 0 0 + hostrename.c.obj 116 0 0 + vsprintf.c.obj 110 0 0 + hostwrite.c.obj 108 0 0 + fseek.c.obj 106 0 0 + hostread.c.obj 106 0 0 + close.c.obj 90 0 0 + autoinit.c.obj 84 0 0 + exit.c.obj 80 0 2 + hostclose.c.obj 78 0 0 + hostunlink.c.obj 70 0 0 + lseek.c.obj 62 0 0 + lsl32.asm.obj 62 0 0 + write.c.obj 60 0 0 + lsr64.c.obj 58 0 0 + fopen.c.obj 54 0 0 + strncpy.c.obj 50 0 0 + unlink.c.obj 48 0 0 + copy_zero_init.c.obj 36 0 0 + boot.c.obj 32 2 0 + memccpy.c.obj 30 0 0 + strchr.c.obj 28 0 0 + strcmp.c.obj 28 0 0 + assert.c.obj 26 0 0 + mult16_f5hw.asm.obj 24 0 0 + stdlib_typeinfo.cpp.obj 2 21 0 + div16u.asm.obj 22 0 0 + memchr.c.obj 22 0 0 + memset.c.obj 22 0 0 + memcpy.c.obj 20 0 0 + copy_decompress_none.c.obj 18 0 0 + strcpy.c.obj 18 0 0 + lsr32.asm.obj 16 0 0 + new.cpp.obj 14 0 0 + strlen.c.obj 14 0 0 + _lock.c.obj 2 0 8 + lsl16.asm.obj 10 0 0 + lsr16.asm.obj 10 0 0 + exit_gvars.c.obj 0 0 8 + isr_trap.asm.obj 8 0 0 + pure_virt.c.obj 8 0 0 + error.c.obj 4 0 0 + pre_init.c.obj 4 0 0 + int18.asm.obj 0 2 0 + int19.asm.obj 0 2 0 + int20.asm.obj 0 2 0 + int21.asm.obj 0 2 0 + int22.asm.obj 0 2 0 + int23.asm.obj 0 2 0 + int24.asm.obj 0 2 0 + int25.asm.obj 0 2 0 + int26.asm.obj 0 2 0 + int27.asm.obj 0 2 0 + int28.asm.obj 0 2 0 + int29.asm.obj 0 2 0 + int30.asm.obj 0 2 0 + int31.asm.obj 0 2 0 + int32.asm.obj 0 2 0 + int33.asm.obj 0 2 0 + int34.asm.obj 0 2 0 + int35.asm.obj 0 2 0 + int36.asm.obj 0 2 0 + int37.asm.obj 0 2 0 + int38.asm.obj 0 2 0 + int40.asm.obj 0 2 0 + int41.asm.obj 0 2 0 + int42.asm.obj 0 2 0 + int45.asm.obj 0 2 0 + int47.asm.obj 0 2 0 + int50.asm.obj 0 2 0 + int51.asm.obj 0 2 0 + int52.asm.obj 0 2 0 + int53.asm.obj 0 2 0 + int54.asm.obj 0 2 0 + startup.c.obj 2 0 0 + +--+---------------------------------+-------+---------+---------+ + Total: 4994 232 862 + + Heap: 0 0 8 + Stack: 0 0 1492 + Linker Generated: 0 145 0 + +--+---------------------------------+-------+---------+---------+ + Grand Total: 47178 35433 8332 + + +LINKER GENERATED COPY TABLES + +__TI_cinit_table @ 0000d10e records: 2, size/record: 8, table size: 16 + .data: load addr=0000d08c, load size=0000006f bytes, run addr=0000290e, run size=00000c82 bytes, compression=lzss + .bss: load addr=0000d108, load size=00000006 bytes, run addr=00001c00, run size=00000d0e bytes, compression=zero_init + + +LINKER GENERATED HANDLER TABLE + +__TI_handler_table @ 0000d0fc records: 3, size/record: 4, table size: 12 + index: 0, handler: __TI_zero_init + index: 1, handler: __TI_decompress_lzss + index: 2, handler: __TI_decompress_none + + +GLOBAL SYMBOLS: SORTED ALPHABETICALLY BY Name + +address name +------- ---- +00000800 ADC12CTL0 +00000801 ADC12CTL0_H 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ADC12MCTL11_L +00000838 ADC12MCTL12 +00000839 ADC12MCTL12_H +00000838 ADC12MCTL12_L +0000083a ADC12MCTL13 +0000083b ADC12MCTL13_H +0000083a ADC12MCTL13_L +0000083c ADC12MCTL14 +0000083d ADC12MCTL14_H +0000083c ADC12MCTL14_L +0000083e ADC12MCTL15 +0000083f ADC12MCTL15_H +0000083e ADC12MCTL15_L +00000840 ADC12MCTL16 +00000841 ADC12MCTL16_H +00000840 ADC12MCTL16_L +00000842 ADC12MCTL17 +00000843 ADC12MCTL17_H +00000842 ADC12MCTL17_L +00000844 ADC12MCTL18 +00000845 ADC12MCTL18_H +00000844 ADC12MCTL18_L +00000846 ADC12MCTL19 +00000847 ADC12MCTL19_H +00000846 ADC12MCTL19_L +00000823 ADC12MCTL1_H +00000822 ADC12MCTL1_L +00000824 ADC12MCTL2 +00000848 ADC12MCTL20 +00000849 ADC12MCTL20_H +00000848 ADC12MCTL20_L +0000084a ADC12MCTL21 +0000084b ADC12MCTL21_H +0000084a ADC12MCTL21_L +0000084c ADC12MCTL22 +0000084d ADC12MCTL22_H +0000084c ADC12MCTL22_L +0000084e ADC12MCTL23 +0000084f ADC12MCTL23_H +0000084e ADC12MCTL23_L +00000850 ADC12MCTL24 +00000851 ADC12MCTL24_H +00000850 ADC12MCTL24_L +00000852 ADC12MCTL25 +00000853 ADC12MCTL25_H +00000852 ADC12MCTL25_L +00000854 ADC12MCTL26 +00000855 ADC12MCTL26_H +00000854 ADC12MCTL26_L +00000856 ADC12MCTL27 +00000857 ADC12MCTL27_H +00000856 ADC12MCTL27_L +00000858 ADC12MCTL28 +00000859 ADC12MCTL28_H +00000858 ADC12MCTL28_L +0000085a ADC12MCTL29 +0000085b ADC12MCTL29_H +0000085a ADC12MCTL29_L +00000825 ADC12MCTL2_H +00000824 ADC12MCTL2_L +00000826 ADC12MCTL3 +0000085c ADC12MCTL30 +0000085d ADC12MCTL30_H +0000085c ADC12MCTL30_L +0000085e ADC12MCTL31 +0000085f ADC12MCTL31_H +0000085e ADC12MCTL31_L +00000827 ADC12MCTL3_H +00000826 ADC12MCTL3_L +00000828 ADC12MCTL4 +00000829 ADC12MCTL4_H +00000828 ADC12MCTL4_L +0000082a ADC12MCTL5 +0000082b ADC12MCTL5_H +0000082a ADC12MCTL5_L +0000082c ADC12MCTL6 +0000082d ADC12MCTL6_H +0000082c ADC12MCTL6_L +0000082e ADC12MCTL7 +0000082f ADC12MCTL7_H +0000082e ADC12MCTL7_L +00000830 ADC12MCTL8 +00000831 ADC12MCTL8_H +00000830 ADC12MCTL8_L +00000832 ADC12MCTL9 +00000833 ADC12MCTL9_H +00000832 ADC12MCTL9_L 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LEACMCTLH +00000a9c LEACMCTLL +00000aa8 LEACMDSTAT +00000aaa LEACMDSTATH +00000aa8 LEACMDSTATL +00000a84 LEACNF0 +00000a86 LEACNF0H +00000a84 LEACNF0L +00000a88 LEACNF1 +00000a8a LEACNF1H +00000a88 LEACNF1L +00000a8c LEACNF2 +00000a8e LEACNF2H +00000a8c LEACNF2L +00000ab4 LEADSTSTAT +00000ab6 LEADSTSTATH +00000ab4 LEADSTSTATL +00000af4 LEAIE +00000af6 LEAIEH +00000af4 LEAIEL +00000af8 LEAIFG +00000afa LEAIFGH +00000af8 LEAIFGL +00000af0 LEAIFGSET +00000af2 LEAIFGSETH +00000af0 LEAIFGSETL +00000afc LEAIV +00000afe LEAIVH +00000afc LEAIVL +00000a90 LEAMB +00000a92 LEAMBH +00000a90 LEAMBL +00000a94 LEAMT +00000a96 LEAMTH +00000a94 LEAMTL +00000ad0 LEAPMCB +00000ad2 LEAPMCBH +00000ad0 LEAPMCBL +00000ac0 LEAPMCTL +00000ac2 LEAPMCTLH +00000ac0 LEAPMCTLL +00000ac4 LEAPMDST +00000ac6 LEAPMDSTH +00000ac4 LEAPMDSTL +00000acc LEAPMS0 +00000ace LEAPMS0H +00000acc LEAPMS0L +00000ac8 LEAPMS1 +00000aca LEAPMS1H +00000ac8 LEAPMS1L +00000ab0 LEAS0STAT +00000ab2 LEAS0STATH +00000ab0 LEAS0STATL +00000aac 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SYSJMBC_H +00000186 SYSJMBC_L +00000188 SYSJMBI0 +00000189 SYSJMBI0_H +00000188 SYSJMBI0_L +0000018a SYSJMBI1 +0000018b SYSJMBI1_H +0000018a SYSJMBI1_L +0000018c SYSJMBO0 +0000018d SYSJMBO0_H +0000018c SYSJMBO0_L +0000018e SYSJMBO1 +0000018f SYSJMBO1_H +0000018e SYSJMBO1_L +0000019e SYSRSTIV +0000019f SYSRSTIV_H +0000019e SYSRSTIV_L +0000019c SYSSNIV +0000019d SYSSNIV_H +0000019c SYSSNIV_L +0000019a SYSUNIV +0000019b SYSUNIV_H +0000019a SYSUNIV_L +00017dee Serialization__deserializeAs16Bit +0001691a Serialization__deserializeAs32Bit +000182de Serialization__deserializeAs8Bit +000179f2 Serialization__serializeAs16Bit +0001732c Serialization__serializeAs32Bit +0001699c Serialization__serializeAs64Bit +0001816a Serialization__serializeAs8Bit +00015b40 SlipEncode__encode +0001a544 SlipMpsm__initMsg +00016a1e SlipMpsm__process +00000352 TA0CCR0 +00000353 TA0CCR0_H +00000352 TA0CCR0_L +00000354 TA0CCR1 +00000355 TA0CCR1_H +00000354 TA0CCR1_L +00000356 TA0CCR2 +00000357 TA0CCR2_H +00000356 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_ZN4iris19RoverStateKeepAlive8spinOnceERNS_12RoverContextE +0001a920 _ZN4iris19RoverStateKeepAliveC1Ev +0001a920 _ZN4iris19RoverStateKeepAliveC2Ev +0001ac5e _ZN4iris25RoverStateEnteringMission12transitionToERNS_12RoverContextE +000132ae _ZN4iris25RoverStateEnteringMission15handleTimerTickERNS_12RoverContextE +0001b04c _ZN4iris25RoverStateEnteringMission16handlePowerIssueERNS_12RoverContextE +00016f86 _ZN4iris25RoverStateEnteringMission19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +0001b42e _ZN4iris25RoverStateEnteringMission20canEnterLowPowerModeERNS_12RoverContextE +0001a39a _ZN4iris25RoverStateEnteringMission29transitionToWaitingForI2cDoneERNS_12RoverContextE +00016454 _ZN4iris25RoverStateEnteringMission38transitionToWaitingForIoExpanderWrite1ERNS_12RoverContextE +00016896 _ZN4iris25RoverStateEnteringMission38transitionToWaitingForIoExpanderWrite2ERNS_12RoverContextE +00016ba4 _ZN4iris25RoverStateEnteringMission38transitionToWaitingForIoExpanderWrite3ERNS_12RoverContextE +00016e98 _ZN4iris25RoverStateEnteringMission40transitionToWaitingForFuelGaugeOrTimeoutERNS_12RoverContextE +0001a942 _ZN4iris25RoverStateEnteringMission41transitionToWatitingForWifiReadyOrTimeoutERNS_12RoverContextE +00010f0c _ZN4iris25RoverStateEnteringMission8spinOnceERNS_12RoverContextE +0001a70e _ZN4iris25RoverStateEnteringMissionC1Ev +0001a70e _ZN4iris25RoverStateEnteringMissionC2Ev +0001ac7c _ZN4iris25RoverStateEnteringService12transitionToERNS_12RoverContextE +0001b062 _ZN4iris25RoverStateEnteringService16handlePowerIssueERNS_12RoverContextE +0001ae58 _ZN4iris25RoverStateEnteringService18handleHerculesDataERNS_12RoverContextE +00016ffc _ZN4iris25RoverStateEnteringService19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +0001a732 _ZN4iris25RoverStateEnteringService24doGndCmdEnterServiceModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00019948 _ZN4iris25RoverStateEnteringService26doGndCmdEnterKeepAliveModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001b43a _ZN4iris25RoverStateEnteringService28nextStateAfterSetupCompletesEv +0001b446 _ZN4iris25RoverStateEnteringService8spinOnceERNS_12RoverContextE +0001a756 _ZN4iris25RoverStateEnteringServiceC1ENS_10RoverStateE +0001a77a _ZN4iris25RoverStateEnteringServiceC1Ev +0001a756 _ZN4iris25RoverStateEnteringServiceC2ENS_10RoverStateE +0001a77a _ZN4iris25RoverStateEnteringServiceC2Ev +0001a49c _ZN4iris27RoverStateEnteringKeepAlive12transitionToERNS_12RoverContextE +00014386 _ZN4iris27RoverStateEnteringKeepAlive15handleTimerTickERNS_12RoverContextE +0001b078 _ZN4iris27RoverStateEnteringKeepAlive16handlePowerIssueERNS_12RoverContextE +00019db8 _ZN4iris27RoverStateEnteringKeepAlive18handleHerculesDataERNS_12RoverContextE 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__TI_decompress_lzss +0001b2ec __TI_decompress_none +00017e52 __TI_doflush +0000355e __TI_dtors_ptr +0000358c __TI_enable_exit_profile_output +0000358a __TI_ft_end +0000ffb4 __TI_int18 +0000ffb6 __TI_int19 +0000ffb8 __TI_int20 +0000ffba __TI_int21 +0000ffbc __TI_int22 +0000ffbe __TI_int23 +0000ffc0 __TI_int24 +0000ffc2 __TI_int25 +0000ffc4 __TI_int26 +0000ffc6 __TI_int27 +0000ffc8 __TI_int28 +0000ffca __TI_int29 +0000ffcc __TI_int30 +0000ffce __TI_int31 +0000ffd0 __TI_int32 +0000ffd2 __TI_int33 +0000ffd4 __TI_int34 +0000ffd6 __TI_int35 +0000ffd8 __TI_int36 +0000ffda __TI_int37 +0000ffdc __TI_int38 +0000ffde __TI_int39 +0000ffe0 __TI_int40 +0000ffe2 __TI_int41 +0000ffe4 __TI_int42 +0000ffe6 __TI_int43 +0000ffe8 __TI_int44 +0000ffea __TI_int45 +0000ffec __TI_int46 +0000ffee __TI_int47 +0000fff0 __TI_int48 +0000fff2 __TI_int49 +0000fff4 __TI_int50 +0000fff6 __TI_int51 +0000fff8 __TI_int52 +0000fffa __TI_int53 +0000fffc __TI_int54 +ffffffff __TI_pprof_out_hndl +00015412 __TI_printfi_minimal +ffffffff __TI_prof_data_size +ffffffff __TI_prof_data_start +00019dea __TI_readmsg +00002800 __TI_tmpnams +00019c1c __TI_writemsg +00016d26 __TI_wrt_ok +0001a80a __TI_zero_init +0001b544 __abort_execution +ffffffff __c_args__ +0001b4ba __cxa_pure_virtual +00000001 __mpu_enable +0001a3c6 __mpu_init +0001b16a __mspabi_divu +0001af82 __mspabi_mpyi_f5hw +0001b16a __mspabi_remu +0001b492 __mspabi_slli +00019728 __mspabi_slll_1 +00019704 __mspabi_slll_10 +00019700 __mspabi_slll_11 +000196fc __mspabi_slll_12 +000196f8 __mspabi_slll_13 +000196f4 __mspabi_slll_14 +000196f0 __mspabi_slll_15 +00019724 __mspabi_slll_2 +00019720 __mspabi_slll_3 +0001971c __mspabi_slll_4 +00019718 __mspabi_slll_5 +00019714 __mspabi_slll_6 +00019710 __mspabi_slll_7 +0001970c __mspabi_slll_8 +00019708 __mspabi_slll_9 +0001b49c __mspabi_srli +0001b364 __mspabi_srll +00019982 __mspabi_srlll +0001ae72 _abort_msg +000046c0 _c_int00_noargs_mpu +0000326e _device +000031a6 _ftable +00003562 _lock 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blimp_regEnOn +0001a232 blimp_vSysAllEnForceLow +00019eb2 blimp_vSysAllEnOff +0001a260 blimp_vSysAllEnOn +00019238 clockInit +000183f0 close +0001b0a4 disable3V3PowerRail +0001b474 disableBatteries +0001a82e disableHeater +0001a852 disableUart0Pins +0001b534 disableVSysAllPowerRail +0001b2fe enable3V3PowerRail +0001b47e enableBatteries +000196b2 enableHeater +0001aec0 enableUart0Pins +0001acf4 enableUart1Pins +0001b53a enableVSysAllPowerRail +0001b0ba enableWdIntFallingEdgeInterrupt +0001b0d0 enableWdIntRisingEdgeInterrupt +00018ef4 exit +000184fc fflush +0001a28e finddevice +0001b334 fpgaCameraSelectHi +0001b0e6 fpgaCameraSelectLo +00014dc2 fputs +00004400 fram_ipe_end +00004400 fram_ipe_start +00004000 fram_rw_start +00004400 fram_rx_start +000155c8 free +0001791e fseek +000145c2 getResetReasonString +0001b344 getWdIntState +0001844a getdevice +0001b354 hook_sp_check +00011ade initializeGpios +0001b310 isAdcSampleDone +0001972e lseek +0001a2bc main +0001b4c2 malloc +000147d8 memalign 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stopChargingBatteries +0001ad6a strchr +0001ad86 strcmp +0001b322 strcpy +0001b3fa strlen +00019ee4 strncpy +00003554 theQueue +0001a036 unlink +0001b1ac unsetDeploy +000199bc vsprintf +000139ce watchdog_build_hercules_telem +0001b408 watchdog_get_wd_int_flat_duration +000144a6 watchdog_init +00011dcc watchdog_monitor +00019898 write + + +GLOBAL SYMBOLS: SORTED BY Symbol Address + +address name +------- ---- +00000001 __mpu_enable +00000008 __SYSMEM_SIZE +00000100 SFRIE1 +00000100 SFRIE1_L +00000101 SFRIE1_H +00000102 SFRIFG1 +00000102 SFRIFG1_L +00000103 SFRIFG1_H +00000104 SFRRPCR +00000104 SFRRPCR_L +00000105 SFRRPCR_H +00000120 PMMCTL0 +00000120 PMMCTL0_L +00000121 PMMCTL0_H +0000012a PMMIFG +0000012a PMMIFG_L +0000012b PMMIFG_H +00000130 PM5CTL0 +00000130 PM5CTL0_L +00000131 PM5CTL0_H +00000140 FRCTL0 +00000140 FRCTL0_L +00000141 FRCTL0_H +00000144 GCCTL0 +00000144 GCCTL0_L +00000145 GCCTL0_H +00000146 GCCTL1 +00000146 GCCTL1_L +00000147 GCCTL1_H +00000150 CRCDI +00000150 CRCDI_L 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SYSJMBO1 +0000018e SYSJMBO1_L +0000018f SYSJMBO1_H +0000019a SYSUNIV +0000019a SYSUNIV_L +0000019b SYSUNIV_H +0000019c SYSSNIV +0000019c SYSSNIV_L +0000019d SYSSNIV_H +0000019e SYSRSTIV +0000019e SYSRSTIV_L +0000019f SYSRSTIV_H +000001b0 REFCTL0 +000001b0 REFCTL0_L +000001b1 REFCTL0_H +00000200 P1IN +00000200 PAIN +00000200 PAIN_L +00000201 P2IN +00000201 PAIN_H +00000202 P1OUT +00000202 PAOUT +00000202 PAOUT_L +00000203 P2OUT +00000203 PAOUT_H +00000204 P1DIR +00000204 PADIR +00000204 PADIR_L +00000205 P2DIR +00000205 PADIR_H +00000206 P1REN +00000206 PAREN +00000206 PAREN_L +00000207 P2REN +00000207 PAREN_H +0000020a P1SEL0 +0000020a PASEL0 +0000020a PASEL0_L +0000020b P2SEL0 +0000020b PASEL0_H +0000020c P1SEL1 +0000020c PASEL1 +0000020c PASEL1_L +0000020d P2SEL1 +0000020d PASEL1_H +0000020e P1IV +0000020e P1IV_L +0000020f P1IV_H +00000216 P1SELC +00000216 PASELC +00000216 PASELC_L +00000217 P2SELC +00000217 PASELC_H +00000218 P1IES +00000218 PAIES +00000218 PAIES_L +00000219 P2IES +00000219 PAIES_H +0000021a P1IE +0000021a PAIE +0000021a PAIE_L +0000021b P2IE +0000021b PAIE_H +0000021c P1IFG +0000021c PAIFG +0000021c PAIFG_L +0000021d P2IFG +0000021d PAIFG_H +0000021e P2IV +0000021e P2IV_L +0000021f P2IV_H +00000220 P3IN +00000220 PBIN +00000220 PBIN_L +00000221 P4IN +00000221 PBIN_H +00000222 P3OUT +00000222 PBOUT +00000222 PBOUT_L +00000223 P4OUT +00000223 PBOUT_H +00000224 P3DIR +00000224 PBDIR +00000224 PBDIR_L +00000225 P4DIR +00000225 PBDIR_H +00000226 P3REN +00000226 PBREN +00000226 PBREN_L +00000227 P4REN +00000227 PBREN_H +0000022a P3SEL0 +0000022a PBSEL0 +0000022a PBSEL0_L +0000022b P4SEL0 +0000022b PBSEL0_H +0000022c P3SEL1 +0000022c PBSEL1 +0000022c PBSEL1_L +0000022d P4SEL1 +0000022d PBSEL1_H +0000022e P3IV +0000022e P3IV_L +0000022f P3IV_H +00000236 P3SELC +00000236 PBSELC +00000236 PBSELC_L +00000237 P4SELC +00000237 PBSELC_H +00000238 P3IES +00000238 PBIES +00000238 PBIES_L +00000239 P4IES +00000239 PBIES_H +0000023a P3IE +0000023a PBIE +0000023a PBIE_L +0000023b P4IE +0000023b PBIE_H +0000023c P3IFG +0000023c PBIFG +0000023c PBIFG_L +0000023d P4IFG +0000023d PBIFG_H +0000023e P4IV +0000023e P4IV_L +0000023f P4IV_H +00000240 P5IN +00000240 PCIN +00000240 PCIN_L +00000241 P6IN +00000241 PCIN_H +00000242 P5OUT +00000242 PCOUT +00000242 PCOUT_L +00000243 P6OUT +00000243 PCOUT_H +00000244 P5DIR +00000244 PCDIR +00000244 PCDIR_L +00000245 P6DIR +00000245 PCDIR_H +00000246 P5REN +00000246 PCREN +00000246 PCREN_L +00000247 P6REN +00000247 PCREN_H +0000024a P5SEL0 +0000024a PCSEL0 +0000024a PCSEL0_L +0000024b P6SEL0 +0000024b PCSEL0_H +0000024c P5SEL1 +0000024c PCSEL1 +0000024c PCSEL1_L +0000024d P6SEL1 +0000024d PCSEL1_H +0000024e P5IV +0000024e P5IV_L +0000024f P5IV_H +00000256 P5SELC +00000256 PCSELC +00000256 PCSELC_L +00000257 P6SELC +00000257 PCSELC_H +00000258 P5IES +00000258 PCIES +00000258 PCIES_L +00000259 P6IES +00000259 PCIES_H +0000025a P5IE +0000025a PCIE +0000025a PCIE_L +0000025b P6IE +0000025b PCIE_H +0000025c P5IFG 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TA0IV_H +00000380 TA1CTL +00000380 TA1CTL_L +00000381 TA1CTL_H +00000382 TA1CCTL0 +00000382 TA1CCTL0_L +00000383 TA1CCTL0_H +00000384 TA1CCTL1 +00000384 TA1CCTL1_L +00000385 TA1CCTL1_H +00000386 TA1CCTL2 +00000386 TA1CCTL2_L +00000387 TA1CCTL2_H +00000390 TA1R +00000390 TA1R_L +00000391 TA1R_H +00000392 TA1CCR0 +00000392 TA1CCR0_L +00000393 TA1CCR0_H +00000394 TA1CCR1 +00000394 TA1CCR1_L +00000395 TA1CCR1_H +00000396 TA1CCR2 +00000396 TA1CCR2_L +00000397 TA1CCR2_H +000003a0 TA1EX0 +000003a0 TA1EX0_L +000003a1 TA1EX0_H +000003ae TA1IV +000003ae TA1IV_L +000003af TA1IV_H +000003c0 TB0CTL +000003c0 TB0CTL_L +000003c1 TB0CTL_H +000003c2 TB0CCTL0 +000003c2 TB0CCTL0_L +000003c3 TB0CCTL0_H +000003c4 TB0CCTL1 +000003c4 TB0CCTL1_L +000003c5 TB0CCTL1_H +000003c6 TB0CCTL2 +000003c6 TB0CCTL2_L +000003c7 TB0CCTL2_H +000003c8 TB0CCTL3 +000003c8 TB0CCTL3_L +000003c9 TB0CCTL3_H +000003ca TB0CCTL4 +000003ca TB0CCTL4_L +000003cb TB0CCTL4_H +000003cc TB0CCTL5 +000003cc TB0CCTL5_L +000003cd TB0CCTL5_H 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RTCPS0CTL_H +000004aa RTCPS1CTL +000004aa RTCPS1CTL_L +000004ab RTCPS1CTL_H +000004ac RT0PS +000004ac RTCPS +000004ac RTCPS_L +000004ad RT1PS +000004ad RTCPS_H +000004ae RTCIV +000004ae RTCIV_L +000004af RTCIV_H +000004b0 RTCCNT1 +000004b0 RTCCNT12 +000004b0 RTCCNT12_L +000004b0 RTCTIM0 +000004b0 RTCTIM0_L +000004b1 RTCCNT12_H +000004b1 RTCCNT2 +000004b1 RTCTIM0_H +000004b2 RTCCNT3 +000004b2 RTCCNT34 +000004b2 RTCCNT34_L +000004b2 RTCTIM1 +000004b2 RTCTIM1_L +000004b3 RTCCNT34_H +000004b3 RTCCNT4 +000004b3 RTCTIM1_H +000004b4 RTCDATE +000004b4 RTCDATE_L +000004b5 RTCDATE_H +000004b6 RTCYEAR +000004b6 RTCYEAR_L +000004b7 RTCYEAR_H +000004b8 RTCAMINHR +000004b8 RTCAMINHR_L +000004b9 RTCAMINHR_H +000004ba RTCADOWDAY +000004ba RTCADOWDAY_L +000004bb RTCADOWDAY_H +000004bc BIN2BCD +000004bc BIN2BCD_L +000004bd BIN2BCD_H +000004be BCD2BIN +000004be BCD2BIN_L +000004bf BCD2BIN_H +000004c0 MPY +000004c0 MPY_L +000004c1 MPY_H +000004c2 MPYS +000004c2 MPYS_L +000004c3 MPYS_H +000004c4 MAC 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MPUIPC0 +000005aa MPUIPC0_L +000005ab MPUIPC0_H +000005ac MPUIPSEGB2 +000005ac MPUIPSEGB2_L +000005ad MPUIPSEGB2_H +000005ae MPUIPSEGB1 +000005ae MPUIPSEGB1_L +000005af MPUIPSEGB1_H +000005c0 UCA0CTLW0 +000005c0 UCA0CTLW0_L +000005c1 UCA0CTLW0_H +000005c2 UCA0CTLW1 +000005c2 UCA0CTLW1_L +000005c3 UCA0CTLW1_H +000005c6 UCA0BRW +000005c6 UCA0BRW_L +000005c7 UCA0BRW_H +000005c8 UCA0MCTLW +000005c8 UCA0MCTLW_L +000005c9 UCA0MCTLW_H +000005ca UCA0STATW +000005ca UCA0STATW_L +000005cb UCA0STATW_H +000005cc UCA0RXBUF +000005cc UCA0RXBUF_L +000005cd UCA0RXBUF_H +000005ce UCA0TXBUF +000005ce UCA0TXBUF_L +000005cf UCA0TXBUF_H +000005d0 UCA0ABCTL +000005d0 UCA0ABCTL_L +000005d1 UCA0ABCTL_H +000005d2 UCA0IRCTL +000005d2 UCA0IRCTL_L +000005d3 UCA0IRCTL_H +000005d4 __STACK_SIZE +000005da UCA0IE +000005da UCA0IE_L +000005db UCA0IE_H +000005dc UCA0IFG +000005dc UCA0IFG_L +000005dd UCA0IFG_H +000005de UCA0IV +000005de UCA0IV_L +000005df UCA0IV_H +000005e0 UCA1CTLW0 +000005e0 UCA1CTLW0_L +000005e1 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_ZN4iris25RoverStateEnteringMission19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +00016ffc _ZN4iris25RoverStateEnteringService19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +00017072 _ZN4iris27RoverStateEnteringKeepAlive19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +000170e8 __TI_decompress_lzss +0001715e HOSTrename +00017246 __TI_closefile +0001732c Serialization__serializeAs32Bit +0001739e HOSTopen +0001755c HOSTwrite +000175c8 HerculesMpsm__process +00017634 RingBuffer__init +000176a0 adc_init +0001770c HOSTread +0001784a blimp_latchResetHigh +000178b4 blimp_latchResetLow +0001791e fseek +000179f2 Serialization__serializeAs16Bit +00017a5a HerculesComms__uninitialize +00017ac0 HerculesMpsm__initMsg +00017bf2 UART__receive +00017d24 _ZN4iris14RoverStateBase26doGndCmdSetDebugCommsStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00017dee Serialization__deserializeAs16Bit +00017e52 __TI_doflush +00017eb6 blimp_initialize +00017f1a blimp_latchSetHigh +00017f7e blimp_latchSetLow +00018044 _ZN4iris14RoverStateBase24doGndCmdLatchSetPulseLowERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +000180a6 _ZN4iris14RoverStateBase26doGndCmdLatchResetPulseLowERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00018108 _ZN4iris17RoverStateMission14doGndCmdDeployERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001816a Serialization__serializeAs8Bit +000181ca HerculesComms__init +00018282 LanderComms__init +000182de Serialization__deserializeAs8Bit +00018396 blimp_latchResetOff +000183f0 close +0001844a getdevice +000184fc fflush +00018554 _ZN4iris14RoverStateBase20pumpMsgsFromHerculesERNS_12RoverContextE +000185aa blimp_latchSetOff +00018600 __TI_auto_init_nobinit_nopinit_hold_wdt +000186f8 _ZN4iris14RoverStateBase20doGndCmdSetVSAEStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001874a _ZN4iris14RoverStateBase24doGndCmdSetChargeEnStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001879c _ZN4iris14RoverStateBase25doGndCmdSetLatchBattStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +000187ee _ZN4iris14RoverStateBase26doGndCmdDangForceBattStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00018a20 _ZN4iris14RoverStateBase14txDownlinkDataERNS_12RoverContextEPvjb +00018a70 HOSTclose +00018abe UART__init1 +00018d7c HerculesMpsm__reset +00018dc8 _ZN4iris17RoverStateMission22performWatchdogCommandERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00018e14 _ZN4iris17RoverStateService22performWatchdogCommandERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00018eaa UART__init0 +00018ef4 exit +00018f3e UART__checkIfSendable +00018f86 _ZN4iris19RoverStateKeepAlive12transitionToERNS_12RoverContextE +00019016 HOSTunlink +0001905c HerculesComms__txDownlinkData +000190a2 HerculesComms__txUplinkMsg +000190e8 DebugComms__tryStringBufferToLanderNonblocking +0001912c IpUdp__identifyDataInUdpPacket +00019170 sprintf +000191b4 _ZN4iris14RoverStateBase22doGndCmdSetBattEnStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +000191f6 _ZN4iris14RoverStateBase27doGndCmdSetChargeRegEnStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00019238 clockInit +0001927a EventQueue__get +000192ba HerculesComms__txResponseMsg +000192fa I2C__write +000195ba I2C__read +000195f8 UART__checkRxRbErrors +00019636 _ZN4iris14RoverStateBase33handleRadioPowerCycleRadioCommandERNS_12RoverContextE +00019674 _ZN4iris14RoverStateBase36handleRadioPowerCycleHerculesCommandERNS_12RoverContextE +000196b2 enableHeater +000196f0 __mspabi_slll_15 +000196f4 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__mspabi_srlll +000199bc vsprintf +00019a9e UART__uninit0 +00019ad6 _ZN4iris27RoverStateEnteringKeepAlive25transitionToFinishUpSetupERNS_12RoverContextE +00019b0e UART__checkRxZerosMaxCountSinceLastCheck +00019b7a _ZN4iris14RoverStateBase12doGndCmdEchoERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +00019bb0 _ZN4iris17RoverStateMission12transitionToERNS_12RoverContextE +00019be6 __TI_cleanup +00019c1c __TI_writemsg +00019c4e C$$IO$$ +00019c86 adcCheckVoltageLevels +00019cba blimp_latchBattUpdate +00019cee blimp_normalBoot +00019d22 I2C_Sensors__initiateWriteIoExpander +00019d54 I2C__getTransactionStatus +00019d86 _ZN4iris19RoverStateKeepAlive15handleTimerTickERNS_12RoverContextE +00019db8 _ZN4iris27RoverStateEnteringKeepAlive18handleHerculesDataERNS_12RoverContextE +00019dea __TI_readmsg +00019e1c blimp_bstat_dangerous_forceHigh +00019e4e blimp_bstat_dangerous_forceLow +00019e80 blimp_bstat_safe_restoreInput +00019eb2 blimp_vSysAllEnOff +00019ee4 strncpy +00019f16 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main +0001a2ea I2C_Sensors__getIoExpanderPortDirections +0001a342 _ZN4iris14RoverStateBase32doGndCmdSetHeaterDutyCyclePeriodERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a36e _ZN4iris17RoverStateMissionC1Ev +0001a36e _ZN4iris17RoverStateMissionC2Ev +0001a39a _ZN4iris25RoverStateEnteringMission29transitionToWaitingForI2cDoneERNS_12RoverContextE +0001a3c6 __mpu_init +0001a448 _ZN4iris14RoverStateBase28doGndCmdSetAutoHeaterOnValueERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a472 _ZN4iris14RoverStateBase29doGndCmdSetAutoHeaterOffValueERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a49c _ZN4iris27RoverStateEnteringKeepAlive12transitionToERNS_12RoverContextE +0001a4c6 blimp_chargerEnForceHigh +0001a4f0 blimp_chargerEnOn +0001a544 SlipMpsm__initMsg +0001a56c _ZN4iris14RoverStateBase21doGndCmdResetSpecificERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a594 _ZN4iris14RoverStateBase22handleUplinkFromLanderERNS_12RoverContextEPhj +0001a5bc EventQueue__put +0001a67a _ZN4iris17RoverStateMission13heaterControlERNS_12RoverContextE +0001a6a0 setHerculesReset +0001a6c6 I2C_Sensors__initiateGaugeReadings +0001a6ea I2C_Sensors__initiateReadControl +0001a70e _ZN4iris25RoverStateEnteringMissionC1Ev +0001a70e _ZN4iris25RoverStateEnteringMissionC2Ev +0001a732 _ZN4iris25RoverStateEnteringService24doGndCmdEnterServiceModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a756 _ZN4iris25RoverStateEnteringServiceC1ENS_10RoverStateE +0001a756 _ZN4iris25RoverStateEnteringServiceC2ENS_10RoverStateE +0001a77a _ZN4iris25RoverStateEnteringServiceC1Ev +0001a77a _ZN4iris25RoverStateEnteringServiceC2Ev +0001a79e _ZN4iris27RoverStateEnteringKeepAlive26doGndCmdEnterKeepAliveModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a7c2 _ZN4iris27RoverStateEnteringKeepAliveC1ENS_10RoverStateE +0001a7c2 _ZN4iris27RoverStateEnteringKeepAliveC2ENS_10RoverStateE +0001a7e6 _ZN4iris27RoverStateEnteringKeepAliveC1Ev +0001a7e6 _ZN4iris27RoverStateEnteringKeepAliveC2Ev +0001a80a __TI_zero_init +0001a82e disableHeater +0001a852 disableUart0Pins +0001a876 I2C_Sensors__initiateReadIoExpander +0001a898 I2C_Sensors__initiateWriteLowPower +0001a8ba I2C__stop +0001a8dc _ZN4iris14RoverStateBase29doGndCmdRequestDetailedReportERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001a8fe _ZN4iris17RoverStateServiceC1Ev +0001a8fe _ZN4iris17RoverStateServiceC2Ev +0001a920 _ZN4iris19RoverStateKeepAliveC1Ev +0001a920 _ZN4iris19RoverStateKeepAliveC2Ev +0001a942 _ZN4iris25RoverStateEnteringMission41transitionToWatitingForWifiReadyOrTimeoutERNS_12RoverContextE +0001a964 I2C_Sensors__initiateFuelGaugeInitialization +0001a984 _ZN4iris14RoverStateBase21handleWdIntRisingEdgeERNS_12RoverContextE +0001a9a4 _ZN4iris14RoverStateBase22handleWdIntFallingEdgeERNS_12RoverContextE +0001a9c4 _ZN4iris14RoverStateBaseC1ENS_10RoverStateE +0001a9c4 _ZN4iris14RoverStateBaseC2ENS_10RoverStateE +0001aa24 I2C_Sensors__clearLastAction +0001aa42 I2C_Sensors__writeIoExpanderCurrentValuesBlocking +0001aa60 RingBuffer__full +0001aa7e _ZN4iris14RoverStateBase14doGndCmdDeployERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001aa9c _ZN4iris14RoverStateBase16handleLanderDataERNS_12RoverContextE +0001aaba _ZN4iris14RoverStateBase18handleHerculesDataERNS_12RoverContextE +0001aad8 _ZN4iris14RoverStateBase21doGndCmdPrepForDeployERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001aaf6 _ZN4iris14RoverStateBase22doGndCmdEnterSleepModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001ab14 _ZN4iris14RoverStateBase24doGndCmdEnterServiceModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001ab32 _ZN4iris14RoverStateBase26doGndCmdEnterKeepAliveModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001ab50 _ZN4iris14RoverStateBase26doGndCmdSetBattCtrlEnStateERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001ab6e _ZN4iris14RoverStateInit14handleHighTempERNS_12RoverContextE +0001ab8c _ZN4iris14RoverStateInit15handleTimerTickERNS_12RoverContextE +0001abaa _ZN4iris14RoverStateInit16handleLanderDataERNS_12RoverContextE +0001abc8 _ZN4iris14RoverStateInit16handlePowerIssueERNS_12RoverContextE +0001abe6 _ZN4iris14RoverStateInit18handleHerculesDataERNS_12RoverContextE +0001ac04 _ZN4iris14RoverStateInit19performResetCommandERNS_12RoverContextE26WdCmdMsgs__ResetSpecificIdP19WdCmdMsgs__Response +0001ac22 _ZN4iris14RoverStateInit8spinOnceERNS_12RoverContextE +0001ac40 _ZN4iris19RoverStateKeepAlive18handleHerculesDataERNS_12RoverContextE +0001ac5e _ZN4iris25RoverStateEnteringMission12transitionToERNS_12RoverContextE +0001ac7c _ZN4iris25RoverStateEnteringService12transitionToERNS_12RoverContextE +0001ac9a blimp_battEnOff +0001acb8 blimp_latchBattOff +0001acd6 blimp_regEnOff +0001acf4 enableUart1Pins +0001ad12 memccpy +0001ad30 releaseHerculesReset +0001ad4e _ZN4iris14RoverStateBase22doGndCmdSwitchConnModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001ad6a strchr +0001ad86 strcmp +0001ada2 HerculesComms__isInitialized +0001adbc UART__isInitialized +0001add6 WdIntMpsm__processEdge +0001adf0 _ZN4iris17RoverStateMission20canEnterLowPowerModeERNS_12RoverContextE +0001ae0a _ZN4iris17RoverStateService12transitionToERNS_12RoverContextE +0001ae24 _ZN4iris17RoverStateService20canEnterLowPowerModeERNS_12RoverContextE +0001ae3e _ZN4iris19RoverStateKeepAlive20canEnterLowPowerModeERNS_12RoverContextE +0001ae58 _ZN4iris25RoverStateEnteringService18handleHerculesDataERNS_12RoverContextE +0001ae72 _abort_msg +0001ae8c blimp_battEnOn +0001aea6 blimp_latchBattOn +0001aec0 enableUart0Pins +0001aeda RingBuffer__empty +0001aef2 RingBuffer__freeCount +0001af0a _ZN4iris17RoverStateService21doGndCmdPrepForDeployERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001af22 _ZN4iris19RoverStateKeepAlive24doGndCmdEnterServiceModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001af3a _ZN4iris19RoverStateKeepAlive26doGndCmdEnterKeepAliveModeERNS_12RoverContextERK18WdCmdMsgs__MessageR19WdCmdMsgs__ResponseS7_Rb +0001af52 blimp_regEnOn +0001af6a powerOffRadio +0001af82 __mspabi_mpyi_f5hw +0001af9a setFPGAReset +0001afb2 I2C_Sensors__initiateWriteIoExpanderCurrentValues +0001afc8 _ZN10__cxxabiv120__si_class_type_infoD0Ev +0001afde _ZN4iris14RoverStateBase14handleHighTempERNS_12RoverContextE +0001aff4 _ZN4iris14RoverStateBase28handleRadioExitStasisCommandERNS_12RoverContextE +0001b00a _ZN4iris17RoverStateMission16handlePowerIssueERNS_12RoverContextE +0001b020 _ZN4iris17RoverStateService16handlePowerIssueERNS_12RoverContextE +0001b036 _ZN4iris19RoverStateKeepAlive16handlePowerIssueERNS_12RoverContextE +0001b04c _ZN4iris25RoverStateEnteringMission16handlePowerIssueERNS_12RoverContextE +0001b062 _ZN4iris25RoverStateEnteringService16handlePowerIssueERNS_12RoverContextE +0001b078 _ZN4iris27RoverStateEnteringKeepAlive16handlePowerIssueERNS_12RoverContextE +0001b08e _ZN4iris27RoverStateEnteringKeepAlive22handleUplinkFromLanderERNS_12RoverContextEPhj +0001b0a4 disable3V3PowerRail +0001b0ba enableWdIntFallingEdgeInterrupt +0001b0d0 enableWdIntRisingEdgeInterrupt +0001b0e6 fpgaCameraSelectLo +0001b112 memchr +0001b128 memset +0001b13e powerOnRadio +0001b154 releaseFPGAReset +0001b16a __mspabi_divu +0001b16a __mspabi_remu +0001b180 setRadioReset +0001b196 startChargingBatteries +0001b1ac unsetDeploy +0001b1c2 