Merge branch 'v2.2.0-dev' into update-ptme-code-2

2023-05-25 10:34:04 +02:00 · 2023-05-25 10:34:04 +02:00 · 016e9dd2df
commit 016e9dd2df
parent 6cf488d0a6 351ca1154b
10 changed files with 136 additions and 13 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -67,6 +67,8 @@ TODO: New firmware package version.
 - Add the remaining system modes.
 - PLOC MPSoC flash read command working.
 - BPX battery handler is added for EM by default.
+- ACU dummy HK sets
+- IMTQ HK sets

 ## Fixed

@ -86,6 +88,7 @@ TODO: New firmware package version.
 - PLOC MPSoC special communication is now scheduled, which allows flash read and flash write
  commands to work.
 - Fixed the MPSoC flash write command.
+- Added missing ACS parameter.
 - HK TM store: The HK store dump success event was triggered for cancelled HK dumps.
 - When a PUS parsing error occured while parsing a TM store file, the dump completion procedure
  was always executed.
--- a/bsp_hosted/ObjectFactory.cpp
+++ b/bsp_hosted/ObjectFactory.cpp
@ -62,6 +62,10 @@ void ObjectFactory::produce(void* args) {
  StorageManagerIF* tmStore;
  StorageManagerIF* ipcStore;
  PersistentTmStores persistentStores;
+  bool enableHkSets = false;
+#if OBSW_ENABLE_PERIODIC_HK == 1
+  enableHkSets = true;
+#endif
  auto sdcMan = new DummySdCardManager("/tmp");
  ObjectFactory::produceGenericObjects(nullptr, &pusFunnel, &cfdpFunnel, *sdcMan, &ipcStore,
                                       &tmStore, persistentStores, 120);
@ -101,7 +105,7 @@ void ObjectFactory::produce(void* args) {
 #endif

  dummy::DummyCfg cfg;
-  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF);
+  dummy::createDummies(cfg, *dummySwitcher, dummyGpioIF, enableHkSets);

  HeaterHandler* heaterHandler = nullptr;
  // new ThermalController(objects::THERMAL_CONTROLLER);
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -79,7 +79,7 @@ void ObjectFactory::produce(void* args) {
 #endif
  satsystem::EIVE_SYSTEM.setI2cRecoveryParams(pwrSwitcher);

-  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF);
+  dummy::createDummies(dummyCfg, *pwrSwitcher, gpioComIF, enableHkSets);

  new CoreController(objects::CORE_CONTROLLER, enableHkSets);

--- a/dummies/AcuDummy.cpp
+++ b/dummies/AcuDummy.cpp
@ -2,8 +2,11 @@

 #include <mission/power/gsDefs.h>

-AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+AcuDummy::AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      coreHk(this),
+      auxHk(this),
+      enableHkSets(enableHkSets) {}

 AcuDummy::~AcuDummy() {}

@ -37,7 +40,49 @@ uint32_t AcuDummy::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return

 ReturnValue_t AcuDummy::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                LocalDataPoolManager &poolManager) {
+  using namespace ACU;
+  localDataPoolMap.emplace(pool::ACU_CURRENT_IN_CHANNELS, new PoolEntry<int16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_VOLTAGE_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_VCC, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_VBAT, new PoolEntry<uint16_t>({0}));
+
  localDataPoolMap.emplace(ACU::pool::ACU_TEMPERATURES,
                           new PoolEntry<float>({10.0, 10.0, 10.0}, true));
+
+  localDataPoolMap.emplace(pool::ACU_MPPT_MODE, new PoolEntry<uint8_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_VBOOST_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+  localDataPoolMap.emplace(pool::ACU_POWER_IN_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_DAC_ENABLES, new PoolEntry<uint8_t>(3));
+  localDataPoolMap.emplace(pool::ACU_DAC_RAW_CHANNELS, new PoolEntry<uint16_t>(6));
+
+  localDataPoolMap.emplace(pool::ACU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_BOOTCNT, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_UPTIME, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_RESET_CAUSE, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_TIME, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_MPPT_PERIOD, new PoolEntry<uint16_t>({0}));
+
+  localDataPoolMap.emplace(pool::ACU_DEVICES, new PoolEntry<uint8_t>(8));
+  localDataPoolMap.emplace(pool::ACU_DEVICES_STATUS, new PoolEntry<uint8_t>(8));
+
+  localDataPoolMap.emplace(pool::ACU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
+  localDataPoolMap.emplace(pool::ACU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(coreHk.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForRegularPeriodicPacket(
+      subdp::RegularHkPeriodicParams(auxHk.getSid(), enableHkSets, 6000.0));
  return returnvalue::OK;
 }
+
+LocalPoolDataSetBase *AcuDummy::getDataSetHandle(sid_t sid) {
+  if (sid == coreHk.getSid()) {
+    return &coreHk;
+  } else if (sid == auxHk.getSid()) {
+    return &auxHk;
+  }
+  return nullptr;
+}
--- a/dummies/AcuDummy.h
+++ b/dummies/AcuDummy.h
@ -2,6 +2,7 @@
 #define DUMMIES_ACUDUMMY_H_

