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24 Commits

Author SHA1 Message Date
a994be47c3 Merge remote-tracking branch 'origin/main' into event-definition 2025-02-24 15:28:15 +01:00
893e0a41d7 Changed events definition to macro 2025-02-24 15:23:38 +01:00
b8979d8f90 Merge pull request 'Improve readability of SubsystemBase::executeTable' (#49) from spahr/SubsystemBase into main
Reviewed-on: #49
2025-02-19 11:26:36 +01:00
9557db7036 Merge branch 'main' into spahr/SubsystemBase 2025-02-19 11:26:26 +01:00
c9fcabccd6 Merge pull request 'Missing valid flag update in readWithoutLock and commitWithoutLock' (#48) from bugfix-poolvariable into main
Reviewed-on: #48
2025-02-19 11:26:04 +01:00
ecd36f5e52 Merge branch 'main' into bugfix-poolvariable 2025-02-19 11:25:52 +01:00
fc19c0838e Merge pull request 'Formatting of debug printout' (#50) from spahr/formattingForDebugPrintout into main
Reviewed-on: #50
2025-02-19 11:24:39 +01:00
8c3f366d1a formatting for time prinout 2025-02-16 17:36:22 +01:00
6efb2641a7 Re-write the logic in executeTable() to improve the readabilty of the code. This gets rid of the usage of isFaulty() (which is misleading), and removes nexted if-statements 2025-02-16 17:07:40 +01:00
260bbad9a0 Modify the hard-coded strings which are printed to into the debug session to enforce alignment of all printouts, regardless of their printlevel (info, debug, warning, error). 2025-02-14 19:02:57 +01:00
9edd6221f8 Missing valid flag update in readWithoutLock and commitWithoutLock 2025-02-11 15:16:27 +01:00
735e341aab Merge pull request 'temperaturesensor-bugfix' (#47) from temperaturesensor-bugfix into main
Reviewed-on: #47
2025-01-21 14:33:29 +01:00
921bfb1e99 Merge branch 'main' into temperaturesensor-bugfix 2025-01-21 14:31:59 +01:00
5b1651e1a6 Merge pull request 'Update HK and datapool handling' (#45) from update-hk-handling-datapools into main
Reviewed-on: #45
2025-01-08 10:38:34 +01:00
e916b9b096 fix for CMakeLists.txt 2025-01-07 10:50:37 +01:00
b14e761bad small typo 2025-01-07 10:50:37 +01:00
33f3ae2434 Update and clean up HK and Local Pool Modules 2025-01-07 10:50:37 +01:00
f0087d5b0d Merge pull request 'FreeRTOS Monotonic Clock' (#46) from meier/freertos-monotonic-clock into main
Reviewed-on: #46
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
2025-01-07 10:33:29 +01:00
69c33587e8 Merge remote-tracking branch 'origin/main' into temperaturesensor-bugfix 2024-12-31 10:51:11 +01:00
d1bf04cc29 Merge branch 'main' into meier/freertos-monotonic-clock 2024-12-25 10:20:22 +01:00
8e3bc1b8aa updated changelog 2024-12-23 12:07:54 +01:00
64f97fc3ba implemented freertos monotonic clock 2024-12-23 12:02:29 +01:00
1427fbd2fe added monotonic clock which is independend of clock jumps in the system clock 2024-12-22 18:37:44 +01:00
81cd8bd290 did not build before 2024-12-15 23:52:32 +01:00
11 changed files with 59 additions and 23 deletions

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@ -26,6 +26,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
## Added
- FreeRTOS monotonic clock which is not subjected to time jumps of the system clock
- add CFDP subsystem ID
https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
- `PusTmZcWriter` now exposes API to set message counter field.

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@ -210,6 +210,7 @@ inline ReturnValue_t PoolVariable<T>::readWithoutLock() {
}
this->value = *(poolEntry->getDataPtr());
this->valid = poolEntry->getValid();
return returnvalue::OK;
}
@ -241,6 +242,7 @@ ReturnValue_t PoolVariable<T>::commitWithoutLock() {
}
*(poolEntry->getDataPtr()) = this->value;
poolEntry->setValid(this->valid);
return returnvalue::OK;
}

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@ -5,6 +5,7 @@
#include "FreeRTOS.h"
#include "fsfw/globalfunctions/timevalOperations.h"
#include "fsfw/serviceinterface/ServiceInterfacePrinter.h"
#include "fsfw/osal/freertos/Timekeeper.h"
#include "task.h"
@ -47,8 +48,8 @@ ReturnValue_t Clock::getClock(timeval* time) {
}
ReturnValue_t Clock::getClockMonotonic(timeval* time) {
// TODO: I don't actually know if the timekeeper is monotonic..
return getClock_timeval(time);
*time = Timekeeper::instance()->getMonotonicClockOffset() + getUptime();
return returnvalue::OK;
}
ReturnValue_t Clock::getUptime(timeval* uptime) {
@ -58,7 +59,7 @@ ReturnValue_t Clock::getUptime(timeval* uptime) {
}
timeval Clock::getUptime() {
TickType_t ticksSinceStart = xTaskGetTickCount();
TickType_t ticksSinceStart = Timekeeper::instance()->getTicks();
return Timekeeper::ticksToTimeval(ticksSinceStart);
}