DebugComms__registerHerculesComms +0001b1d6 DebugComms__registerLanderComms +0001b1ea DebugComms__setEnabled +0001b1fe RingBuffer__clear +0001b212 RingBuffer__usedCount +0001b226 _ZN10__cxxabiv117__class_type_infoD0Ev +0001b23a _ZN4iris14RoverStateBase8getStateEv +0001b276 memcpy +0001b28a powerOffFpga +0001b29e powerOffHercules +0001b2b2 powerOffMotors +0001b2c6 releaseRadioReset +0001b2da I2C_Sensors__stop +0001b2ec __TI_decompress_none +0001b2fe enable3V3PowerRail +0001b310 isAdcSampleDone +0001b322 strcpy +0001b334 fpgaCameraSelectHi +0001b344 getWdIntState +0001b354 hook_sp_check +0001b364 __mspabi_srll +0001b374 powerOnFpga +0001b384 powerOnHercules +0001b394 powerOnMotors +0001b3a4 setDeploy +0001b3b4 I2C_Sensors__init +0001b3c2 _ZN10__cxxabiv117__class_type_infoD1Ev +0001b3c2 _ZN10__cxxabiv117__class_type_infoD2Ev +0001b3d0 _ZN10__cxxabiv120__si_class_type_infoD1Ev +0001b3d0 _ZN10__cxxabiv120__si_class_type_infoD2Ev +0001b3de _ZN4iris14RoverStateBase29handleRadioEnterStasisCommandERNS_12RoverContextE +0001b3ec blimp_batteryState +0001b3fa strlen +0001b408 watchdog_get_wd_int_flat_duration +0001b416 _ZN4iris14RoverStateBase20canEnterLowPowerModeERNS_12RoverContextE +0001b422 _ZN4iris14RoverStateInit20canEnterLowPowerModeERNS_12RoverContextE +0001b42e _ZN4iris25RoverStateEnteringMission20canEnterLowPowerModeERNS_12RoverContextE +0001b43a _ZN4iris25RoverStateEnteringService28nextStateAfterSetupCompletesEv +0001b446 _ZN4iris25RoverStateEnteringService8spinOnceERNS_12RoverContextE +0001b452 _ZN4iris27RoverStateEnteringKeepAlive20canEnterLowPowerModeERNS_12RoverContextE +0001b45e _ZN4iris27RoverStateEnteringKeepAlive28nextStateAfterSetupCompletesEv +0001b46a _ZdlPv +0001b474 disableBatteries +0001b47e enableBatteries +0001b488 releaseMotorsReset +0001b492 __mspabi_slli +0001b49c __mspabi_srli +0001b4a6 setMotorsReset +0001b4b0 stopChargingBatteries +0001b4ba __cxa_pure_virtual +0001b4c2 malloc +0001b4ca releaseMotor1Reset +0001b4d2 releaseMotor2Reset +0001b4da releaseMotor3Reset +0001b4e2 releaseMotor4Reset +0001b4ea setMotor1Reset +0001b4f2 setMotor2Reset +0001b4fa setMotor3Reset +0001b502 setMotor4Reset +0001b50a I2C_Sensors__clearIoExpanderPort0OutputBits +0001b510 I2C_Sensors__clearIoExpanderPort1OutputBits +0001b516 I2C_Sensors__setIoExpanderPort0OutputBits +0001b51c I2C_Sensors__setIoExpanderPort1OutputBits +0001b522 Time__getPointerToCentisecondCount +0001b528 Time__getTimeInCentiseconds +0001b52e C$$EXIT +0001b52e _ZSt17__throw_bad_allocv +0001b52e abort +0001b534 disableVSysAllPowerRail +0001b53a enableVSysAllPowerRail +0001b540 _ZdlPvj +0001b544 __abort_execution +0001b548 _system_pre_init +0001b54c _ZNSt9type_infoD1Ev +0001b54c _ZNSt9type_infoD2Ev +0001b54e _nop +0001b550 _system_post_cinit +ffffffff __TI_pprof_out_hndl +ffffffff __TI_prof_data_size +ffffffff __TI_prof_data_start +ffffffff __c_args__ + +[2033 symbols] diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.out b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.out new file mode 100644 index 000000000..d99db7505 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog.out differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog_linkInfo.xml b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog_linkInfo.xml new file mode 100644 index 000000000..85ab84f5c --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/Watchdog_linkInfo.xml @@ -0,0 +1,48315 @@ + + + MSP430 Linker Unix v18.12.2.LTS + Copyright (c) 2003-2018 Texas Instruments Incorporated + 0x63b2d19d + 0x0 + Watchdog.out + + _c_int00_noargs_mpu +
0x46c0
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0x18600 + + + + __TI_tmpnams + 0x2800 + + + _ftable + 0x31a6 + + + + __TI_ft_end + 0x358a + + + + _system_post_cinit + 0x1b550 + + + + _system_pre_init + 0x1b548 + + + + C$$EXIT + 0x1b52e + + + + abort + 0x1b52e + + + + __TI_enable_exit_profile_output + 0x358c + + + + exit + 0x18ef4 + + + + __TI_dtors_ptr + 0x355e + + + + __TI_cleanup_ptr + 0x355a + + + + _nop + 0x1b54e + + + + _lock + 0x3562 + + + + _unlock + 0x3566 + + + + __TI_doflush + 0x17e52 + + + + fflush + 0x184fc + + + + fputs + 0x14dc2 + + + + __TI_wrt_ok + 0x16d26 + + + + _sys_memory + 0x4124 + + + + free + 0x155c8 + + + + memalign + 0x147d8 + + + + malloc + 0x1b4c2 + + + + aligned_alloc + 0x147d8 + + + + __mspabi_remu + 0x1b16a + + + + __mspabi_divu + 0x1b16a + + + + fseek + 0x1791e + + + + lseek + 0x1972e + + + + _stream + 0x3366 + + + + _device + 0x326e + + + + HOSTclose + 0x18a70 + + + + HOSTlseek + 0x16164 + + + + parmbuf + 0x2900 + + + HOSTopen + 0x1739e + + + + HOSTread + 0x1770c + + + + HOSTrename + 0x1715e + + + + HOSTunlink + 0x19016 + + + + HOSTwrite + 0x1755c + + + + __TI_readmsg + 0x19dea + + + + C$$IO$$ + 0x19c4e + + + + _CIOBUF_ + 0x4002 + + + + __TI_writemsg + 0x19c1c + + + + memchr + 0x1b112 + + + + memcpy + 0x1b276 + + + + memset + 0x1b128 + + + + setvbuf + 0x15334 + + + + __TI_cleanup + 0x19be6 + + + + __TI_closefile + 0x17246 + + + + close + 0x183f0 + + + + finddevice + 0x1a28e + + + + getdevice + 0x1844a + + + + sprintf + 0x19170 + + + + __TI_printfi_minimal + 0x15412 + + + + memccpy + 0x1ad12 + + + + strchr + 0x1ad6a + + + + strcmp + 0x1ad86 + + + + strcpy + 0x1b322 + + + + strlen + 0x1b3fa + + + + strncpy + 0x19ee4 + + + + unlink + 0x1a036 + + + + vsprintf + 0x199bc + + + + write + 0x19898 + + + + _ZSt17__throw_bad_allocv + 0x1b52e + + + remove + 0x1a036 + + + Link successful + diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/ccsObjs.opt b/Bins/RC7/FSW/Watchdog/Debug_with_flag/ccsObjs.opt new file mode 100644 index 000000000..07546d53a --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/ccsObjs.opt @@ -0,0 +1 @@ +"./src/comms/cmd_msgs.obj" "./src/comms/debug_comms.obj" "./src/comms/ground_msgs.obj" "./src/comms/hercules_comms.obj" "./src/comms/hercules_mpsm.obj" "./src/comms/hercules_msgs.obj" "./src/comms/i2c_sensors.obj" "./src/comms/ip_udp.obj" "./src/comms/lander_comms.obj" "./src/comms/slip_encode.obj" "./src/comms/slip_mpsm.obj" "./src/comms/watchdog_cmd_msgs.obj" "./src/comms/wd_int_mpsm.obj" "./src/drivers/adc.obj" "./src/drivers/blimp.obj" "./src/drivers/bsp.obj" "./src/drivers/i2c.obj" "./src/drivers/uart.obj" "./src/event/event_queue.obj" "./src/main.obj" "./src/watchdog.obj" "./src/stateMachine/RoverState.obj" "./src/stateMachine/RoverStateBase.obj" "./src/stateMachine/RoverStateEnteringKeepAlive.obj" "./src/stateMachine/RoverStateEnteringMission.obj" "./src/stateMachine/RoverStateEnteringService.obj" "./src/stateMachine/RoverStateEnteringStasis.obj" "./src/stateMachine/RoverStateInit.obj" "./src/stateMachine/RoverStateKeepAlive.obj" "./src/stateMachine/RoverStateManager.obj" "./src/stateMachine/RoverStateMission.obj" "./src/stateMachine/RoverStateService.obj" "./src/stateMachine/RoverStateStasis.obj" "./src/utils/ring_buffer.obj" "./src/utils/serialization.obj" "./src/utils/time.obj" "../lnk_msp430fr5994.cmd" -llibmpu_init.a -llibmath.a -llibc.a \ No newline at end of file diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/makefile b/Bins/RC7/FSW/Watchdog/Debug_with_flag/makefile new file mode 100644 index 000000000..d5cb21748 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/makefile @@ -0,0 +1,215 @@ +################################################################################ +# Automatically-generated file. Do not edit! +################################################################################ + +CG_TOOL_ROOT := /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS + +GEN_OPTS__FLAG := +GEN_CMDS__FLAG := + +ORDERED_OBJS += \ +"./src/comms/cmd_msgs.obj" \ +"./src/comms/debug_comms.obj" \ +"./src/comms/ground_msgs.obj" \ +"./src/comms/hercules_comms.obj" \ +"./src/comms/hercules_mpsm.obj" \ +"./src/comms/hercules_msgs.obj" \ +"./src/comms/i2c_sensors.obj" \ +"./src/comms/ip_udp.obj" \ +"./src/comms/lander_comms.obj" \ +"./src/comms/slip_encode.obj" \ +"./src/comms/slip_mpsm.obj" \ +"./src/comms/watchdog_cmd_msgs.obj" \ +"./src/comms/wd_int_mpsm.obj" \ +"./src/drivers/adc.obj" \ +"./src/drivers/blimp.obj" \ +"./src/drivers/bsp.obj" \ +"./src/drivers/i2c.obj" \ +"./src/drivers/uart.obj" \ +"./src/event/event_queue.obj" \ +"./src/main.obj" \ +"./src/watchdog.obj" \ +"./src/stateMachine/RoverState.obj" \ +"./src/stateMachine/RoverStateBase.obj" \ +"./src/stateMachine/RoverStateEnteringKeepAlive.obj" \ +"./src/stateMachine/RoverStateEnteringMission.obj" \ +"./src/stateMachine/RoverStateEnteringService.obj" \ +"./src/stateMachine/RoverStateEnteringStasis.obj" \ +"./src/stateMachine/RoverStateInit.obj" \ +"./src/stateMachine/RoverStateKeepAlive.obj" \ +"./src/stateMachine/RoverStateManager.obj" \ +"./src/stateMachine/RoverStateMission.obj" \ +"./src/stateMachine/RoverStateService.obj" \ +"./src/stateMachine/RoverStateStasis.obj" \ +"./src/utils/ring_buffer.obj" \ +"./src/utils/serialization.obj" \ +"./src/utils/time.obj" \ +"../lnk_msp430fr5994.cmd" \ +$(GEN_CMDS__FLAG) \ +-llibmpu_init.a \ +-llibmath.a \ +-llibc.a \ + +-include ../makefile.init + +RM := rm -rf +RMDIR := rm -rf + +# All of the sources participating in the build are defined here +-include sources.mk +-include subdir_vars.mk +-include src/comms/subdir_vars.mk +-include src/drivers/subdir_vars.mk +-include src/event/subdir_vars.mk +-include src/subdir_vars.mk +-include src/stateMachine/subdir_vars.mk +-include src/utils/subdir_vars.mk +-include subdir_rules.mk +-include src/comms/subdir_rules.mk +-include src/drivers/subdir_rules.mk +-include src/event/subdir_rules.mk +-include src/subdir_rules.mk +-include src/stateMachine/subdir_rules.mk +-include src/utils/subdir_rules.mk +-include objects.mk + +ifneq ($(MAKECMDGOALS),clean) +ifneq ($(strip $(C55_DEPS)),) +-include $(C55_DEPS) +endif +ifneq ($(strip $(C_UPPER_DEPS)),) +-include $(C_UPPER_DEPS) +endif +ifneq ($(strip $(S67_DEPS)),) +-include $(S67_DEPS) +endif +ifneq ($(strip $(S62_DEPS)),) +-include $(S62_DEPS) +endif +ifneq ($(strip $(S_DEPS)),) +-include $(S_DEPS) +endif +ifneq ($(strip $(OPT_DEPS)),) +-include $(OPT_DEPS) +endif +ifneq ($(strip $(C??_DEPS)),) +-include $(C??_DEPS) +endif +ifneq ($(strip $(ASM_UPPER_DEPS)),) +-include $(ASM_UPPER_DEPS) +endif +ifneq ($(strip $(S??_DEPS)),) +-include $(S??_DEPS) +endif +ifneq ($(strip $(C64_DEPS)),) +-include $(C64_DEPS) +endif +ifneq ($(strip $(CXX_DEPS)),) +-include $(CXX_DEPS) +endif +ifneq ($(strip $(S64_DEPS)),) +-include $(S64_DEPS) +endif +ifneq ($(strip $(INO_DEPS)),) +-include $(INO_DEPS) +endif +ifneq ($(strip $(CLA_DEPS)),) +-include $(CLA_DEPS) +endif +ifneq ($(strip $(S55_DEPS)),) +-include $(S55_DEPS) +endif +ifneq ($(strip $(SV7A_DEPS)),) +-include $(SV7A_DEPS) +endif +ifneq ($(strip $(C62_DEPS)),) +-include $(C62_DEPS) +endif +ifneq ($(strip $(C67_DEPS)),) +-include $(C67_DEPS) +endif +ifneq ($(strip $(PDE_DEPS)),) +-include $(PDE_DEPS) +endif +ifneq ($(strip $(K_DEPS)),) +-include $(K_DEPS) +endif +ifneq ($(strip $(C_DEPS)),) +-include $(C_DEPS) +endif +ifneq ($(strip $(CC_DEPS)),) +-include $(CC_DEPS) +endif +ifneq ($(strip $(C++_DEPS)),) +-include $(C++_DEPS) +endif +ifneq ($(strip $(C43_DEPS)),) +-include $(C43_DEPS) +endif +ifneq ($(strip $(S43_DEPS)),) +-include $(S43_DEPS) +endif +ifneq ($(strip $(ASM_DEPS)),) +-include $(ASM_DEPS) +endif +ifneq ($(strip $(S_UPPER_DEPS)),) +-include $(S_UPPER_DEPS) +endif +ifneq ($(strip $(CPP_DEPS)),) +-include $(CPP_DEPS) +endif +ifneq ($(strip $(SA_DEPS)),) +-include $(SA_DEPS) +endif +endif + +-include ../makefile.defs + +# Add inputs and outputs from these tool invocations to the build variables +EXE_OUTPUTS += \ +Watchdog.out \ + +EXE_OUTPUTS__QUOTED += \ +"Watchdog.out" \ + +BIN_OUTPUTS += \ +Watchdog.hex \ + +BIN_OUTPUTS__QUOTED += \ +"Watchdog.hex" \ + + +# All Target +all: $(OBJS) $(CMD_SRCS) $(GEN_CMDS) + @$(MAKE) --no-print-directory -Onone "Watchdog.out" + +# Tool invocations +Watchdog.out: $(OBJS) $(CMD_SRCS) $(GEN_CMDS) + @echo 'Building target: "$@"' + @echo 'Invoking: MSP430 Linker' + "/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/bin/cl430" -vmspx --data_model=restricted --use_hw_mpy=F5 --advice:power="all" --advice:hw_config="all" --define=__MSP430FR5994__ --define=ENABLE_DEBUG_ONLY_CODE --define=_MPU_ENABLE -g --c11 --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --emit_warnings_as_errors --verbose_diagnostics --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --entry_hook=hook_sp_check --entry_parm=name -z -m"Watchdog.map" --heap_size=4 --stack_size=1492 --cinit_hold_wdt=on -i"/home/iris/ti/ccs910/ccs/ccs_base/msp430/include" -i"/home/iris/ti/ccs910/ccs/ccs_base/msp430/lib/5xx_6xx_FRxx" -i"/home/iris/ti/ccs910/ccs/ccs_base/msp430/lib/FR59xx" -i"/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/lib" -i"/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include" --priority --reread_libs --define=_MPU_ENABLE --diag_wrap=off --display_error_number --warn_sections --xml_link_info="Watchdog_linkInfo.xml" --use_hw_mpy=F5 --rom_model -o "Watchdog.out" $(ORDERED_OBJS) + @echo 'Finished building target: "$@"' + @echo ' ' + +Watchdog.hex: $(EXE_OUTPUTS) + @echo 'Building files: $(strip $(EXE_OUTPUTS__QUOTED))' + @echo 'Invoking: MSP430 Hex Utility' + "/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/bin/hex430" --memwidth=8 --romwidth=8 -o "Watchdog.hex" $(EXE_OUTPUTS__QUOTED) + @echo 'Finished building: $(strip $(EXE_OUTPUTS__QUOTED))' + @echo ' ' + +# Other Targets +clean: + -$(RM) $(BIN_OUTPUTS__QUOTED)$(EXE_OUTPUTS__QUOTED) + -$(RM) "src/comms/cmd_msgs.obj" "src/comms/debug_comms.obj" "src/comms/ground_msgs.obj" "src/comms/hercules_comms.obj" "src/comms/hercules_mpsm.obj" "src/comms/hercules_msgs.obj" "src/comms/i2c_sensors.obj" "src/comms/ip_udp.obj" "src/comms/lander_comms.obj" "src/comms/slip_encode.obj" "src/comms/slip_mpsm.obj" "src/comms/watchdog_cmd_msgs.obj" "src/comms/wd_int_mpsm.obj" "src/drivers/adc.obj" "src/drivers/blimp.obj" "src/drivers/bsp.obj" "src/drivers/i2c.obj" "src/drivers/uart.obj" "src/event/event_queue.obj" "src/main.obj" "src/watchdog.obj" "src/stateMachine/RoverState.obj" "src/stateMachine/RoverStateBase.obj" "src/stateMachine/RoverStateEnteringKeepAlive.obj" "src/stateMachine/RoverStateEnteringMission.obj" "src/stateMachine/RoverStateEnteringService.obj" "src/stateMachine/RoverStateEnteringStasis.obj" "src/stateMachine/RoverStateInit.obj" "src/stateMachine/RoverStateKeepAlive.obj" "src/stateMachine/RoverStateManager.obj" "src/stateMachine/RoverStateMission.obj" "src/stateMachine/RoverStateService.obj" + -$(RM) "src/stateMachine/RoverStateStasis.obj" "src/utils/ring_buffer.obj" "src/utils/serialization.obj" "src/utils/time.obj" + -$(RM) "src/comms/cmd_msgs.d" "src/comms/debug_comms.d" "src/comms/ground_msgs.d" "src/comms/hercules_comms.d" "src/comms/hercules_mpsm.d" "src/comms/hercules_msgs.d" "src/comms/i2c_sensors.d" "src/comms/ip_udp.d" "src/comms/lander_comms.d" "src/comms/slip_encode.d" "src/comms/slip_mpsm.d" "src/comms/watchdog_cmd_msgs.d" "src/comms/wd_int_mpsm.d" "src/drivers/adc.d" "src/drivers/blimp.d" "src/drivers/bsp.d" "src/drivers/i2c.d" "src/drivers/uart.d" "src/event/event_queue.d" "src/watchdog.d" "src/utils/ring_buffer.d" "src/utils/serialization.d" "src/utils/time.d" + -$(RM) "src/main.d" "src/stateMachine/RoverState.d" "src/stateMachine/RoverStateBase.d" "src/stateMachine/RoverStateEnteringKeepAlive.d" "src/stateMachine/RoverStateEnteringMission.d" "src/stateMachine/RoverStateEnteringService.d" "src/stateMachine/RoverStateEnteringStasis.d" "src/stateMachine/RoverStateInit.d" "src/stateMachine/RoverStateKeepAlive.d" "src/stateMachine/RoverStateManager.d" "src/stateMachine/RoverStateMission.d" "src/stateMachine/RoverStateService.d" "src/stateMachine/RoverStateStasis.d" + -@echo 'Finished clean' + -@echo ' ' + +.PHONY: all clean dependents +.SECONDARY: + +-include ../makefile.targets + diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/objects.mk b/Bins/RC7/FSW/Watchdog/Debug_with_flag/objects.mk new file mode 100644 index 000000000..df14ac3bc --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/objects.mk @@ -0,0 +1,8 @@ +################################################################################ +# Automatically-generated file. Do not edit! +################################################################################ + +USER_OBJS := + +LIBS := -llibmpu_init.a -llibmath.a -llibc.a + diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/sources.mk b/Bins/RC7/FSW/Watchdog/Debug_with_flag/sources.mk new file mode 100644 index 000000000..372f9e374 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/sources.mk @@ -0,0 +1,121 @@ +################################################################################ +# Automatically-generated file. Do not edit! +################################################################################ + +C55_SRCS := +A_SRCS := +ASM_UPPER_SRCS := +EXE_SRCS := +LDS_UPPER_SRCS := +CPP_SRCS := +CMD_SRCS := +O_SRCS := +ELF_SRCS := +C??