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>
+#include <mission/power/gsDefs.h>

 class AcuDummy : public DeviceHandlerBase {
 public:
@ -11,10 +12,14 @@ class AcuDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  AcuDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
  virtual ~AcuDummy();

 protected:
+  ACU::CoreHk coreHk;
+  ACU::AuxHk auxHk;
+  bool enableHkSets;
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +33,7 @@ class AcuDummy : public DeviceHandlerBase {
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };

 #endif /* DUMMIES_ACUDUMMY_H_ */
--- a/dummies/ImtqDummy.cpp
+++ b/dummies/ImtqDummy.cpp
@ -2,8 +2,12 @@

 #include <mission/acs/imtqHelpers.h>

-ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie)
-    : DeviceHandlerBase(objectId, comif, comCookie) {}
+ImtqDummy::ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie,
+                     bool enableHkSets)
+    : DeviceHandlerBase(objectId, comif, comCookie),
+      setNoTorque(this),
+      setWithTorque(this),
+      enableHkSets(enableHkSets) {}

 ImtqDummy::~ImtqDummy() = default;

@ -45,5 +49,37 @@ ReturnValue_t ImtqDummy::initializeLocalDataPool(localpool::DataPool &localDataP
  localDataPoolMap.emplace(imtq::ACTUATION_RAW_STATUS, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(imtq::DIPOLES_ID, new PoolEntry<int16_t>({0, 0, 0}));
  localDataPoolMap.emplace(imtq::CURRENT_TORQUE_DURATION, new PoolEntry<uint16_t>({0}));
+
+  // ENG HK No Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS, &coilCurrentsMilliampsNoTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES, &coilTempsNoTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE, new PoolEntry<int16_t>({0}));
+
+  // ENG HK With Torque
+  localDataPoolMap.emplace(imtq::DIGITAL_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_VOLTAGE_MV_WT, new PoolEntry<uint16_t>({0}));
+  localDataPoolMap.emplace(imtq::DIGITAL_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::ANALOG_CURRENT_WT, new PoolEntry<float>({0}));
+  localDataPoolMap.emplace(imtq::COIL_CURRENTS_WT, &coilCurrentsMilliampsWithTorque);
+  localDataPoolMap.emplace(imtq::COIL_TEMPERATURES_WT, &coilTempsWithTorque);
+  localDataPoolMap.emplace(imtq::MCU_TEMPERATURE_WT, new PoolEntry<int16_t>({0}));
+
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setNoTorque.getSid(), enableHkSets, 30.0));
+  poolManager.subscribeForDiagPeriodicPacket(
+      subdp::DiagnosticsHkPeriodicParams(setWithTorque.getSid(), enableHkSets, 30.0));
  return DeviceHandlerBase::initializeLocalDataPool(localDataPoolMap, poolManager);
 }
+
+LocalPoolDataSetBase *ImtqDummy::getDataSetHandle(sid_t sid) {
+  if (sid == setNoTorque.getSid()) {
+    return &setNoTorque;
+  } else if (sid == setWithTorque.getSid()) {
+    return &setWithTorque;
+  }
+  return nullptr;
+}
--- a/dummies/ImtqDummy.h
+++ b/dummies/ImtqDummy.h
@ -3,6 +3,8 @@

