Piksi Upgrades #226
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Piksi Upgrades #226
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tanishqaggarwal
requested changes
Feb 24, 2020
| @@ -41,37 +59,32 @@ void PiksiControlTask::execute() | |||
| //3 means CRC error on serial | |||
| //5 means timing error exceed | |||
| if(read_out == 3|| read_out == 4|| read_out == 5) | |||
| fix_error_count_f.set(fix_error_count_f.get() + 1); | |||
| piksi_fault.signal(); | |||
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Rather than having a bunch of distributed signals() and unsignals(), I think it would be better to keep a running flag of whether or not Piksi should be signaled, and then have one if-else block at the end. In my belief this gives a better face-value guarantee that the Piksi fault is either signaled or unsignaled on every control cycle.
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Sounds good. Will do
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| tf.set_read_return(4); | ||
| for(int i = 0;i<1000;i++) { | ||
| if (i % 100 == 0) { | ||
| TEST_ASSERT_EQUAL(i, tf.fix_error_count_fp->get()); | ||
| } | ||
| TimedControlTaskBase::control_cycle_count++; | ||
| tf.execute(); | ||
| TimedControlTaskBase::wait_duration(1); | ||
| } | ||
| const unsigned int delta_t = TimedControlTaskBase::duration_to_us( | ||
| TimedControlTaskBase::get_system_time() | ||
| - tf.last_fix_time_fp->get()); | ||
| TEST_ASSERT_GREATER_OR_EQUAL(1000, delta_t); | ||
| assert_piksi_mode(piksi_mode_t::no_data_error); | ||
| TEST_ASSERT_FALSE(tf.piksi_fault_fp->is_faulted()); | ||
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| //one more execution to throw into DEAD mode | ||
| // one more execution to throw fault | ||
| TimedControlTaskBase::control_cycle_count++; | ||
| tf.execute(); | ||
| assert_piksi_mode(piksi_mode_t::dead); | ||
| TEST_ASSERT(tf.piksi_fault_fp->is_faulted()); | ||
| assert_piksi_mode(piksi_mode_t::no_data_error); | ||
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| // one good execution releases the fault | ||
| tf.set_read_return(1); | ||
| TimedControlTaskBase::control_cycle_count++; | ||
| tf.execute(); | ||
| assert_piksi_mode(piksi_mode_t::fixed_rtk); | ||
| TEST_ASSERT_FALSE(tf.piksi_fault_fp->is_faulted()); |
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It should be clearer, in some preamble comments, that this chunk of code will test the fault flag.
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This PR is so old it uses Travis. Can I suggest we close this PR until we're ready to address this properly? |
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Lmao yeah, this PR is very dead, will revive in a bit |
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