_SRCS := +C64_SRCS := +C67_SRCS := +SA_SRCS := +S64_SRCS := +OPT_SRCS := +CXX_SRCS := +S67_SRCS := +S??_SRCS := +PDE_SRCS := +SV7A_SRCS := +K_SRCS := +CLA_SRCS := +S55_SRCS := +LD_UPPER_SRCS := +OUT_SRCS := +INO_SRCS := +LIB_SRCS := +ASM_SRCS := +S_UPPER_SRCS := +S43_SRCS := +LD_SRCS := +CMD_UPPER_SRCS := +C_UPPER_SRCS := +C++_SRCS := +C43_SRCS := +OBJ_SRCS := +LDS_SRCS := +S_SRCS := +CC_SRCS := +S62_SRCS := +C62_SRCS := +C_SRCS := +C55_DEPS := +C_UPPER_DEPS := +S67_DEPS := +S62_DEPS := +S_DEPS := +OPT_DEPS := +C??_DEPS := +ASM_UPPER_DEPS := +S??_DEPS := +C64_DEPS := +CXX_DEPS := +S64_DEPS := +INO_DEPS := +CLA_DEPS := +S55_DEPS := +SV7A_DEPS := +EXE_OUTPUTS := +C62_DEPS := +C67_DEPS := +PDE_DEPS := +K_DEPS := +C_DEPS := +CC_DEPS := +BIN_OUTPUTS := +C++_DEPS := +C43_DEPS := +S43_DEPS := +OBJS := +ASM_DEPS := +S_UPPER_DEPS := +CPP_DEPS := +SA_DEPS := +C++_DEPS__QUOTED := +OPT_DEPS__QUOTED := +S_UPPER_DEPS__QUOTED := +SA_DEPS__QUOTED := +C??_DEPS__QUOTED := +S67_DEPS__QUOTED := +C55_DEPS__QUOTED := +CC_DEPS__QUOTED := +ASM_UPPER_DEPS__QUOTED := +SV7A_DEPS__QUOTED := +S??_DEPS__QUOTED := +OBJS__QUOTED := +C67_DEPS__QUOTED := +K_DEPS__QUOTED := +S55_DEPS__QUOTED := +INO_DEPS__QUOTED := +C62_DEPS__QUOTED := +C_DEPS__QUOTED := +C_UPPER_DEPS__QUOTED := +C43_DEPS__QUOTED := +CPP_DEPS__QUOTED := +BIN_OUTPUTS__QUOTED := +C64_DEPS__QUOTED := +CXX_DEPS__QUOTED := +CLA_DEPS__QUOTED := +S_DEPS__QUOTED := +ASM_DEPS__QUOTED := +S43_DEPS__QUOTED := +EXE_OUTPUTS__QUOTED := +S64_DEPS__QUOTED := +S62_DEPS__QUOTED := +PDE_DEPS__QUOTED := + +# Every subdirectory with source files must be described here +SUBDIRS := \ +. \ +src/comms \ +src/drivers \ +src/event \ +src \ +src/stateMachine \ +src/utils \ + diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/blimp.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/blimp.d new file mode 100644 index 000000000..0b9b032c4 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/blimp.d @@ -0,0 +1,6 @@ +# FIXED + +src/blimp.obj: ../src/blimp.c + +../src/blimp.c: + diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.d new file mode 100644 index 000000000..bf739e8da --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.d @@ -0,0 +1,35 @@ +# FIXED + +src/comms/cmd_msgs.obj: ../src/comms/cmd_msgs.c +src/comms/cmd_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/cmd_msgs.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/cmd_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h +src/comms/cmd_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/cmd_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h + +../src/comms/cmd_msgs.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/cmd_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.obj new file mode 100644 index 000000000..58eeff59a Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/cmd_msgs.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.d new file mode 100644 index 000000000..9bc81a390 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.d @@ -0,0 +1,61 @@ +# FIXED + +src/comms/debug_comms.obj: ../src/comms/debug_comms.c +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/debug_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdio.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdarg.h +src/comms/debug_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h + +../src/comms/debug_comms.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdio.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdarg.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.obj new file mode 100644 index 000000000..d6b708e4d Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/debug_comms.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.d new file mode 100644 index 000000000..34e0f5035 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.d @@ -0,0 +1,75 @@ +# FIXED + +src/comms/ground_msgs.obj: ../src/comms/ground_msgs.c +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/cmd_msgs.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/i2c_sensors.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/flags.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/adc.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/ground_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/bsp.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h +src/comms/ground_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/watchdog.h + +../src/comms/ground_msgs.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ground_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/watchdog_cmd_msgs.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/cmd_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/i2c_sensors.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/flags.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/adc.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/bsp.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/watchdog.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.obj new file mode 100644 index 000000000..8b4fc4a62 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ground_msgs.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.d new file mode 100644 index 000000000..391d0285f --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.d @@ -0,0 +1,63 @@ +# FIXED + +src/comms/hercules_comms.obj: ../src/comms/hercules_comms.c +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/hercules_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_mpsm.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h +src/comms/hercules_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h + +../src/comms/hercules_comms.c: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_mpsm.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.obj new file mode 100644 index 000000000..2efa9f5e1 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_comms.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.d new file mode 100644 index 000000000..a9f1e2a06 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.d @@ -0,0 +1,49 @@ +# FIXED + +src/comms/hercules_mpsm.obj: ../src/comms/hercules_mpsm.c +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/hercules_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_mpsm.h +src/comms/hercules_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/ring_buffer.h + +../src/comms/hercules_mpsm.c: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_mpsm.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/ring_buffer.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.obj new file mode 100644 index 000000000..fdf07ffa9 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_mpsm.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.d new file mode 100644 index 000000000..3cff5d486 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.d @@ -0,0 +1,35 @@ +# FIXED + +src/comms/hercules_msgs.obj: ../src/comms/hercules_msgs.c +src/comms/hercules_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/hercules_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h +src/comms/hercules_msgs.