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@ -17,7 +17,13 @@ Timekeeper* Timekeeper::instance() {
return myinstance;
}
void Timekeeper::setOffset(const timeval& offset) { this->offset = offset; }
void Timekeeper::setOffset(const timeval& offset) {
if (not monotonicClockInitialized) {
this->monotonicClockOffset = offset;
monotonicClockInitialized = true;
}
this->offset = offset;
}
timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
timeval uptime;
@ -33,3 +39,7 @@ timeval Timekeeper::ticksToTimeval(TickType_t ticks) {
}
TickType_t Timekeeper::getTicks() { return xTaskGetTickCount(); }
const timeval Timekeeper::getMonotonicClockOffset() const {
return monotonicClockOffset;
}

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@ -18,9 +18,14 @@ class Timekeeper {
Timekeeper();
timeval offset;
// Set when offset is initialized the first time
timeval monotonicClockOffset;
bool monotonicClockInitialized = false;
static Timekeeper* myinstance;
void setMonotonicClockOffset(const timeval& monotonicClockOffset);
public:
static Timekeeper* instance();
virtual ~Timekeeper();
@ -34,6 +39,7 @@ class Timekeeper {
const timeval& getOffset() const;
void setOffset(const timeval& offset);
const timeval getMonotonicClockOffset() const;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_TIMEKEEPER_H_ */

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@ -49,7 +49,7 @@ class Service11TelecommandScheduling final : public PusServiceBase {
//! [EXPORT] : [COMMENT] Deletion of a TC from the map failed.
//! P1: First 32 bit of request ID, P2. Last 32 bit of Request ID
static constexpr Event TC_DELETION_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::MEDIUM);
static constexpr Event TC_DELETION_FAILED = MAKE_EVENT(0, severity::MEDIUM);
// The types of PUS-11 subservices
enum Subservice : uint8_t {

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@ -75,7 +75,7 @@ void fsfwPrint(sif::PrintLevel printType, const char *fmt, va_list arg) {
/*
* Log current time to terminal if desired.
*/
len += sprintf(bufferPosition + len, " | %lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
len += sprintf(bufferPosition + len, " | %02lu:%02lu:%02lu.%03lu | ", (unsigned long)now.hour,
(unsigned long)now.minute, (unsigned long)now.second,
(unsigned long)now.usecond / 1000);

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@ -79,22 +79,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
}
if (healthHelper.healthTable->hasHealth(object)) {
if (healthHelper.healthTable->isFaulty(object)) {
switch (healthHelper.healthTable->getHealth(object)) {
case NEEDS_RECOVERY:
case FAULTY:
case PERMANENT_FAULTY:
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
} else {
break;
case HEALTHY:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isCommandable(object)) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);
}
break;
case EXTERNAL_CONTROL:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
continue;
}
break;
default:
// This never happens
break;
}
}
} else {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);

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@ -25,7 +25,7 @@ static constexpr ReturnValue_t INCORRECT_SECONDARY_HEADER = MAKE_RETURN_CODE(11)
static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::TMTC_DISTRIBUTION;
//! P1: Returnvalue, P2: 0 for TM issues, 1 for TC issues
static constexpr Event HANDLE_PACKET_FAILED = event::makeEvent(SUBSYSTEM_ID, 0, severity::LOW);
static constexpr Event HANDLE_PACKET_FAILED = MAKE_EVENT(0, severity::LOW);
}; // namespace tmtcdistrib
#endif // FSFW_TMTCPACKET_DEFINITIONS_H

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@ -142,7 +142,7 @@ class TemperatureSensor : public AbstractTemperatureSensor {
deltaTime = (uptime.tv_sec + uptime.tv_usec / 1000000.) -
(uptimeOfOldTemperature.tv_sec + uptimeOfOldTemperature.tv_usec / 1000000.);
deltaTemp = oldTemperature - outputTemperature;
deltaTemp = oldTemperature - outputTemperature.value;
if (deltaTemp < 0) {
deltaTemp = -deltaTemp;
}
@ -160,13 +160,13 @@ class TemperatureSensor : public AbstractTemperatureSensor {
outputTemperature.setValid(PoolVariableIF::INVALID);
outputTemperature = thermal::INVALID_TEMPERATURE;
} else {
oldTemperature = outputTemperature;
oldTemperature = outputTemperature.value;
uptimeOfOldTemperature = uptime;
}
}
public:
float getTemperature() { return outputTemperature; }
float getTemperature() { return outputTemperature.value; }
bool isValid() { return outputTemperature.isValid(); }

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@ -192,6 +192,8 @@ class Clock {
static MutexIF *timeMutex;
static uint16_t leapSeconds;
static bool leapSecondsSet;
static bool monotonicClockInitialized;
static timeval monotonicClockOffset;
};
#endif /* FSFW_TIMEMANAGER_CLOCK_H_ */