 #include <fsfw/devicehandlers/DeviceHandlerBase.h>

+#include "mission/acs/imtqHelpers.h"
+
 class ImtqDummy : public DeviceHandlerBase {
 public:
  static const DeviceCommandId_t SIMPLE_COMMAND = 1;
@ -11,10 +13,31 @@ class ImtqDummy : public DeviceHandlerBase {
  static const uint8_t SIMPLE_COMMAND_DATA = 1;
  static const uint8_t PERIODIC_REPLY_DATA = 2;

-  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie);
+  ImtqDummy(object_id_t objectId, object_id_t comif, CookieIF *comCookie, bool enableHkSets);
  ~ImtqDummy() override;

 protected:
+  imtq::HkDatasetNoTorque setNoTorque;
+  imtq::HkDatasetWithTorque setWithTorque;
+  bool enableHkSets;
+
+  PoolEntry<uint8_t> statusMode = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusError = PoolEntry<uint8_t>({0});
+  PoolEntry<uint8_t> statusConfig = PoolEntry<uint8_t>({0});
+  PoolEntry<uint32_t> statusUptime = PoolEntry<uint32_t>({0});
+
+  PoolEntry<int32_t> mgmCalEntry = PoolEntry<int32_t>(3);
+  PoolEntry<int16_t> dipolesPoolEntry = PoolEntry<int16_t>({0, 0, 0}, false);
+  PoolEntry<uint16_t> torqueDurationEntry = PoolEntry<uint16_t>({0}, false);
+  PoolEntry<float> coilCurrentsMilliampsNoTorque = PoolEntry<float>(3);
+  PoolEntry<float> coilCurrentsMilliampsWithTorque = PoolEntry<float>(3);
+  PoolEntry<int16_t> coilTempsNoTorque = PoolEntry<int16_t>(3);
+  PoolEntry<int16_t> coilTempsWithTorque = PoolEntry<int16_t>(3);
+  PoolEntry<float> mtmRawNoTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusNoTorque = PoolEntry<uint8_t>(1);
+  PoolEntry<float> mtmRawWithTorque = PoolEntry<float>(3);
+  PoolEntry<uint8_t> actStatusWithTorque = PoolEntry<uint8_t>(1);
+
  void doStartUp() override;
  void doShutDown() override;
  ReturnValue_t buildNormalDeviceCommand(DeviceCommandId_t *id) override;
@ -28,6 +51,7 @@ class ImtqDummy : public DeviceHandlerBase {
  uint32_t getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) override;
  ReturnValue_t initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                        LocalDataPoolManager &poolManager) override;
+  LocalPoolDataSetBase *getDataSetHandle(sid_t sid) override;
 };

 #endif /* DUMMIES_IMTQDUMMY_H_ */
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@ -42,7 +42,8 @@
 #include "mission/system/tree/payloadModeTree.h"
 #include "mission/tcs/defs.h"

-void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
+void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF,
+                          bool enableHkSets) {
  new ComIFDummy(objects::DUMMY_COM_IF);
  auto* comCookieDummy = new ComCookieDummy();
  if (cfg.addBpxBattDummy) {
@ -74,13 +75,14 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
  }
  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
-  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  auto* imtqDummy =
+      new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
  imtqDummy->enableThermalModule(ThermalStateCfg());
  imtqDummy->connectModeTreeParent(*imtqAssy);
  if (cfg.addOnlyAcuDummy) {
-    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
  } else if (cfg.addPowerDummies) {
-    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, enableHkSets);
    new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
--- a/dummies/helperFactory.h
+++ b/dummies/helperFactory.h
@ -22,6 +22,6 @@ struct DummyCfg {
  bool addCamSwitcherDummy = true;
 };

-void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF);
+void createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitch, GpioIF* gpioIF, bool enableHkSets);

 }  // namespace dummy
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@ -539,6 +539,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
        case 0xA:
          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
          break;
+        case 0xB:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
        case 0xC:
          parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
          break;