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/hercules_msgs.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h + +../src/comms/hercules_msgs.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/serialization.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.obj new file mode 100644 index 000000000..86b90ceec Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/hercules_msgs.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.d new file mode 100644 index 000000000..7f27a7961 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.d @@ -0,0 +1,63 @@ +# FIXED + +src/comms/i2c_sensors.obj: ../src/comms/i2c_sensors.c +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/i2c_sensors.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/i2c.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h +src/comms/i2c_sensors.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h +src/comms/i2c_sensors.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h + +../src/comms/i2c_sensors.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/i2c_sensors.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/i2c.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.obj new file mode 100644 index 000000000..d2ad37097 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/i2c_sensors.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.d new file mode 100644 index 000000000..94732183c --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.d @@ -0,0 +1,39 @@ +# FIXED + +src/comms/ip_udp.obj: ../src/comms/ip_udp.c +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/ip_udp.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/ip_udp.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/ip_udp.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/ip_udp.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/ip_udp.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/cfg.h + +../src/comms/ip_udp.c: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/cfg.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.obj new file mode 100644 index 000000000..bff021596 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/ip_udp.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.d new file mode 100644 index 000000000..176258733 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.d @@ -0,0 +1,65 @@ +# FIXED + +src/comms/lander_comms.obj: ../src/comms/lander_comms.c +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/lander_comms.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_encode.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_mpsm.h +src/comms/lander_comms.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h + +../src/comms/lander_comms.c: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/assert.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/string.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/msp430fr5994.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/in430.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/intrinsics_legacy_undefs.h: +/home/iris/ti/ccs910/ccs/ccs_base/msp430/include/legacy.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/debug_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/lander_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/drivers/uart.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_comms.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/hercules_msgs.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_encode.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_mpsm.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/utils/time.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.obj new file mode 100644 index 000000000..4a69cf258 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/lander_comms.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.d new file mode 100644 index 000000000..9198146a8 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.d @@ -0,0 +1,33 @@ +# FIXED + +src/comms/slip_encode.obj: ../src/comms/slip_encode.c +src/comms/slip_encode.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_encode.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/slip_encode.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/slip_encode.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h + +../src/comms/slip_encode.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_encode.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.obj new file mode 100644 index 000000000..474149198 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_encode.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.d b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.d new file mode 100644 index 000000000..c3658c077 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.d @@ -0,0 +1,35 @@ +# FIXED + +src/comms/slip_mpsm.obj: ../src/comms/slip_mpsm.c +src/comms/slip_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_mpsm.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h +src/comms/slip_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h +src/comms/slip_mpsm.obj: /home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h +src/comms/slip_mpsm.obj: /home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h + +../src/comms/slip_mpsm.c: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/slip_mpsm.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_stdint40.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/cdefs.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_types.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/machine/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/sys/_stdint.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stddef.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/_ti_config.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/linkage.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/comms/ip_udp.h: +/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include/common.h: +/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include/stdbool.h: diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.obj b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.obj new file mode 100644 index 000000000..0785262b1 Binary files /dev/null and b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/slip_mpsm.obj differ diff --git a/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/subdir_rules.mk b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/subdir_rules.mk new file mode 100644 index 000000000..ccc608461 --- /dev/null +++ b/Bins/RC7/FSW/Watchdog/Debug_with_flag/src/comms/subdir_rules.mk @@ -0,0 +1,13 @@ +################################################################################ +# Automatically-generated file. Do not edit! +################################################################################ + +# Each subdirectory must supply rules for building sources it contributes +src/comms/%.obj: ../src/comms/%.c $(GEN_OPTS) | $(GEN_FILES) + @echo 'Building file: "$<"' + @echo 'Invoking: MSP430 Compiler' + "/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/bin/cl430" -vmspx --data_model=restricted --use_hw_mpy=F5 --include_path="/home/iris/ti/ccs910/ccs/ccs_base/msp430/include" --include_path="/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog" --include_path="/home/iris/Desktop/Working_Folders/mschnur/Watchdog_MSP430/Apps/FlightSoftware/Watchdog/include" --include_path="/home/iris/ti/ccs910/ccs/tools/compiler/ti-cgt-msp430_18.12.2.LTS/include" --advice:power="all" --advice:hw_config="all" --define=__MSP430FR5994__ --define=ENABLE_DEBUG_ONLY_CODE --define=_MPU_ENABLE -g --c11 --printf_support=minimal --diag_warning=225 --diag_wrap=off --display_error_number --emit_warnings_as_errors --verbose_diagnostics --silicon_errata=CPU21 --silicon_errata=CPU22 --silicon_errata=CPU40 --entry_hook=hook_sp_check --entry_parm=name --preproc_with_compile --preproc_dependency="src/comms/$(basename $(