After #181 (specifically commit 638e3b7a which was made during RC6), Hercules UART now comes on in SERVICE immediately, before even Hercules is brought up. But even after running the following command aliases to power up Hercules:
messages from Hercules were not observed until the Rover entered MISSION mode (perhaps the WD-Hercules stroking protocol needed to be running and wasn't?). Upon returning to SERVICE mode, Hercules comms did persist.
Additionally, there was no way to turn off Hercules comms without returning to SERVICE and then power-cycling the Rover (or, possibly, going back up to KEEP_ALIVE mode). Fortunately, the only time we'd want to do this would be when still attached to the lander, at which time power cycling is possible.
This behavior requires the following changes:
[ ] Make Hercules UART come on in SERVICE but only once Hercules is powered on (i.e. tie the comms state to the power state).
[ ] Make Hercules comms work (bidirectionally) in SERVICE when UART is on (currently, even with UART on in SERVICE packet transmission didn't work until MISSION had been entered).
[ ] Make Hercules comms turn off if Hercules is powered off (other half of 1). Currently, there doesn't appear to be an explicit disableHerculesComms ability, though it looks like going back up to KEEP_ALIVE mode might do this.
After #181 (specifically commit 638e3b7a which was made during RC6), Hercules UART now comes on in
SERVICEimmediately, before even Hercules is brought up. But even after running the following command aliases to power up Hercules:power-on-system-vsa3v3-onpower-on-hercFull logs of testing for #181 on FM1 available in: https://github.com/PlanetaryRobotics/CubeRoverPackage/blob/cwcolomb/152-radio-passthrough-programming/Bins/RC6/GSW/packet_prints/packet_prints_rc6_wd_update.txt.ansi
messages from Hercules were not observed until the Rover entered
MISSIONmode (perhaps the WD-Hercules stroking protocol needed to be running and wasn't?). Upon returning toSERVICEmode, Hercules comms did persist.Additionally, there was no way to turn off Hercules comms without returning to
SERVICEand then power-cycling the Rover (or, possibly, going back up toKEEP_ALIVEmode). Fortunately, the only time we'd want to do this would be when still attached to the lander, at which time power cycling is possible.This behavior requires the following changes:
SERVICEbut only once Hercules is powered on (i.e. tie the comms state to the power state).SERVICEwhen UART is on (currently, even with UART on inSERVICEpacket transmission didn't work untilMISSIONhad been entered).disableHerculesCommsability, though it looks like going back up toKEEP_ALIVEmode might do this.